Updated variables to be dynamic and moved functions around

Author: himalayanelixir

arduino_controller/.vscode/arduino.json

@@ -1,5 +1,5 @@
 {
-    "sketch": "ModulusSprint3.3.ino",
+    "sketch": "arduino_controller.ino",
     "board": "arduino:avr:megaADK",
     "port": "/dev/cu.usbmodem143101",
     "programmer": "AVRISP mkII"

arduino_controller/arduino_controller.ino

@@ -7,12 +7,33 @@
 
 #define NUMBER_MOTORS 2
 
-// create a array of ports. Each line corresponds to the motor number starting from 0
-// ie 0 is motor 1
-// the order of the ports is motor, counter, reset
-int ports[NUMBER_MOTORS][3] = {{2, 3, 4},{5, 6, 7}};
+// function declarations
+void RecvWithStartEndMarkers();
+void ProcessData();
+void ShowNewData();
+
+// variables for communication
+const byte numChars = 32;
+char receivedChars[numChars];
+bool newData = false;
+
 // initialize motors
 Servo myServo[NUMBER_MOTORS];
+// create a array of ports. Each line corresponds to the motor number starting from 0.
+// the order of the ports is motor, counter, reset
+int ports[NUMBER_MOTORS][3] = {{2, 3, 4},{5, 6, 7}};
+
+String motor_direction[NUMBER_MOTORS] = {""};;
+byte motor_rotation_number[NUMBER_MOTORS] = {0};
+byte motor_sensor_counter1[NUMBER_MOTORS] = {0};;
+byte motor_sensor_counter2[NUMBER_MOTORS] = {0};;
+
+// 0 or 1 depending on the input signal
+byte input[NUMBER_MOTORS] = {0};
+// will range from 0 to the specified MAXIMUM 
+int integrator[NUMBER_MOTORS] = {0};
+// cleaned-up version of the input signal
+byte output[NUMBER_MOTORS]= {0};;      
 
 void setup() {
   Serial.begin(9600);
@@ -24,7 +45,7 @@ void setup() {
     int x = ports[i][0];\
     Serial.print(x);
     Serial.print(" ");
-    pinMode(x, OUTPUT);
+    myServo[i].attach(x);
   }
 
   // initialize all counter ports
@@ -52,166 +73,8 @@ void setup() {
   Serial.println(">");
 }
 
-// function declarations
-void RecvWithStartEndMarkers();
-void ProcessData();
-void ShowNewData();
-
-// variables for communication
-const byte numChars = 32;
-char receivedChars[numChars];
-bool newData = false;
-
-// variables for motor 1
-// ports
-Servo myservo1;
-byte motor_port = 3;
-byte motor_counter_port = 4;
-byte motor_reset_port = 2;
-// motor info
-String motor_direction = "";
-byte motor_rotation_number = 0;
-byte motor_sensor_counter1 = 0;
-byte motor_sensor_counter2 = 0;
-//
-
-byte input;       /* 0 or 1 depending on the input signal */
-int integrator;  /* Will range from 0 to the specified MAXIMUM */
-byte output;      /* Cleaned-up version of the input signal */
-
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-
-void ProcessData() {
-
-  // variables
-  String recievedString = "";
-  String motor_rotation_string = "";
-  String motor_rotation_string2 = "";
-
-  recievedString = receivedChars;
-
-  // logic
-  motor_direction = getValue(recievedString, ',', 0);
-  motor_rotation_string = getValue(recievedString, ',', 1);
-  motor_rotation_number = motor_rotation_string.toInt();
-
-  //
-  if (motor_direction == "Up") {
-    myservo1.write(100);
-  }
-  else if (motor_direction == "Down") {
-    myservo1.write(80);
-  }
-
-  else if (motor_direction == "None") {
-    myservo1.write(90);
-  }
-  else if (motor_direction == "Reset") {
-    Reset1();
-  }
-  else
-  {
-    // Sends Error Message
-    Invalid();
-  }
-
-  // Print First Number
-  Serial.println("---------");
-  Serial.print("Motor 1: ");
-  Serial.println(motor_rotation_number);
-
-  while (true) {
-
-    motor_sensor_counter2 = motor_sensor_counter1;
-    checkswitch(motor_counter_port);
-    motor_sensor_counter1 = output;
-    delay(10);
-
-    if (motor_rotation_number == 0) {
-      myservo1.write(90);
-      break;
-    }
-
-    if (digitalRead(motor_reset_port) == 0) {
-      myservo1.write(90);
-      break;
-    }
-
-    if (motor_sensor_counter1 == 1 && motor_sensor_counter2 == 0) {
-      motor_rotation_number--;
-
-      // Print Number Every Time It Changes
-      Serial.print("Motor 1: ");
-      Serial.println(motor_rotation_number);
-    }
-  }
-
-  // Send Finished Signal
-  Finished();
-
-}
-
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-
-void checkswitch(int switchPort) {
-  /* Step 1: Update the integrator based on the input signal.  Note that the
-    integrator follows the input, decreasing or increasing towards the limits as
-    determined by the input state (0 or 1). */
-  input = digitalRead(switchPort);
-
-  if (input == 0)
-  {
-    if (integrator > 0)
-      integrator--;
-  }
-  else if (integrator < MAXIMUM)
-    integrator++;
-
-  /* Step 2: Update the output state based on the integrator.  Note that the
-    output will only change states if the integrator has reached a limit, either
-    0 or MAXIMUM. */
-
-  if (integrator == 0)
-    output = 0;
-  else if (integrator >= MAXIMUM)
-  {
-    output = 1;
-    integrator = MAXIMUM;  /* defensive code if integrator got corrupted */
-  }
-
-  /********************************************************* End of debounce.c */
+void loop() {
+  RecvWithStartEndMarkers();
+  ShowNewData();
 }
 
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-
-//void checkswitch2(int switchPort) {
-//    /* Step 1: Update the integrator based on the input signal.  Note that the
-//    integrator follows the input, decreasing or increasing towards the limits as
-//    determined by the input state (0 or 1). */
-//    input2 = digitalRead(switchPort);
-//
-//    if (input2 == 0)
-//        {
-//        if (integrator2 > 0)
-//        integrator2--;
-//        }
-//    else if (integrator2 < MAXIMUM)
-//        integrator2++;
-//
-//    /* Step 2: Update the output state based on the integrator.  Note that the
-//    output will only change states if the integrator has reached a limit, either
-//    0 or MAXIMUM. */
-//
-//    if (integrator2 == 0)
-//        output2 = 0;
-//    else if (integrator2 >= MAXIMUM)
-//        {
-//        output2 = 1;
-//        integrator2 = MAXIMUM;  /* defensive code if integrator got corrupted */
-//        }
-//
-//    /********************************************************* End of debounce.c */
-//}