Formatting Arduino Code

Author: himalayanelixir

arduino_controller/arduino_controller.ino

@@ -27,7 +27,7 @@ bool new_data = false;
 Servo my_servo[NUMBER_MOTORS];
 // create a array of ports with the order: motor, counter, reset
 // int ports[NUMBER_MOTORS][3] = {{62, 66, 67}};
-int ports[NUMBER_MOTORS][3] = {{2, 3, 4},{5, 6, 7},{8, 9, 10}};
+int ports[NUMBER_MOTORS][3] = {{2, 3, 4}, {5, 6, 7}, {8, 9, 10}};
 // integer array that contains the direction and number of rotations a motor
 // needs to go
 int motor_commands[NUMBER_MOTORS][2] = {0};

arduino_controller/communication.ino

@@ -0,0 +1,83 @@
+//////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////
+
+// This file contains functions that help the arduino communitate with the
+// raspberry pi
+
+//////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////
+
+// handles the receiving of data over the serial port
+void RecvWithStartEndMarkers()
+{
+  static boolean recvInProgress = false;
+  static byte ndx = 0;
+  char startMarker = '<';
+  char endMarker = '>';
+  char rc;
+
+  while (Serial.available() > 0 && new_data == false)
+  {
+    rc = Serial.read();
+
+    if (recvInProgress == true)
+    {
+      if (rc != endMarker)
+      {
+        received_chars[ndx] = rc;
+        ndx++;
+        if (ndx >= num_chars)
+        {
+          ndx = num_chars - 1;
+        }
+      }
+      else
+      {
+        received_chars[ndx] = '\0'; // terminate the string
+        recvInProgress = false;
+        ndx = 0;
+        new_data = true;
+      }
+    }
+
+    else if (rc == startMarker)
+    {
+      recvInProgress = true;
+    }
+  }
+}
+
+// helps get a particular value from the incoming data string
+String getValue(String data, char separator, int index)
+{
+  int found = 0;
+  int strIndex[] = {0, -1};
+  int maxIndex = data.length() - 1;
+
+  for (int i = 0; i <= maxIndex && found <= index; i++)
+  {
+    if (data.charAt(i) == separator || i == maxIndex)
+    {
+      found++;
+      strIndex[0] = strIndex[1] + 1;
+      strIndex[1] = (i == maxIndex) ? i + 1 : i;
+    }
+  }
+  return found > index ? data.substring(strIndex[0], strIndex[1]) : "";
+}
+
+// sends message back to raspberry pi saying the command has been executed
+void Finished()
+{
+  Serial.println("Finished Current Job!");
+  Serial.println(">");
+}
+
+// sends error message back to raspberry pi
+void Invalid()
+{
+  Serial.println("<");
+  Serial.print("Arduino: ");
+  Serial.println("Invalid Input!");
+  Serial.println(">");
+}

arduino_controller/communications.ino

@@ -123,7 +123,7 @@ void ProcessData()
   {
     int reset_counter[NUMBER_MOTORS] = {0};
 
-    for (int i = 0; i < NUMBER_MOTORS; ++i){
+    for (int i = 0; i < NUMBER_MOTORS; ++i) {
       reset_counter[i] = 1;
     }