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tty ports automation added #3

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8f660a4
serial communication added
Elevenv May 29, 2023
d120828
mobility api updated
Elevenv Jun 1, 2023
4f8cf68
final changes updated
Elevenv Jun 1, 2023
e7d36c7
tty ports automation added
Elevenv Jun 1, 2023
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237 changes: 237 additions & 0 deletions PNV3_Mobility_API.ino
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Original file line number Diff line number Diff line change
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#include<string.h>
#include <Servo.h>
#define NORMAL 90
#define DISENGAGE 98
#define REVERSE 70
#define NO_BREAK 145
#define BREAK 95
#define STEERL 40
#define STEERR 140
#define CAL 1020

long duration;
int distance;
bool reverse = false;
int steer_angle = 90;

Servo shift;
Servo esc;
Servo Break;
Servo Steer;

void setup() {
Serial.begin(115200);
shift.attach(10);
shift.write(NORMAL);

Steer.attach(6);
Steer.write(steer_angle);
Break.attach(11);
Break.write(NO_BREAK);

esc.attach(9);
delay(2000);
esc.writeMicroseconds(1000);
delay(2000);
}

void loop() {
bool stop = false;
if (Serial.available()) {
String api_data = Serial.readStringUntil('\n');

if (api_data.length() > 0) {
String data = api_data.substring(1);
char first_char = api_data[0];

Serial.print(first_char);

if(first_char=='T'){


int th = data.toInt();
// speedUp(th);
Serial.println("THROTTLE");
for(int throttle=CAL; throttle<=th; throttle++) {
esc.writeMicroseconds(throttle);
delay(100);
}
}

else if(first_char=='B'){
Serial.println("BREAK");
esc.writeMicroseconds(0);
shift.write(DISENGAGE);
Break.write(BREAK);
delay(2000);
Break.write(NO_BREAK);
shift.write(NORMAL);
speedUp(CAL);
}

else if(first_char=='R'){
Serial.println("REVERSE");
if(!reverse) {
esc.writeMicroseconds(0);
shift.write(DISENGAGE);
Break.write(BREAK);
delay(1000);

Break.write(NO_BREAK);
shift.write(REVERSE);
reverse = true;
speedUp(CAL);
}

else {
esc.writeMicroseconds(0);
delay(400);
shift.write(DISENGAGE);
Break.write(BREAK);
delay(1000);

Break.write(NO_BREAK);
shift.write(NORMAL);
reverse = false;
speedUp(CAL);
}

}

else if(first_char=='S'){
Serial.println("STEERING");
int a = data.toInt();
// if(data == 'L'){
// int i;
// for(i=steer_angle;i>40;i--){
// Steer.write(i);
// delay(100);
// }
// steer_angle = i;
// }
// else{
// int j;
// for(j=steer_angle;j<140;j++){
// Steer.write(j);
// delay(100);
// }
// steer_angle = j;
// }
// for(int j=90;j<140;j++){
// Steer.write(j);
// delay(100);
// }
Steer.write(a);
delay(500);
// delay(2000);

}

else
Serial.println("Invalid first character.");
}
}
}


void speedUp(int th){
for(int throttle=CAL; throttle<=th; throttle++) {
esc.writeMicroseconds(throttle);
delay(100);
}
}















// switch (first_char) {
// case 'T':
// int th = data.toInt();
// // speedUp(th);
// Serial.println("THROTTLE");
// for(int throttle=1410; throttle<=th; throttle++) {
// esc.writeMicroseconds(throttle);
// delay(100);
// }
// break;

// case 'B':
// Serial.println("BREAK");
// esc.writeMicroseconds(0);
// shift.write(DISENGAGE);
// Break.write(BREAK);
// delay(2000);
// Break.write(NO_BREAK);
// shift.write(NORMAL);
// break;

// case 'R':
// Serial.println("REVERSE");
// if(!reverse) {
// esc.writeMicroseconds(0);
// shift.write(DISENGAGE);
// Break.write(BREAK);
// delay(1000);

// Break.write(NO_BREAK);
// shift.write(REVERSE);
// reverse = true;
// speedUp(1410);
// }

// else {
// esc.writeMicroseconds(0);
// delay(400);
// shift.write(DISENGAGE);
// Break.write(BREAK);
// delay(1000);
// Break.write(NO_BREAK);
// shift.write(NORMAL);
// reverse = false;
// speedUp(1410);
// }

// break;

// case 'S':
// Serial.println("STEERING");
// int a = data.toInt();
// // if(data == 'L'){
// // int i;
// // for(i=steer_angle;i>40;i--){
// // Steer.write(i);
// // delay(100);
// // }
// // steer_angle = i;
// // }
// // else{
// // int j;
// // for(j=steer_angle;j<140;j++){
// // Steer.write(j);
// // delay(100);
// // }
// // steer_angle = j;
// // }
// for(int j=90;j<140;j++){
// Steer.write(j);
// delay(100);
// }
// // Steer.write(a);
// delay(1000);
// break;

// default:
// Serial.println("Invalid first character.");
// break;
// }
45 changes: 45 additions & 0 deletions serialComm.py
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import serial
import time
import serial.tools.list_ports

all_ports = serial.tools.list_ports.comports()
avl_port = str(all_ports[0].device)
# print(avl_port)

arduino = serial.Serial(
port = avl_port,
baudrate = 115200,
bytesize = serial.EIGHTBITS,
parity = serial.PARITY_NONE,
stopbits = serial.STOPBITS_ONE,
timeout = 1,
xonxoff = False,
rtscts = True,
dsrdtr = True,
writeTimeout = 2
)
arduino.flush()

while True:
try:

arduino.flush()
# string = str(n)+"\n"
# arduino.write(string.encode())

api = input("Throttle/Break/Steer/Reverse: ")
# Break = input("Break: ")
# reverse = input("Reverse: ")
# steer = input("Steer: ")
# l = [throttle,Break,reverse,steer]
# parameters_string = ','.join(str(x) for x in l)
# arduino.write(parameters_string.encode())
arduino.write(api.encode())
# data = arduino.readline()
# if data:
# print(data)
time.sleep(1)
except Exception as e:
print(e)
arduino.close
arduino.flush()