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Commit fd9384b

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author
Federico Fissore
committed
Merge branch 'ide-1.5.x' into ide-1.5.x-jssc
2 parents 88ad27f + d0758af commit fd9384b

15 files changed

+1679
-511
lines changed

‎app/src/processing/app/preproc/PdePreprocessor.java

Lines changed: 20 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -257,9 +257,23 @@ public String strip(String in) {
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// pre-processor directive
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p += "|" + "(^\\s*#.*?$)";
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StringBuilder sb = new StringBuilder(in);
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Pattern pattern = Pattern.compile(p, Pattern.MULTILINE | Pattern.DOTALL);
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Matcher matcher = pattern.matcher(in);
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return matcher.replaceAll(" ");
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Matcher matcher = pattern.matcher(sb);
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while (matcher.find()) {
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String replacement = composeReplacementString(new StringBuilder(sb.subSequence(matcher.start(), matcher.end())));
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sb.replace(matcher.start(), matcher.end(), replacement);
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}
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return sb.toString();
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}
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private String composeReplacementString(StringBuilder sb) {
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for (int i = 0; i < sb.length(); i++) {
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if (sb.charAt(i) != '\n') {
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sb.setCharAt(i, ' ');
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}
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}
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return sb.toString();
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}
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/**
@@ -388,7 +402,10 @@ public String scrubComments(String what) {
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} else {
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// continue blanking this area
391-
p[index++] = ' ';
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if (p[index] != '\n') {
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p[index] = ' ';
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}
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index++;
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}
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}
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if (!endOfRainbow) {

‎app/test/processing/app/preproc/Baladuino.nocomments.ino

Lines changed: 304 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,304 @@
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#define ENABLE_TOOLS
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#define ENABLE_SPP
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#define ENABLE_PS3
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#define ENABLE_WII
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#define ENABLE_XBOX
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#define ENABLE_ADK
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#include "Balanduino.h"
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#include <Wire.h>
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#include <usbhub.h>
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#ifdef ENABLE_ADK
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#include <adk.h>
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#endif
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#include <Kalman.h>
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#ifdef ENABLE_XBOX
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#include <XBOXRECV.h>
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#endif
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#ifdef ENABLE_SPP
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#include <SPP.h>
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#endif
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#ifdef ENABLE_PS3
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#include <PS3BT.h>
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#endif
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#ifdef ENABLE_WII
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#include <Wii.h>
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#endif
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Kalman kalman;
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#if defined(ENABLE_SPP) || defined(ENABLE_PS3) || defined(ENABLE_WII) || defined(ENABLE_XBOX) || defined(ENABLE_ADK)
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#define ENABLE_USB
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USB Usb;
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#endif
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#ifdef ENABLE_ADK
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ADK adk(&Usb, "TKJ Electronics",
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"Balanduino",
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"Android App for Balanduino",
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"0.5.0",
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"https://play.google.com/store/apps/details?id=com.tkjelectronics.balanduino",
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"1234");
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#endif
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#ifdef ENABLE_XBOX
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XBOXRECV Xbox(&Usb);
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#endif
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#if defined(ENABLE_SPP) || defined(ENABLE_PS3) || defined(ENABLE_WII)
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USBHub Hub(&Usb);
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BTD Btd(&Usb);
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#endif
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#ifdef ENABLE_SPP
73+
SPP SerialBT(&Btd, "Balanduino", "0000");
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#endif
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#ifdef ENABLE_PS3
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PS3BT PS3(&Btd);
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#endif
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#ifdef ENABLE_WII
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WII Wii(&Btd);
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#endif
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void setup() {
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Serial.begin(115200);
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if (!checkInitializationFlags())
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readEEPROMValues();
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pinMode(leftEncoder1, INPUT);
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pinMode(leftEncoder2, INPUT);
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pinMode(rightEncoder1, INPUT);
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pinMode(rightEncoder2, INPUT);
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attachInterrupt(0, leftEncoder, CHANGE);
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attachInterrupt(1, rightEncoder, CHANGE);
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pinMode(leftEnable, OUTPUT);
106+
pinMode(rightEnable, OUTPUT);
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digitalWrite(leftEnable, HIGH);
108+
digitalWrite(rightEnable, HIGH);
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sbi(pwmPortDirection, leftPWM);
112+
sbi(leftPortDirection, leftA);
113+
sbi(leftPortDirection, leftB);
114+
sbi(pwmPortDirection, rightPWM);
115+
sbi(rightPortDirection, rightA);
116+
sbi(rightPortDirection, rightB);
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TCCR1B = _BV(WGM13) | _BV(CS10);
121+
ICR1 = PWMVALUE;
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TCCR1A = _BV(COM1A1) | _BV(COM1B1);
127+
setPWM(leftPWM, 0);
128+
setPWM(rightPWM, 0);
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131+
pinMode(buzzer, OUTPUT);
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#ifdef ENABLE_USB
134+
if (Usb.Init() == -1) {
135+
Serial.print(F("OSC did not start"));
136+
digitalWrite(buzzer, HIGH);
137+
while (1);
138+
}
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#endif
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#ifdef ENABLE_PS3
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PS3.attachOnInit(onInit);
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#endif
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#ifdef ENABLE_WII
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Wii.attachOnInit(onInit);
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#endif
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#ifdef ENABLE_XBOX
150+
Xbox.attachOnInit(onInit);
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#endif
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Wire.begin();
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while (i2cRead(0x75, i2cBuffer, 1));
157+
if (i2cBuffer[0] != 0x68) {
158+
Serial.print(F("Error reading sensor"));
159+
digitalWrite(buzzer, HIGH);
160+
while (1);
161+
}
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163+
i2cBuffer[0] = 19;
164+
i2cBuffer[1] = 0x00;
165+
i2cBuffer[2] = 0x00;
166+
i2cBuffer[3] = 0x00;
167+
while (i2cWrite(0x19, i2cBuffer, 4, false));
168+
while (i2cWrite(0x6B, 0x09, true));
169+
170+
delay(100);
171+
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173+
while (i2cRead(0x3D, i2cBuffer, 4));
174+
accY = ((i2cBuffer[0] << 8) | i2cBuffer[1]);
175+
accZ = ((i2cBuffer[2] << 8) | i2cBuffer[3]);
176+
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178+
accAngle = (atan2((double)accY - cfg.accYzero, (double)accZ - cfg.accZzero) + PI) * RAD_TO_DEG;
179+
180+
kalman.setAngle(accAngle);
181+
pitch = accAngle;
182+
gyroAngle = accAngle;
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185+
calibrateGyro();
186+
187+
pinMode(LED_BUILTIN, OUTPUT);
188+
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190+
digitalWrite(buzzer, HIGH);
191+
delay(100);
192+
digitalWrite(buzzer, LOW);
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kalmanTimer = micros();
196+
pidTimer = kalmanTimer;
197+
encoderTimer = kalmanTimer;
198+
imuTimer = millis();
199+
reportTimer = imuTimer;
200+
ledTimer = imuTimer;
201+
blinkTimer = imuTimer;
202+
}
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204+
void loop() {
205+
#ifdef ENABLE_WII
206+
if (Wii.wiimoteConnected)
207+
Usb.Task();
208+
#endif
209+
210+
211+
while (i2cRead(0x3D, i2cBuffer, 8));
212+
accY = ((i2cBuffer[0] << 8) | i2cBuffer[1]);
213+
accZ = ((i2cBuffer[2] << 8) | i2cBuffer[3]);
214+
gyroX = ((i2cBuffer[6] << 8) | i2cBuffer[7]);
215+
216+
217+
218+
accAngle = (atan2((double)accY - cfg.accYzero, (double)accZ - cfg.accZzero) + PI) * RAD_TO_DEG;
219+
220+
uint32_t timer = micros();
221+
222+
if ((accAngle < 90 && pitch > 270) || (accAngle > 270 && pitch < 90)) {
223+
kalman.setAngle(accAngle);
224+
pitch = accAngle;
225+
gyroAngle = accAngle;
226+
} else {
227+
gyroRate = ((double)gyroX - gyroXzero) / 131.0;
228+
double dt = (double)(timer - kalmanTimer) / 1000000.0;
229+
gyroAngle += gyroRate * dt;
230+
if (gyroAngle < 0 || gyroAngle > 360)
231+
gyroAngle = pitch;
232+
pitch = kalman.getAngle(accAngle, gyroRate, dt);
233+
}
234+
kalmanTimer = timer;
235+
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237+
#ifdef ENABLE_WII
238+
if (Wii.wiimoteConnected)
239+
Usb.Task();
240+
#endif
241+
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243+
timer = micros();
244+
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246+
if ((layingDown && (pitch < cfg.targetAngle - 10 || pitch > cfg.targetAngle + 10)) || (!layingDown && (pitch < cfg.targetAngle - 45 || pitch > cfg.targetAngle + 45))) {
247+
layingDown = true;
248+
stopAndReset();
249+
} else {
250+
layingDown = false;
251+
updatePID(cfg.targetAngle, targetOffset, turningOffset, (double)(timer - pidTimer) / 1000000.0);
252+
}
253+
pidTimer = timer;
254+
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256+
timer = micros();
257+
if (timer - encoderTimer >= 100000) {
258+
encoderTimer = timer;
259+
int32_t wheelPosition = getWheelsPosition();
260+
wheelVelocity = wheelPosition - lastWheelPosition;
261+
lastWheelPosition = wheelPosition;
262+
263+
if (abs(wheelVelocity) <= 40 && !stopped) {
264+
targetPosition = wheelPosition;
265+
stopped = true;
266+
}
267+
268+
batteryCounter++;
269+
if (batteryCounter > 10) {
270+
batteryCounter = 0;
271+
batteryVoltage = (double)analogRead(VBAT) / 63.050847458;
272+
if (batteryVoltage < 10.2 && batteryVoltage > 5)
273+
digitalWrite(buzzer, HIGH);
274+
else
275+
digitalWrite(buzzer, LOW);
276+
}
277+
}
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#ifdef ENABLE_USB
281+
readUsb();
282+
#endif
283+
#ifdef ENABLE_TOOLS
284+
checkSerialData();
285+
#endif
286+
#if defined(ENABLE_TOOLS) || defined(ENABLE_SPP)
287+
printValues();
288+
#endif
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#if defined(ENABLE_SPP) || defined(ENABLE_PS3) || defined(ENABLE_WII)
291+
if (Btd.isReady()) {
292+
timer = millis();
293+
if ((Btd.watingForConnection && timer - blinkTimer > 1000) || (!Btd.watingForConnection && timer - blinkTimer > 100)) {
294+
blinkTimer = timer;
295+
ledState = !ledState;
296+
digitalWrite(LED_BUILTIN, ledState);
297+
}
298+
} else if (ledState) {
299+
ledState = !ledState;
300+
digitalWrite(LED_BUILTIN, ledState);
301+
}
302+
#endif
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}
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