From d618b72b43a2825714e227c82f7cc08b8ecf1e44 Mon Sep 17 00:00:00 2001
From: Theodore <cs141128@uniwa.gr>
Date: Wed, 22 Jan 2020 12:54:09 +0000
Subject: [PATCH] Delete 'pROJECT.ino'

---
 pROJECT.ino | 407 ----------------------------------------------------
 1 file changed, 407 deletions(-)
 delete mode 100644 pROJECT.ino

diff --git a/pROJECT.ino b/pROJECT.ino
deleted file mode 100644
index b615846..0000000
--- a/pROJECT.ino
+++ /dev/null
@@ -1,407 +0,0 @@
-#include <Wire.h>
-#include <TimerOne.h>
-#include <SoftwareSerial.h>
-#include <ArduinoJson.h>
- 
-#define MPU9250_ADDRESS 0x68
-#define MAG_ADDRESS 0x0C
- 
-#define GYRO_FULL_SCALE_250_DPS 0x00 
-#define GYRO_FULL_SCALE_500_DPS 0x08
-#define GYRO_FULL_SCALE_1000_DPS 0x10
-#define GYRO_FULL_SCALE_2000_DPS 0x18
- 
-#define ACC_FULL_SCALE_2_G 0x00 
-#define ACC_FULL_SCALE_4_G 0x08
-#define ACC_FULL_SCALE_8_G 0x10
-#define ACC_FULL_SCALE_16_G 0x18
- 
-// This function read Nbytes bytes from I2C device at address Address. 
-// Put read bytes starting at register Register in the Data array. 
-void I2Cread(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data)
-{
-// Set register address
-Wire.beginTransmission(Address);
-Wire.write(Register);
-Wire.endTransmission();
- 
-// Read Nbytes
-Wire.requestFrom(Address, Nbytes);
-uint8_t index=0;
-while (Wire.available())
-Data[index++]=Wire.read();
-}
-  StaticJsonBuffer<200> jsonBuffer;
-  
-  // Build your own object tree in memory to store the data you want to send in the request
-  JsonObject& root = jsonBuffer.createObject();
- 
-SoftwareSerial ArduinoMaster(2,3);
-String msg; 
-// Write a byte (Data) in device (Address) at register (Register)
-void I2CwriteByte(uint8_t Address, uint8_t Register, uint8_t Data)
-{
-// Set register address
-Wire.beginTransmission(Address);
-Wire.write(Register);
-Wire.write(Data);
-Wire.endTransmission();
-}
- 
-// Initial time
-long int ti;
-volatile bool intFlag=false;
-int enableA = 11;
-int pinA1 = 6;
-int pinA2 = 5;
-int enableB = 10;
-int pinB1 = 4;
-int pinB2 = 3;
-boolean run = true;
- 
-// Initializations
-void setup()
-{
- pinMode(enableA, OUTPUT);
- pinMode(pinA1, OUTPUT);
- pinMode(pinA2, OUTPUT);
- 
- pinMode(enableB, OUTPUT);
- pinMode(pinB1, OUTPUT);
- pinMode(pinB2, OUTPUT);
-// Arduino initializations
-pinMode(13,OUTPUT);
-Wire.begin();
-ArduinoMaster.begin(9600);
-Serial.begin(9600);
- 
-// Set accelerometers low pass filter at 5Hz
-I2CwriteByte(MPU9250_ADDRESS,29,0x06);
-// Set gyroscope low pass filter at 5Hz
-I2CwriteByte(MPU9250_ADDRESS,26,0x06);
- 
- 
-// Configure gyroscope range
-I2CwriteByte(MPU9250_ADDRESS,27,GYRO_FULL_SCALE_1000_DPS);
-// Configure accelerometers range
-I2CwriteByte(MPU9250_ADDRESS,28,ACC_FULL_SCALE_4_G);
-// Set by pass mode for the magnetometers
-I2CwriteByte(MPU9250_ADDRESS,0x37,0x02);
- 
-// Request continuous magnetometer measurements in 16 bits
-I2CwriteByte(MAG_ADDRESS,0x0A,0x16);
- 
-pinMode(13, OUTPUT);
-Timer1.initialize(10000); // initialize timer1, and set a 1/2 second period
-Timer1.attachInterrupt(callback); // attaches callback() as a timer overflow interrupt
- 
- 
-// Store initial time
-ti=millis();
-}
- 
-// Counter
-long int cpt=0;
- 
-void callback()
-{
-intFlag=true;
-digitalWrite(13, digitalRead(13) ^ 1);
-}
- 
-// Main loop, read and display data
-void loop()
-{
-readSerialPort();
-// Send answer to master
-if(msg!=""){
-Serial.print("Master sent : " );
-Serial.println(msg);
-ArduinoMaster.print(msg);
-msg="";
-}
-while (!intFlag);
-intFlag=false;
- 
-// Display time
-Serial.print (millis()-ti,DEC);
-Serial.print ("\t");
- 
- 
-// _______________
-// ::: Counter :::
- 
-// Display data counter
-// Serial.print (cpt++,DEC);
-// Serial.print ("\t");
- 
- 
- 
-// ____________________________________
-// ::: accelerometer and gyroscope :::
- 
-// Read accelerometer and gyroscope
-uint8_t Buf[14];
-I2Cread(MPU9250_ADDRESS,0x3B,14,Buf);
- 
-// Create 16 bits values from 8 bits data
- 
-// Accelerometer
-int16_t ax=-(Buf[0]<<8 | Buf[1]);
-int16_t ay=-(Buf[2]<<8 | Buf[3]);
-int16_t az=Buf[4]<<8 | Buf[5];
- 
-// Gyroscope
-int16_t gx=-(Buf[8]<<8 | Buf[9]);
-int16_t gy=-(Buf[10]<<8 | Buf[11]);
-int16_t gz=Buf[12]<<8 | Buf[13];
-
-root["acceleratorx"]= ax;
-root["acceleratory"]= ay;
-root["acceleratorz"]= az;
-
-root["gyroscopex"]= ax;
-root["gyroscopey"]= ay;
-root["gyroscopez"]= az;
-root.prettyPrintTo(Serial);
-Serial.println();
-
-// Display values
-// Accelerometer
-
-/*
-Serial.print ("ax: ");
-Serial.print (ax,DEC);
-Serial.print ("\t");
-Serial.print ("ay :");
-Serial.print (ay,DEC);
-Serial.print ("\t");
-Serial.print ("az :");
-Serial.print (az,DEC);
-Serial.print ("\t");
-*/ 
-// Gyroscope
-
-/*
-Serial.print ("gx: ");
-Serial.print (gx,DEC);
-Serial.print ("\t");
-Serial.print ("gy: ");
-Serial.print (gy,DEC);
-Serial.print ("\t");
-Serial.print ("gz: ");
-Serial.print (gz,DEC);
-Serial.print ("\t");
-*/ 
-/* 
-// _____________________
-// ::: Magnetometer :::
- 
- 
-// Read register Status 1 and wait for the DRDY: Data Ready
- 
-uint8_t ST1;
-do
-{
-I2Cread(MAG_ADDRESS,0x02,1,&ST1);
-}
-while (!(ST1&0x01));
- 
-// Read magnetometer data 
-uint8_t Mag[7];
-I2Cread(MAG_ADDRESS,0x03,7,Mag);
- 
-// Create 16 bits values from 8 bits data
- 
-// Magnetometer
-int16_t mx=-(Mag[3]<<8 | Mag[2]);
-int16_t my=-(Mag[1]<<8 | Mag[0]);
-int16_t mz=-(Mag[5]<<8 | Mag[4]);
- 
- 
-// Magnetometer
-Serial.print (mx+200,DEC);
-Serial.print ("\t");
-Serial.print (my-70,DEC);
-Serial.print ("\t");
-Serial.print (mz-700,DEC);
-Serial.print ("\t");
- 
- 
- 
-// End of line*/
-Serial.println("");
-// delay(500000);
-
-}
-
-
-void readSerialPort(){
-while (ArduinoMaster.available()) {
-delay(10); 
-if (ArduinoMaster.available() >0) {
-char c = ArduinoMaster.read();  //gets one byte from serial buffer
-msg += c; //makes the string readString
-}
-}
-ArduinoMaster.flush();
-}
-void enableMotors()
-{
- motorAOn();
- motorBOn();
-}
- 
-void disableMotors()
-{
- motorAOff();
- motorBOff();
-}
- 
-void forward(int time)
-{
- motorAForward();
- motorBForward();
- delay(time);
-}
- 
-void backward(int time)
-{
- motorABackward();
- motorBBackward();
- delay(time);
-}
- 
-void turnLeft(int time)
-{
- motorABackward();
- motorBForward();
- delay(time);
-}
- 
-void turnRight(int time)
-{
- motorAForward();
- motorBBackward();
- delay(time);
-}
- 
-void coast(int time)
-{
- motorACoast();
- motorBCoast();
- delay(time);
-}
- 
-void brake(int time)
-{
- motorABrake();
- motorBBrake();
- delay(time);
-}
-//Define low-level H-bridge commands
- 
-//enable motors
-void motorAOn()
-{
- digitalWrite(enableA, HIGH);
-}
- 
-void motorBOn()
-{
- digitalWrite(enableB, HIGH);
-}
- 
- //disable motors
-void motorAOff()
-{
- digitalWrite(enableB, LOW);
-}
- 
-void motorBOff()
-{
- digitalWrite(enableA, LOW);
-}
- 
- //motor A controls
-void motorAForward()
-{
- digitalWrite(pinA1, HIGH);
- digitalWrite(pinA2, LOW);
-}
- 
-void motorABackward()
-{
- digitalWrite(pinA1, LOW);
- digitalWrite(pinA2, HIGH);
-}
- 
-//motor B controls
-void motorBForward()
-{
- digitalWrite(pinB1, HIGH);
- digitalWrite(pinB2, LOW);
-}
- 
-void motorBBackward()
-{
- digitalWrite(pinB1, LOW);
- digitalWrite(pinB2, HIGH);
-}
- 
-//coasting and braking
-void motorACoast()
-{
- digitalWrite(pinA1, LOW);
- digitalWrite(pinA2, LOW);
-}
- 
-void motorABrake()
-{
- digitalWrite(pinA1, HIGH);
- digitalWrite(pinA2, HIGH);
-}
- 
-void motorBCoast()
-{
- digitalWrite(pinB1, LOW);
- digitalWrite(pinB2, LOW);
-}
- 
-void motorBBrake()
-{
- digitalWrite(pinB1, HIGH);
- digitalWrite(pinB2, HIGH);
-}
-/*bool sendRequest(const char* host, const char* resource) {
-  // Reserve memory space for your JSON data
-  StaticJsonBuffer<200> jsonBuffer;
-  
-  // Build your own object tree in memory to store the data you want to send in the request
-  JsonObject& root = jsonBuffer.createObject();
-  root["sensor"] = "dht11";
-  
-  JsonObject& data = root.createNestedObject("data");
-  data.set("temperature", "30.1");
-  data.set("humidity", "70.1");
-  
-  // Generate the JSON string
-  root.printTo(Serial);
-  
-  Serial.print("POST ");
-  Serial.println(resource);
-
-  client.print("POST ");
-  client.print(resource);
-  client.println(" HTTP/1.1");
-  client.print("Host: ");
-  client.println(host);
-  client.println("Connection: close\r\nContent-Type: application/json");
-  client.print("Content-Length: ");
-  client.print(root.measureLength());
-  client.print("\r\n");
-  client.println();
-  root.printTo(client);
-
-  return true;
-}*/