You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
84 lines
2.7 KiB
Plaintext
84 lines
2.7 KiB
Plaintext
/* This firmware supports as many analog ports as possible, all analog inputs,
|
|
* four PWM outputs, and two with servo support.
|
|
*
|
|
* This example code is in the public domain.
|
|
*/
|
|
#include <Firmata.h>
|
|
#include <Servo.h>
|
|
|
|
/*==============================================================================
|
|
* GLOBAL VARIABLES
|
|
*============================================================================*/
|
|
|
|
/* servos */
|
|
Servo servo9, servo10; // one instance per pin
|
|
/* analog inputs */
|
|
int analogInputsToReport = 0; // bitwise array to store pin reporting
|
|
int analogPin = 0; // counter for reading analog pins
|
|
/* timer variables */
|
|
unsigned long currentMillis; // store the current value from millis()
|
|
unsigned long nextExecuteMillis; // for comparison with currentMillis
|
|
|
|
|
|
/*==============================================================================
|
|
* FUNCTIONS
|
|
*============================================================================*/
|
|
|
|
void analogWriteCallback(byte pin, int value)
|
|
{
|
|
switch(pin) {
|
|
case 9: servo9.write(value); break;
|
|
case 10: servo10.write(value); break;
|
|
case 3:
|
|
case 5:
|
|
case 6:
|
|
case 11: // PWM pins
|
|
analogWrite(pin, value);
|
|
break;
|
|
}
|
|
}
|
|
// -----------------------------------------------------------------------------
|
|
// sets bits in a bit array (int) to toggle the reporting of the analogIns
|
|
void reportAnalogCallback(byte pin, int value)
|
|
{
|
|
if(value == 0) {
|
|
analogInputsToReport = analogInputsToReport &~ (1 << pin);
|
|
}
|
|
else { // everything but 0 enables reporting of that pin
|
|
analogInputsToReport = analogInputsToReport | (1 << pin);
|
|
}
|
|
// TODO: save status to EEPROM here, if changed
|
|
}
|
|
|
|
/*==============================================================================
|
|
* SETUP()
|
|
*============================================================================*/
|
|
void setup()
|
|
{
|
|
Firmata.setFirmwareVersion(0, 2);
|
|
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
|
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
|
|
|
servo9.attach(9);
|
|
servo10.attach(10);
|
|
Firmata.begin(57600);
|
|
}
|
|
|
|
/*==============================================================================
|
|
* LOOP()
|
|
*============================================================================*/
|
|
void loop()
|
|
{
|
|
while(Firmata.available())
|
|
Firmata.processInput();
|
|
currentMillis = millis();
|
|
if(currentMillis > nextExecuteMillis) {
|
|
nextExecuteMillis = currentMillis + 19; // run this every 20ms
|
|
for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
|
|
if( analogInputsToReport & (1 << analogPin) )
|
|
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
|
}
|
|
}
|
|
}
|
|
|