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Decabot.cpp
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Decabot.cpp
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/*
Decabot.h
Daniel Chagas
*/
#include"Decabot.h"
Decabot::Decabot(int delay, byte configuration){
/*defines wich configuration the robot is set
0- Ultrasonic on 4,5
1- RFID on 9-13
2- Servo on A2
3- Led Matrix on 4,5,A2
4- Gyroscope on i2c
5- Laser distance sensor on i2c
6- Step motor drives on 7 to 13
7- PIR sensor on A2
*/
decabotConfiguration = configuration;
//define pin modes for shift register, buzzer and LED
millisDelay = delay;
pinMode(buzzerPin, OUTPUT);
pinMode(ledPin, OUTPUT);
pinMode(latchPin, OUTPUT);
pinMode(clockPin, OUTPUT);
pinMode(dataPin, OUTPUT);
if(bitRead(decabotConfiguration,6)){
//define pin modes for direct connection to step motor controllers 6 to 13.
for(int i=6;i<14;i++){
pinMode(i, OUTPUT);
}
}
if(bitRead(decabotConfiguration,3)){
//configure a 8 x 8 led display on A2,4,5
pinMode(ledLatchPin, OUTPUT);
pinMode(ledClockPin, OUTPUT);
pinMode(ledDataPin, OUTPUT);
bitWrite(decabotConfiguration,0,0); //turn off ultrasonic configuration
bitWrite(decabotConfiguration,2,0); //turn off servo configuration
} else {
if(bitRead(decabotConfiguration,0)){
//configure a ultrasonic sensor on 4,5
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
digitalWrite(trigPin, LOW);
}
if(bitRead(decabotConfiguration,2)){
//configure a servo on pin 16
pinMode(servoPin, OUTPUT);
}
}
if(bitRead(decabotConfiguration,1)){
//configure RFID
}
}
/*
Decabot::~Decabot()
{
//define pin modes for shift register, buzzer and LED
pinMode(buzzerPin, OUTPUT);
pinMode(ledPin, OUTPUT);
pinMode(latchPin, OUTPUT);
pinMode(clockPin, OUTPUT);
pinMode(dataPin, OUTPUT);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
digitalWrite(trigPin, LOW);
}
*/
void Decabot::boot(){
//Boot sequence
Serial.println(F(" - - - - - - - - - - - - - - - - - - - - - - - - - - D E C A N O"));
outputln(F("Initializing Decabot..."));
if(bitRead(decabotConfiguration,3)){
//configure a 8 x 8 led display on CLK 4, DIN 5, CS 16(A2)
outputln(F("Led Matrix MAX7219 on CLK 4, DIN 5, CS 16(A2)"));
// init MAX2719 states
ledMatrixInit();
ledFaceEyes(5,0);
printFace(0);
} else {
if(bitRead(decabotConfiguration,0)){
//configure a ultrasonic sensor on 4,5
outputln(F("Ultrasonic sensor HC-SR04 on ECHO 4, TRIG 5"));
}
if(bitRead(decabotConfiguration,2)){
//configure a servo on pin 16
outputln(F("Servo motor S on 16(A2)"));
pinMode(servoPin, OUTPUT);
}
}
if(bitRead(decabotConfiguration,6)){
//configure Step Motor Drives
outputln(F("ULN2003 Step Motor Driver Right on 6, 7, 8, 9"));
outputln(F("ULN2003 Step Motor Driver Left on 10, 11, 12, 13"));
} else {
if(bitRead(decabotConfiguration,1)){
//configure RFID
outputln(F("RFID mfrc522 on RST 9, SDA 10, MOSI 11, MISO 12, SCK 13"));
Serial.println(F("\tRFID lib must be loaded on sketch to work!"));
}
outputln(F("Shift register 74CH595 on LATCH 8, CLK 7, DATA 6"));
outputln(F("Buzzer on 3"));
outputln(F("Step Motor on BAY1, BAY2"));
outputln(F("Buttons on A0"));
}
resetMotors();
whoAmI();
Serial.println("AT+NAMEDECA_" + decabotName);
showPosition();
measureBattery();
soundBoot();
outputln(F("READY!"));
runCodeDominoSetup();
}
void Decabot::runCodeDominoSetup(){
if(infiniteCode(768)=='[') {
outputln(F("found CodeDomino on setup..."));
outputln(programName(768));
run(10,0);
}
}
void Decabot::inputSerial(char dataSerial) {
//acumulates the serial data on a variable, and executes it when receive the end of line
inputSerialString += dataSerial;
if (dataSerial == '\n') {
runCodeOnSerial();
inputSerialString = "";
}
}
void Decabot::runCodeOnSerial(){
//receive Code Domino data thru serial and run
int serialCodeSize = inputSerialString.length() + 1;
char inputSerialChar[serialCodeSize];
inputSerialString.toCharArray(inputSerialChar, serialCodeSize); //convert string to char
if((inputSerialString[0]=='[')or(inputSerialString[0]=='S')){ //checkif it is a code Domino
codeDomino(inputSerialChar);
} else {
//tun the command imediatelly
codeInterpreter(inputSerialString[0], 0);
}
}
void Decabot::invertLeftMotor(){
leftMotorInverted = 1;
outputln("Left motor rotation inverted!");
}
void Decabot::invertRightMotor(){
rightMotorInverted = 1;
outputln("Right motor rotation inverted!");
}
int Decabot::readButton() {
if(!bitRead(decabotConfiguration,6)){ //check if has buttons (no Shield)
int buttonValue = analogRead(A0);
int pressedButton = 0;
if((buttonValue > 200)&&(timerButton + 1000 < millis())){
tone(buzzerPin, 440, 200); //beep on hold
}
if((buttonValue > 200)&&!lastButtonState){
beep(100);
lastButtonState = 1;
lastButtonValue = buttonValue;
timerButton = millis();
digitalWrite(ledPin, 1);
}
if((buttonValue <= 200)&&lastButtonState){
noTone(buzzerPin);
lastButtonState = 0;
digitalWrite(ledPin, 0);
long actualTimer = millis();
if(lastButtonValue<709) {
pressedButton = 6;
} else if(lastButtonValue<761){
pressedButton = 5;
} else if(lastButtonValue<822){
pressedButton = 4;
} else if(lastButtonValue<894){
pressedButton = 3;
} else if(lastButtonValue<977){
pressedButton = 2;
} else {
pressedButton = 1;
}
tmpOutput = F("button ");
tmpOutput.concat(pressedButton);
if(timerButton + 1000 < actualTimer){ //long press detected increases return number by 6
pressedButton += 6;
tmpOutput.concat(F(" long "));
}
tmpOutput.concat(F(" pressed!"));
outputln(tmpOutput);
executeButton(pressedButton);
}
}
}
void Decabot::executeButton(int button){
switch(button){
case 1: //play button
run(1);
break;
case 2: //memory blocks 1 to 4
run(0,0);
break;
case 3: //memory blocks 1 to 4
run(1,0);
break;
case 4: //memory blocks 1 to 4
run(2,0);
break;
case 5: //memory blocks 1 to 4
run(3,0);
break;
case 6: //rec stop button
if(executing) {
emergencyStop();
} else {
if(recording){
emergencyStop();
} else {
rfidCodeRecord();
}
}
break;
case 7:
dumpMemory();
break;
case 8:
rfidCodeRecord(0);
break;
case 9:
rfidCodeRecord(1);
break;
case 10:
rfidCodeRecord(2);
break;
case 11:
rfidCodeRecord(3);
break;
case 12:
formatROM();
break;
}
}
void Decabot::rfidCodeRecord() {
if(bitRead(decabotConfiguration,3)) {
inputRfidString = "[rfid]";
soundRecording();
faceReadingRfid();
outputln(F("Recording RFID on RAM"));
leftDirection = rightDirection = 1;
moving = 1;
recording = 1;
stepsToMove += 1500;
} else {
outputln(F("[no RFID][/]"));
}
}
void Decabot::rfidCodeRecord(int blockMemory) {
if(bitRead(decabotConfiguration,3)) {
inputRfidString = "S" + (String)blockMemory + "[rfid]";
int rfidRecordingMemoryBlock = blockMemory;
soundRecording();
faceReadingRfid();
tmpOutput = F("Recording RFID on memory ");
tmpOutput.concat(rfidRecordingMemoryBlock);
outputln(tmpOutput);
leftDirection = rightDirection = 1;
moving = 1;
recording = 1;
stepsToMove += 1500;
} else {
outputln(F("[no RFID][/]"));
}
}
void Decabot::injectRFID(String rfidData){
if(rfidData.substring(0,1)=="["){ //every rfid Code Domino piece must initiate with []
if(recording){
if(bitRead(decabotConfiguration,3)) faceReadingRfid();
stepsToMove += 1000;
tmpOutput = F("[RFID] data received: ");
tmpOutput.concat(rfidData.substring(rfidData.indexOf("]")+1));
outputln(tmpOutput);
inputRfidString.concat(rfidData.substring(rfidData.indexOf("]")+1));
if(inputRfidString.indexOf('O')>0){
moving = 0;
recording = 0;
stepsToMove = 0;
resetMotors();
inputRfidString.concat("O"); //include an END command for precaution
int rfidCodeSize = inputRfidString.length() + 1;
if(rfidCodeSize>128) {
soundError();
outputln(F("RFID code > 128 bytes!"));
return;
}
char inputRfidChar[rfidCodeSize];
inputRfidString.toCharArray(inputRfidChar, rfidCodeSize); //convert string to char
codeDomino(inputRfidChar);
inputRfidString = "";
}
} else {
if(!executing){
//sanitize CD code
if(rfidData.indexOf('[')==rfidData.indexOf(']')+1) rfidData = "[rfid]" + rfidData.substring(rfidData.indexOf("]"+1));
rfidData.concat("O"); //include an END command for precaution
tmpOutput = F("[RFID] data received:");
tmpOutput.concat(rfidData);
outputln(tmpOutput);
int rfidCodeSize = rfidData.length() + 1;
char inputRfidChar[rfidCodeSize];
rfidData.toCharArray(inputRfidChar, rfidCodeSize); //convert string to char
codeDomino(inputRfidChar);
rfidData = "";
run(1);
} else {
// Ignore RFID data while running a Code Domino.
// Must think about it, if it can pause the execution, run, and go back
outputln(F("Ignoring RFID data..."));
}
}
} else {
soundError();
Serial.println(rfidData);
outputln(F("Not a Code Domino piece!"));
}
}
void Decabot::injectRFIDposition(String rfidData){
outputln(F("[RFID] position received:"));
String XnewPos = rfidData.substring(rfidData.indexOf('X')+1,rfidData.indexOf('Y'));
String YnewPos = rfidData.substring(rfidData.indexOf('Y')+1,rfidData.indexOf(')'));
setPosition(XnewPos.toInt(), YnewPos.toInt());
}
void Decabot::resetMotors() {
updateMotors(B00000000);
outputln(F("Reset motors"));
}
void Decabot::updateMotors(byte data){
if(bitRead(decabotConfiguration,6)){
for(int i=0;i<8;i++){
digitalWrite(i+6,bitRead(data,i));
}
} else {
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, MSBFIRST, data); //Send all off to 74HC595
digitalWrite(latchPin, HIGH);
}
}
void Decabot::updateMotors(){
switch (leftStep) {
case 1:
leftBin = B10010000;
break;
case 2:
leftBin = B00110000;
break;
case 3:
leftBin = B01100000;
break;
case 4:
leftBin = B11000000;
break;
}
switch (rightStep) {
case 1:
rightBin = B00001001;
break;
case 2:
rightBin = B00000011;
break;
case 3:
rightBin = B00000110;
break;
case 4:
rightBin = B00001100;
break;
}
if(bitRead(decabotConfiguration,6)){
for(int i=0;i<8;i++){
digitalWrite(i+6,bitRead(leftBin | rightBin,i));
}
} else {
digitalWrite(latchPin, LOW);
shiftOut(dataPin, clockPin, MSBFIRST, leftBin | rightBin); //Send all off to 74HC595
digitalWrite(latchPin, HIGH);
}
}
void Decabot::whoAmI() {
//Loads from EEPROM and outputs tag name and owner e-mail of Decabot
//Serial.print(F("\t"));
//UniqueIDdump(Serial);
//load form EEPROM and put in RAM
decabotName = "";
for(int i=902;i<=906;i++){
if((char) EEPROM.read(i) == '[') break;
decabotName.concat((char) EEPROM.read(i));
}
decabotOwner = "";
for(int i=917;i<960;i++){
if((char) EEPROM.read(i) == '[') break;
decabotOwner.concat((char) EEPROM.read(i));
}
tmpOutput = F("[name][");
tmpOutput.concat(decabotName);
tmpOutput.concat(F("][/]"));
outputln(tmpOutput);
tmpOutput = F("[owner][");
tmpOutput.concat(decabotOwner);
tmpOutput.concat(F("][/]"));
outputln(tmpOutput);
}
String Decabot::sayMyName(){
return decabotName;
}
void Decabot::yourNameIs(String parameter){
//change Decabot's tag name on EEPROM
decabotName = parameter;
soundRecording();
EEPROM.update(896,'[');
EEPROM.update(897,'n');
EEPROM.update(898,'a');
EEPROM.update(899,'m');
EEPROM.update(900,'e');
EEPROM.update(901,']');
int i=0;
for(i;i<=decabotName.length();i++){
EEPROM.update(i + 902,decabotName[i]);
}
EEPROM.update(i+902,'[');
EEPROM.update(i+903,'/');
EEPROM.update(i+904,']');
tmpOutput = F("new name:");
tmpOutput.concat(decabotName);
outputln(tmpOutput);
Serial.println("AT+NAMEDECA_" + decabotName);
}
void Decabot::yourOwnerIs(String parameter){
//change decabot emails owner on EEPROM
decabotOwner = parameter.substring(0,42);
parameter.concat("[/]");
soundRecording();
EEPROM.update(912,'[');
EEPROM.update(913,'o');
EEPROM.update(914,'w');
EEPROM.update(915,'n');
EEPROM.update(916,']');
int i=0;
for(i;i<parameter.length();i++){
if(i+917>959) break;
EEPROM.update(i + 917,parameter[i]);
}
output(F("Decabot [owner]["));
Serial.print(decabotOwner);
Serial.println(F("][/]"));
}
void Decabot::primeDirectives(){
outputln(F("Prime Directives:"));
Serial.println(F("\t1. Serve the public trust\n\t2. Protect the innocent\n\t3. Uphold the law"));
}
void Decabot::outputln(String message) {
//Terminal-like output, with timestamp
//User must start serial in setup() to work
String msg = "";
msg.concat(String(millis()/1000.0,2));
msg.concat(F("\t"));
for(int i=0;i<repeatCalls;i++) msg.concat(F(" | "));
msg.concat(message);
Serial.println(msg);
}
void Decabot::erase(int blockMemory){
soundRecording();
EEPROM.update(blockMemory*64,'O'); //soft erase a program changing the 1st byte to a stop Code Domino command (O)
tmpOutput = F("[erased] memory block [");
tmpOutput.concat(blockMemory);
tmpOutput.concat("]");
outputln(tmpOutput);
}
void Decabot::formatROM(){
if(1){
outputln("Formatting ROM...");
for(int i=0;i<EEPROM.length();i++){
EEPROM.update(i,'O');
}
outputln("Format complete!");
//yourNameIs(sayMyName());
dumpMemory();
} else {
outputln(F("To format you must input robot's name as a parameter"));
}
}
void Decabot::output(String message) {
//Terminal-like output, with timestamp
//Doesnt break line at the end
String msg = "";
msg.concat(String(millis()/1000.0,2));
msg.concat(F("\t"));
for(int i=0;i<repeatCalls;i++) msg.concat(F(" | "));
msg.concat(message);
Serial.print(msg);
}
void Decabot::dumpMemory(){
Serial.print("\t0");
for(int i=3;i<=64;i++){
if(i%16==0) {
Serial.print(i);
} else {
Serial.print(" ");
}
}
for(int i=0;i<EEPROM.length()+128;i++) {
if((i%16==0)&&(i%64!=0)) Serial.print(" ");
if(i%64==0) {
Serial.println("");
if(i<128){
Serial.print("[RAM");
} else {
if(i<768){
Serial.print("[ROM");
Serial.print((i-128)/64);
} else {
if(i<832){
Serial.print("[SETUP");
} else {
if(i<1024){
Serial.print("[LOOP");
Serial.print(((i-128)/64)-10);
} else {
if(i<1152){
Serial.print("[ROBOT");
} else {
Serial.print("Flash");
Serial.print((i-128)/64);
}
}
}
}
}
Serial.print("]\t");
}
char byteRead = infiniteCode(i);
if(isCodeDominoChar(byteRead)){
Serial.print(byteRead);
} else {
Serial.print('-');
}
}
Serial.println("");
outputln(F("Dump memory complete!"));
}
void Decabot::beep(int time){
tone(buzzerPin, 1000, 50);
delay(time);
noTone(buzzerPin);
delay(time);
}
void Decabot::soundBoot() {
digitalWrite(ledPin, HIGH);
ledFaceEyes(5,0);
for(int i=0;i<4;i++){
ledFaceMouth(i,0);
printFace(0);
tone(buzzerPin, decabotMusic[i][0], decabotMusic[i][1]*200);
delay(decabotMusic[i][1]*200);
noTone(buzzerPin);
}
digitalWrite(ledPin, LOW);
}
void Decabot::soundBegin() {
outputln(F("Start!"));
tone(buzzerPin, 440, 200);
delay(200);
tone(buzzerPin, 494, 200);
delay(200);
tone(buzzerPin, 523, 400);
delay(400);
noTone(buzzerPin);
}
void Decabot::soundEnd() {
outputln(F("End!"));
tone(buzzerPin, 440, 50);
delay(50);
tone(buzzerPin, 494, 50);
delay(50);
tone(buzzerPin, 523, 400);
delay(400);
tone(buzzerPin, 494, 50);
delay(50);
tone(buzzerPin, 440, 50);
delay(50);
tone(buzzerPin, 391, 400);
delay(400);
noTone(buzzerPin);
}
void Decabot::soundRecording() {
//sound played everytime something is recorded in EEPROM
for(int x=0;x<3;x++){
beep(50);
delay(50);
}
delay(200);
}
void Decabot::soundError(){
if(bitRead(decabotConfiguration,3)) faceError();
outputln(F("Error!"));
tone(buzzerPin, 391, 800);
delay(150);
noTone(buzzerPin);
delay(30);
tone(buzzerPin, 261, 1500);
delay(400);
noTone(buzzerPin);
}
void Decabot::oneStepLeft(int dir) {
if(dir==1){
leftStep++;
} else {
leftStep--;
}
if(leftStep>4) leftStep = 1;
if(leftStep<1) leftStep = 4;
}
void Decabot::oneStepRight(int dir) {
if(dir==1){
rightStep++;
} else {
rightStep--;
}
if(rightStep>4) rightStep = 1;
if(rightStep<1) rightStep = 4;
}
void Decabot::move(int distance, int leftDirection, int RightDirection){
for(int i=0;i<distance;i++){
oneStepLeft(leftDirection);
oneStepRight(RightDirection);
updateMotors();
delay(millisDelay); //That's why you must avoid using this movements commands!
}
resetMotors();
}
void Decabot::forward(int centimeters){
tmpOutput = F("Going forward ");
tmpOutput.concat(centimeters);
tmpOutput.concat(F("cm"));
outputln(tmpOutput);
move(centimeters * 100,1,1);
}
void Decabot::left(int degrees){
tmpOutput = F("Turning left ");
tmpOutput.concat(degrees);
tmpOutput.concat(F("°"));
outputln(tmpOutput);
move(degrees * 7.8,1,0);
}
void Decabot::right(int degrees){
tmpOutput = F("Turning right ");
tmpOutput.concat(degrees);
tmpOutput.concat(F("°"));
outputln(tmpOutput);
move(degrees * 7.8,0,1);
}
void Decabot::servo(int degrees){
if(bitRead(decabotConfiguration,2)){
// The map function calculates a number between 5 ans 50 to iteration the pulses,
// proportional to the difference between actual angle and new angle,
// so the robot will not be stucked in delays while moving the servo.
tmpOutput = F("[servo][");
tmpOutput.concat(degrees);
tmpOutput.concat(F("][/]"));
outputln(tmpOutput);
for(int i=0;i<map(abs(servoPosition-degrees),0,180,5,50);i++){
int pulse = map(degrees, 0, 180, 600, 2400);
digitalWrite(servoPin, HIGH);
delayMicroseconds(pulse);
digitalWrite(servoPin, LOW);
delayMicroseconds(pulse - 20000);
}
servoPosition = degrees;
} else {
outputln(F("[no servo][/]"));
}
}
bool Decabot::isCodeDominoChar(char command){
//used to sanitize code domino data
return (isAlphaNumeric(command)||command=='['||command==']'||command=='?'||command=='#'||command=='$'||command=='('||command==')');
}
void Decabot::codeDomino(char code[]){
//loads codeDomino on RAM or ROM
if(code[0]=='S') { //if the first piece of code is Save
outputln("Saving program on ROM...");
soundRecording();
int parameterDigits = 0;
int parameterData = 0;
//check how many numbers are after the command Save
while(isDigit(code[1+parameterDigits])){
parameterDigits++;
}
int j=0;
for(int k = parameterDigits;k>0;k--){
parameterData = parameterData + ((int)(code[k]) - 48) * poten(10,j);
j++;
}
//define the memory block address by the parameter after command Save
int memoryBlock = parameterData;
int i=0;
for(i;i<128;i++){
EEPROM.update(i + (memoryBlock*64),code[i+parameterDigits+1]);
if(code[i] == 'O') break;
}
while(i%64!=0) {
//fill the rest of memory block with end command
EEPROM.update(i + (memoryBlock*64),'O');
i++;
}
programName(memoryBlock*64+128);
outputln("Complete!");
} else {
output(F("New program loaded on RAM!\n[load]"));
Serial.print(F("\t"));
int i=0;
bool writingName = 0;
for(i=0;i<128;i++){
runningCode[i] = code[i]; //fill the given code to RAM
if(runningCode[i]=='[') writingName = 1;
if(!writingName) Serial.print(F("[")); else Serial.print(F(" "));
if(isCodeDominoChar(runningCode[i])){
Serial.print(runningCode[i]);
} else {
Serial.print('-');
}
if(!writingName) Serial.print(F("]")); else Serial.print(F(" "));
if(runningCode[i]==']') writingName = 0;
if(runningCode[i]=='O') break;
}
Serial.println("");
Serial.print(F("\t "));
for(int j=0;j<=i;j++){
Serial.print(j+1);
if(j<8) {
Serial.print(" ");
} else {
Serial.print(" ");
}
}
Serial.println("");
for(i;i<128;i++) runningCode[i]='O'; //fill the rest of the array with End command
}
loadLedsCheck();
}
void Decabot::saveCodeROM(int memoryBlock) {
/*
outputln("Saving program on ROM...");
soundRecording();
int i=0;
for(i;i<128;i++){
EEPROM.update(i + (memoryBlock*64),runningCode[i]);
if(runningCode[i] == 'O') break;
}
runningCodeIndex = i; //ends the execution of the code imediatelly
while(i%64!=0) {
//fill the rest of memory block with end command
EEPROM.update(i + (memoryBlock*64),'O');
i++;
}
outputln("Complete!");
*/
}
void Decabot::run(bool soundsOn){
runningSounds = soundsOn;
if(infiniteCode(0)=='[') {
if(soundsOn) soundBegin();
runningCodeIndex = 0;
codeMillisBegin = millis();
executing = 1;
nextCommand();
} else {
soundError();
outputln(F("No code loaded on RAM!"));
}
loadLedsCheck();
}
void Decabot::run(int blockMemory, bool soundsOn){
if(soundsOn) soundBegin();
runningSounds = soundsOn;
runningCodeIndex = (blockMemory * 64) + 128;
codeMillisBegin = millis();
executing = 1;
nextCommand();
}
void Decabot::nextCommand(){
//call commands using the running Code Index variable and the runningCode array
if(!isDigit(infiniteCode(runningCodeIndex))){ //check if it is a letter
output(F("("));
Serial.print(runningCodeIndex+1);
Serial.print(F(")"));
int parameterDigits = 0;
int parameterData = 0;
int commandsToJump = 0;
//check if parameter is from a variable
if(infiniteCode(runningCodeIndex+1)=='$'){
commandsToJump = 2;
if(infiniteCode(runningCodeIndex+2)=='X'){
parameterData = varX;
}
if(infiniteCode(runningCodeIndex+2)=='Y'){
parameterData = varY;
}
if(infiniteCode(runningCodeIndex+2)=='Z'){
parameterData = varZ;
}
if(infiniteCode(runningCodeIndex+2)=='N'){
parameterData = varN;
}
if(infiniteCode(runningCodeIndex+2)=='P'){
parameterData = varP;
}
if(infiniteCode(runningCodeIndex+2)=='Q'){
parameterData = varQ;
}
if(infiniteCode(runningCodeIndex+2)=='A'){
parameterData = varA;
}
if(infiniteCode(runningCodeIndex+2)=='B'){
parameterData = varB;
}
if(infiniteCode(runningCodeIndex+2)=='C'){
parameterData = varC;
}
if(infiniteCode(runningCodeIndex+2)=='E'){
parameterData = varE;
}
if(infiniteCode(runningCodeIndex+2)=='I'){
parameterData = varI;
}
if(infiniteCode(runningCodeIndex+2)=='J'){
parameterData = varJ;
}
if(infiniteCode(runningCodeIndex+2)=='K'){
parameterData = varK;
}
if(infiniteCode(runningCodeIndex+2)=='R'){
//create a random number from 0 to 9
parameterData = random(10);
//commandsToJump++;
}
} else {
//check how many numbers are after the command
while(isDigit(infiniteCode(runningCodeIndex+1+parameterDigits))){
parameterDigits++;
}
int j=0;
for(parameterDigits;parameterDigits>0;parameterDigits--){
parameterData = parameterData + ((int)(infiniteCode(runningCodeIndex+parameterDigits)) - 48) * poten(10,j);
j++;
}
}
codeInterpreter(infiniteCode(runningCodeIndex),parameterData);
runningCodeIndex += commandsToJump; //jump variable pieces
runningCodeIndex++;
} else {
runningCodeIndex++;
}
}
char Decabot::infiniteCode(int index){
//treats RAM and EEPROM as a unique sequential memory
if(index<128){
return runningCode[index];
} else {
return EEPROM.read(index-128);
}
}
void Decabot::codeInterpreter(char command, int parameter){
if(isCodeDominoChar(command)){
if(command=='A') unknowCode();
if(command=='a') ledFaceEyebrows(varC, parameter, 1); //change angry state face
if(command=='B') codeGoTo(parameter); //go to a position in code
if(command=='b') ledFaceMouth(parameter, 1); //change mouth
if(command=='C') unknowCode();
if(command=='c') ledFaceEyebrows(parameter, varA, 1); //change eyebrow close state
if(command=='D') unknowCode();
if(command=='d') unknowCode();
if(command=='E') erase(parameter); //soft erase a memory block
if(command=='e') ledFaceEyes(parameter,1); //move eyes
if(command=='F') codeForward(parameter); //move forward
if(command=='f') printFace(1);
if(command=='G') saveCodeROM(parameter);
if(command=='g') unknowCode();
if(command=='H') unknowCode();
if(command=='h') servo(parameter); //move servo to the angle
if(command=='I') unknowCode();
if(command=='i') unknowCode();
if(command=='J') unknowCode();
if(command=='j') ledMatrixBattery(measureBattery());
if(command=='K') unknowCode();
if(command=='k') unknowCode();
if(command=='L') codeLeft(parameter); //turn left
if(command=='l') unknowCode();
if(command=='M') codeMusic(parameter); //play sound
if(command=='m') dumpMemory(); //dump memory on serial
if(command=='N') unknowCode();
if(command=='n') sayMyName(); //return decabot name
if(command=='O') codeEnd(); //end of block of code
if(command=='o') unknowCode();
if(command=='P') servo(90);
if(command=='p') servo(0);
if(command=='Q') unknowCode();
if(command=='q') unknowCode();
if(command=='R') codeRight(parameter); //turn right
if(command=='r') run(0);
if(command=='S') saveCodeROM(parameter);
if(command=='s') codeSpeed(parameter); //set temporary motor speed
if(command=='T') unknowCode();
if(command=='t') unknowCode();
if(command=='U') objectDetection(1);
if(command=='u') codeScanObjectPrecision(parameter);
if(command=='V') unknowCode();
if(command=='W') codeWait(parameter); //wait
if(command=='w') whoAmI();
if(command=='X') codeRepeat(parameter);
if(command=='x') setPosition(parameter,yPos); //define the X position in the arena
if(command=='Y') codeStopRepeat();
if(command=='y') setPosition(xPos,parameter); //defune the Y position in the arena
if(command=='Z') codeRunBlockMem(parameter); //run a block of code from ROM
if(command=='z') unknowCode();
if(command=='[') programName(runningCodeIndex);
if(command=='?') showPosition();
if(command=='#') ledMatrixRandom();
} else {
unknowCode();
}
}
String Decabot::programName(int memoryPosition){
String name;
if(infiniteCode(memoryPosition)!='[') {
name = "unknow";
} else {
memoryPosition++;
while(infiniteCode(memoryPosition)!=']'){
name.concat(infiniteCode(memoryPosition));
memoryPosition++;
}
runningCodeIndex = memoryPosition;
}
tmpOutput = F("[program][");
tmpOutput.concat((memoryPosition-128)/64);
tmpOutput.concat("][");
tmpOutput.concat(name);
tmpOutput.concat("][/]");
outputln(tmpOutput);
return name;
}