Added arduino and node-red files.

zhangwei-arm · Jul 13, 2020 · 7ffea7b · 7ffea7b
1 parent aa4a07e
commit 7ffea7b
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Showing 6 changed files with 259 additions and 21 deletions.
diff --git a/arduino.c b/arduino.c
@@ -0,0 +1,178 @@
+#include <LobotServoController.h>
+
+LobotServoController myse(Serial1);
+int r = 1;
+String incoming = "";   // for incoming serial string data
+
+void setup() {
+  pinMode(13, OUTPUT);
+  Serial.begin(115200);   // Communicate with PI
+  //while(!Serial);
+  Serial.setTimeout(300); // Set the timeout to 300 ms.
+
+  Serial1.begin(9600);    // Communication with the Robot
+  while(!Serial1);
+  digitalWrite(13,HIGH);
+
+  // Reset
+  myse.moveServo(0,1500,1000);
+  delay(2000);
+
+  myse.moveServo(1,1500,1000);
+  delay(2000);
+
+  myse.moveServo(2,1500,1000);
+  delay(2000);
+
+  myse.moveServo(3,1500,1000);
+  delay(2000);
+
+  myse.moveServo(4,1500,1000);
+  delay(2000);
+
+  myse.moveServo(5,1500,1000);
+  delay(2000);
+
+//  Continous run #100 action group
+//  myse.runActionGroup(100,0);  
+//  delay(5000);
+
+//  Stop the action group
+//  myse.stopActionGroup(); 
+//  delay(2000);
+
+//  Set the action speed of #100 to 200%
+//  myse.setActionGroupSpeed(100,200); 
+//  delay(2000);
+
+//  Run action group #100 for 5 times
+//  myse.runActionGroup(100,5);  
+//  delay(5000);
+
+//  myse.stopActionGroup();
+//  delay(2000);
+
+//  Move #1 servo to 1500 within 1000ms
+//  myse.moveServo(1,1500,1000); 
+//  delay(2000);
+//  myse.moveServo(2,800,1000);
+//  delay(2000);
+
+
+//  Control 5 servos, transition time is 1000ms，
+//  - #0 servo to position of 1300
+//  - #2 servo to position of 700，
+//  - #4 servo to position of 600，
+//  - #6 servo to position of 900，
+//  - #8 servo to position of 790
+//  myse.moveServos(5,1000,0,1300,2,700,4,600,6,900,8,790);
+//  delay(2000);
+//
+
+//  Control two servos, transition time is 1000ms
+//  LobotServo servos[2];       //servo position array
+//  servos[0].ID = 2;           //#2 servo
+//  servos[0].Position = 1400;  //position of 1400
+//  servos[1].ID = 4;           //#4 servo
+//  servos[1].Position = 700;   //position of 700
+//  myse.moveServos(servos,2,1000);  
+}
+
+String findTheNthWord(String input, int n) {
+  String rc = "";
+  input.trim();
+  if (input.length() <= 0) {
+    return rc;
+  }
+
+  int i = 0;
+  int currPosition = 0;
+  while(i++ < n) {
+    currPosition = input.indexOf(' ', currPosition);
+    if (currPosition != -1) {
+      currPosition = currPosition + 1;
+      while (input.charAt(currPosition) == ' ' && currPosition < input.length()) {
+        currPosition += 1;
+      }
+    } else {
+      break;
+    }
+  }
+
+  if (currPosition == -1) {
+    return rc;
+  } else {
+    int end = input.indexOf(' ', currPosition);
+    if (end == -1) {
+      end = input.length(); 
+    }
+    rc = input.substring(currPosition, end);
+  }
+
+  return rc;
+}
+
+void loop() {
+  // send data only when you receive data:
+  if (Serial.available() > 0) {
+    // read the incoming:
+    incoming = Serial.readString();
+    incoming.trim();
+
+    //Serial.println(incoming);
+    if (incoming.startsWith("servo ")) {
+      // I.E "servo 1 1500 1000" -- Move servo 1's position to 1500 in 1 second
+      String servoId = findTheNthWord(incoming, 1);
+      servoId.trim();
+      int servoIdInt = servoId.toInt();
+
+      String servoPosition = findTheNthWord(incoming, 2);
+      servoPosition.trim();
+      int servoPositionInt = servoPosition.toInt();
+
+      String servoSpeed = findTheNthWord(incoming, 3);
+      servoSpeed.trim();
+      int servoSpeedInt = servoSpeed.toInt();
+
+      if (servoId.length() > 0 && servoPosition.length() > 0 && servoSpeed.length() > 0) {
+        Serial.println("move servo: \n" + servoId + " " + servoPosition + " " + servoSpeed);
+        Serial.flush();
+
+        if (servoIdInt == 2 || servoIdInt == 3 || servoIdInt == 4) {
+          myse.moveServo(servoIdInt + 1, servoPositionInt, 2000);
+          delay(3000);
+        } else {
+          myse.moveServo(servoIdInt + 1, servoPositionInt, 1000);
+          delay(2000);
+        }
+      }
+    }
+    else if (incoming.startsWith("group ")) {
+      String groupAction = findTheNthWord(incoming, 1);
+      groupAction.trim();
+
+      if (groupAction.equals("start")) {
+        String groupId = findTheNthWord(incoming, 2);
+        long groupIdInt = groupId.toInt();
+        myse.runActionGroup(groupIdInt, 1);  //run the action group once
+        Serial.println("Started the group action of: " + groupId);
+        Serial.flush();
+        delay(5000);
+      } else if (groupAction.equals("stop")) {
+        myse.stopActionGroup();              //stop running the action group.
+        Serial.println("Stopped the group action.");
+        Serial.flush();
+        delay(2000);
+      } else {
+        Serial.println("Invalid group action command of: \n" + incoming);
+        Serial.flush();
+      }
+    }     
+    else {
+      //junk
+      Serial.println("Invalid command of: \n" + incoming);
+      Serial.flush();
+      incoming = "";
+    }
+  } 
+}
diff --git a/flows.json b/flows.json
@@ -0,0 +1 @@
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 \"content-type\": \"text/plain\",\n    \"payload-b64\": msg.payload\n}\nreturn msg;","outputs":1,"noerr":0,"x":730,"y":400,"wires":[["6b8268f7.66ef78"]]},{"id":"6138c868.f1a438","type":"base64","z":"3eb563f4.6d4ebc","name":"","action":"str","property":"payload","x":520,"y":400,"wires":[["3e93e49a.d58c2c"]]},{"id":"57f29b51.b20664","type":"ui_slider","z":"3eb563f4.6d4ebc","name":"","label":"Servo2","tooltip":"","group":"9a50a3b3.867","order":0,"width":0,"height":0,"passthru":true,"outs":"end","topic":"","min":"900","max":"2000","step":"1","x":380,"y":460,"wires":[["1798ca7f.541bf6"]]},{"id":"73e867c6.405fe8","type":"function","z":"3eb563f4.6d4ebc","name":"Positioner 1","func":"msg.payload = {\n    \"method\": \"PUT\",\n    \"uri\": \"/3337/1/5536\",\n    \"accept\": \"text/plain\",\n    \"content-type\": \"text/plain\",\n    \"payload-b64\": msg.payload\n}\nreturn msg;","outputs":1,"noerr":0,"x":730,"y":460,"wires":[["6b8268f7.66ef78"]]},{"id":"cbac04e2.2240f8","type":"ui_slider","z":"3eb563f4.6d4ebc","name":"","label":"Servo3","tooltip":"","group":"9a50a3b3.867","order":0,"width":0,"height":0,"passthru":true,"outs":"end","topic":"","min":"900","max":"2000","step":"1","x":380,"y":520,"wires":[["4f1edd27.62eb14"]]},{"id":"e7cc5b63.b1ac28","type":"function","z":"3eb563f4.6d4ebc","name":"Positioner 2","func":"msg.payload = {\n    \"method\": \"PUT\",\n    \"uri\": \"/3337/2/5536\",\n    \"accept\": \"text/plain\",\n    \"content-type\": \"text/plain\",\n    \"payload-b64\": msg.payload\n}\nreturn msg;","outputs":1,"noerr":0,"x":730,"y":520,"wires":[["6b8268f7.66ef78"]]},{"id":"47e6e79e.e77418","type":"ui_slider","z":"3eb563f4.6d4ebc","name":"","label":"Servo4","tooltip":"","group":"9a50a3b3.867","order":0,"width":0,"height":0,"passthru":true,"outs":"end","topic":"","min":"900","max":"1800","step":"1","x":380,"y":580,"wires":[["a47ceb51.d89b78"]]},{"id":"84253783.7ee488","type":"function","z":"3eb563f4.6d4ebc","name":"Positioner 3","func":"msg.payload = {\n    \"method\": \"PUT\",\n    \"uri\": \"/3337/3/5536\",\n    \"accept\": \"text/plain\",\n    \"content-type\": \"text/plain\",\n    \"payload-b64\": msg.payload\n}\nreturn msg;","outputs":1,"noerr":0,"x":730,"y":580,"wires":[["6b8268f7.66ef78"]]},{"id":"67d3ecb1.a93ac4","type":"ui_slider","z":"3eb563f4.6d4ebc","name":"","label":"Servo5","tooltip":"","group":"9a50a3b3.867","order":0,"width":0,"height":0,"passthru":true,"outs":"end","topic":"","min":"900","max":"1800","step":"1","x":380,"y":640,"wires":[["427d154c.77e68c"]]},{"id":"ff6223dc.9268c","type":"function","z":"3eb563f4.6d4ebc","name":"Positioner 4","func":"msg.payload = {\n    \"method\": \"PUT\",\n    \"uri\": \"/3337/4/5536\",\n    \"accept\": \"text/plain\",\n    \"content-type\": \"text/plain\",\n    \"payload-b64\": msg.payload\n}\nreturn msg;","outputs":1,"noerr":0,"x":730,"y":640,"wires":[["6b8268f7.66ef78"]]},{"id":"c38e435a.5d297","type":"ui_slider","z":"3eb563f4.6d4ebc","name":"","label":"Servo6","tooltip":"","group":"9a50a3b3.867","order":0,"width":0,"height":0,"passthru":true,"outs":"end","topic":"","min":"900","max":"1800","step":"1","x":380,"y":700,"wires":[["96c2d0e1.eff9"]]},{"id":"a64b184e.3c8d38","type":"function","z":"3eb563f4.6d4ebc","name":"Positioner 5","func":"msg.payload = {\n    \"method\": \"PUT\",\n    \"uri\": \"/3337/5/5536\",\n    \"accept\": \"text/plain\",\n    \"content-type\": \"text/plain\",\n    \"payload-b64\": msg.payload\n}\nreturn msg;","outputs":1,"noerr":0,"x":730,"y":700,"wires":[["6b8268f7.66ef78"]]},{"id":"1798ca7f.541bf6","type":"base64","z":"3eb563f4.6d4ebc","name":"","action":"str","property":"payload","x":520,"y":460,"wires":[["73e867c6.405fe8"]]},{"id":"4f1edd27.62eb14","type":"base64","z":"3eb563f4.6d4ebc","name":"","action":"str","property":"payload","x":520,"y":520,"wires":[["e7cc5b63.b1ac28"]]},{"id":"a47ceb51.d89b78","type":"base64","z":"3eb563f4.6d4ebc","name":"","action":"str","property":"payload","x":520,"y":580,"wires":[["84253783.7ee488"]]},{"id":"427d154c.77e68c","type":"base64","z":"3eb563f4.6d4ebc","name":"","action":"str","property":"payload","x":520,"y":640,"wires":[["ff6223dc.9268c"]]},{"id":"96c2d0e1.eff9","type":"base64","z":"3eb563f4.6d4ebc","name":"","action":"str","property":"payload","x":520,"y":700,"wires":[["a64b184e.3c8d38"]]},{"id":"fda5a7d9.7ce8a8","type":"inject","z":"3eb563f4.6d4ebc","name":"","topic":"","payload":"1500","payloadType":"str","repeat":"","crontab":"","once":false,"onceDelay":0.1,"x":150,"y":560,"wires":[["4d928388.34713c","57f29b51.b20664","cbac04e2.2240f8","47e6e79e.e77418","67d3ecb1.a93ac4","c38e435a.5d297"]]},{"id":"7e6d0390.5eb88c","type":"ui_button","z":"3eb563f4.6d4ebc","name":"GroupAction1","group":"7e9c6a7d.450174","order":0,"width":0,"height":0,"passthru":true,"label":"Group 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6","tooltip":"","color":"","bgcolor":"","icon":"","payload":"6","payloadType":"num","topic":"","x":360,"y":980,"wires":[["d4ae3ba5.ffa838"]]},{"id":"4fdd70fe.7848a","type":"inject","z":"3eb563f4.6d4ebc","name":"","topic":"","payload":"","payloadType":"date","repeat":"","crontab":"","once":false,"onceDelay":0.1,"x":160,"y":980,"wires":[["49996357.11c7fc"]]},{"id":"d4ae3ba5.ffa838","type":"base64","z":"3eb563f4.6d4ebc","name":"","action":"str","property":"payload","x":520,"y":980,"wires":[["59b2adef.11db54"]]},{"id":"9a50a3b3.867","type":"ui_group","z":"","name":"Servo Control","tab":"244c7271.0b95ee","order":1,"disp":true,"width":"20","collapse":true},{"id":"7e9c6a7d.450174","type":"ui_group","z":"","name":"Group Control","tab":"244c7271.0b95ee","order":2,"disp":true,"width":"6","collapse":false},{"id":"244c7271.0b95ee","type":"ui_tab","z":"","name":"6DoF-Robot","icon":"dashboard","disabled":false,"hidden":false}]
diff --git a/pictures/node-red-dashboard.png b/pictures/node-red-dashboard.png
diff --git a/pictures/node-red-flow.jpg b/pictures/node-red-flow.jpg
diff --git a/pictures/node-red-flow.png b/pictures/node-red-flow.png
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		[{"id":"4d928388.34713c","type":"ui_slider","z":"3eb563f4.6d4ebc","name":"","label":"Servo1","tooltip":"","group":"9a50a3b3.867","order":0,"width":0,"height":0,"passthru":true,"outs":"end","topic":"","min":"900","max":"1630","step":"1","x":380,"y":400,"wires":[["6138c868.f1a438"]]},{"id":"181ba5b8.02e47a","type":"debug","z":"3eb563f4.6d4ebc","name":"","active":true,"console":"false","complete":"false","x":1210,"y":560,"wires":[]},{"id":"6b8268f7.66ef78","type":"http request","z":"3eb563f4.6d4ebc","name":"Update Request","method":"POST","ret":"txt","paytoqs":false,"url":"https://api.us-east-1.mbedcloud.com/v2/device-requests/017328b713386aa761d6b4e400300000?async-id=update-position","tls":"","persist":false,"proxy":"","authType":"bearer","x":1021,"y":560,"wires":[["181ba5b8.02e47a"]]},{"id":"3e93e49a.d58c2c","type":"function","z":"3eb563f4.6d4ebc","name":"Positioner 0","func":"msg.payload = {\n \"method\": \"PUT\",\n \"uri\": \"/3337/0/5536\",\n \"accept\": \"text/plain\",\n \"content-type\": \"text/plain\",\n \"payload-b64\": msg.payload\n}\nreturn msg;","outputs":1,"noerr":0,"x":730,"y":400,"wires":[["6b8268f7.66ef78"]]},{"id":"6138c868.f1a438","type":"base64","z":"3eb563f4.6d4ebc","name":"","action":"str","property":"payload","x":520,"y":400,"wires":[["3e93e49a.d58c2c"]]},{"id":"57f29b51.b20664","type":"ui_slider","z":"3eb563f4.6d4ebc","name":"","label":"Servo2","tooltip":"","group":"9a50a3b3.867","order":0,"width":0,"height":0,"passthru":true,"outs":"end","topic":"","min":"900","max":"2000","step":"1","x":380,"y":460,"wires":[["1798ca7f.541bf6"]]},{"id":"73e867c6.405fe8","type":"function","z":"3eb563f4.6d4ebc","name":"Positioner 1","func":"msg.payload = {\n \"method\": \"PUT\",\n \"uri\": \"/3337/1/5536\",\n \"accept\": \"text/plain\",\n \"content-type\": \"text/plain\",\n \"payload-b64\": msg.payload\n}\nreturn msg;","outputs":1,"noerr":0,"x":730,"y":460,"wires":[["6b8268f7.66ef78"]]},{"id":"cbac04e2.2240f8","type":"ui_slider","z":"3eb563f4.6d4ebc","name":"","label":"Servo3","tooltip":"","group":"9a50a3b3.867","order":0,"width":0,"height":0,"passthru":true,"outs":"end","topic":"","min":"900","max":"2000","step":"1","x":380,"y":520,"wires":[["4f1edd27.62eb14"]]},{"id":"e7cc5b63.b1ac28","type":"function","z":"3eb563f4.6d4ebc","name":"Positioner 2","func":"msg.payload = {\n \"method\": \"PUT\",\n \"uri\": \"/3337/2/5536\",\n \"accept\": \"text/plain\",\n \"content-type\": \"text/plain\",\n \"payload-b64\": msg.payload\n}\nreturn 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