#define TIMER2_PRELOAD 100

char outputs[10];

int states[10];

unsigned long initialPulseTime;

unsigned long lastDataReceivedTime;

volatile boolean updateServoMotors;

volatile boolean newInterruption;

void setup()

{

Serial.begin(38400);

Serial.flush();

configurePins();

configureServomotors();

lastDataReceivedTime = millis();

}

void loop()

{

if (updateServoMotors)

{

sendUpdateServomotors();

sendSensorValues();

updateServoMotors = false;

}

else

{

readSerialPort();

}

}

void configurePins()

{

for (int index = 0; index < 10; index++)

{

states[index] = 0;

pinMode(index+4, OUTPUT);

digitalWrite(index+4, LOW); //reset pins

}

pinMode(2,INPUT);

pinMode(3,INPUT);

outputs[0] = 'c'; //pin 4

outputs[1] = 'a'; //pin 5

outputs[2] = 'a'; //pin 6

outputs[3] = 'c'; //pin 7

outputs[4] = 's'; //pin 8

outputs[5] = 'a'; //pin 9

outputs[6] = 'd'; //pin 10

outputs[7] = 'd'; //pin 11

outputs[8] = 'd'; //pin 12

outputs[9] = 'd'; //pin 13

}

void configureServomotors() //servomotors interruption configuration (interruption each 10 ms on timer2)

{

newInterruption = false;

updateServoMotors = false;

TCCR2A = 0;

TCCR2B = 1<<CS22 | 1<<CS21 | 1<<CS20;

TIMSK2 = 1<<TOIE2; //timer2 Overflow Interrupt

TCNT2 = TIMER2_PRELOAD; //start timer

}

void sendSensorValues()

{

int sensorValues[6], readings[5], sensorIndex;

for (sensorIndex = 0; sensorIndex < 6; sensorIndex++) //for analog sensors, calculate the median of 5 sensor readings in order to avoid variability and power surges

{

for (int p = 0; p < 5; p++)

readings[p] = analogRead(sensorIndex);

InsertionSort(readings, 5); //sort readings

sensorValues[sensorIndex] = readings[2]; //select median reading

}

//send analog sensor values

for (sensorIndex = 0; sensorIndex < 6; sensorIndex++)

ScratchBoardSensorReport(sensorIndex, sensorValues[sensorIndex]);

//send digital sensor values

ScratchBoardSensorReport(6, digitalRead(2)?1023:0);

ScratchBoardSensorReport(7, digitalRead(3)?1023:0);

}

void InsertionSort(int* array, int n)

{

for (int i = 1; i < n; i++)

for (int j = i; (j > 0) && ( array[j] < array[j-1] ); j--)

swap( array, j, j-1 );

}

void swap (int* array, int a, int b)

{

int temp = array[a];

array[a] = array[b];

array[b] = temp;

}

void ScratchBoardSensorReport(int sensor, int value) //PicoBoard protocol, 2 bytes per sensor

{

Serial.write( B10000000

| ((sensor & B1111)<<3)

| ((value>>7) & B111));

Serial.write( value & B1111111);

}

void readSerialPort()

{

int pin, inByte, sensorHighByte;

if (Serial.available() > 1)

{

lastDataReceivedTime = millis();

inByte = Serial.read();

if (inByte >= 128) // Are we receiving the word's header?

{

sensorHighByte = inByte;

pin = ((inByte >> 3) & 0x0F);

while (!Serial.available()); // Wait for the end of the word with data

inByte = Serial.read();

if (inByte <= 127) // This prevents Linux ttyACM driver to fail

{

states[pin - 4] = ((sensorHighByte & 0x07) << 7) | (inByte & 0x7F);

updateActuator(pin - 4);

}

}

}

else checkScratchDisconnection();

}

void reset() //with xbee module, we need to simulate the setup execution that occurs when a usb connection is opened or closed without this module

{

for (int pos = 0; pos < 10; pos++) //stop all actuators

{

states[pos] = 0;

digitalWrite(pos + 2, LOW);

}

//reset servomotors

newInterruption = false;

updateServoMotors = false;

TCNT2 = TIMER2_PRELOAD;

//protocol handshaking

sendSensorValues();

lastDataReceivedTime = millis();

}

void updateActuator(int pinNumber)

{

if (outputs[pinNumber] == 'd') digitalWrite(pinNumber + 4, states[pinNumber]);

else if (outputs[pinNumber] == 'a') analogWrite(pinNumber + 4, states[pinNumber]);

}

void sendUpdateServomotors()

{

for (int p = 0; p < 10; p++)

{

if (outputs[p] == 'c') servomotorC(p + 4, states[p]);

if (outputs[p] == 's') servomotorS(p + 4, states[p]);

}

}

void servomotorC (int pinNumber, int dir)

{

if (dir == 1) pulse(pinNumber, 1300); //clockwise rotation

else if (dir == 2) pulse(pinNumber, 1700); //anticlockwise rotation

}

void servomotorS (int pinNumber, int angle)

{

if (angle < 0) pulse(pinNumber, 600);

else if (angle > 180) pulse(pinNumber, 2400);

else pulse(pinNumber, (angle * 10) + 600);

}

void pulse (int pinNumber, int pulseWidth)

{

initialPulseTime = micros();

digitalWrite(pinNumber, HIGH);

while (micros() < pulseWidth + initialPulseTime){}

digitalWrite(pinNumber, LOW);

}

void checkScratchDisconnection() //the reset is necessary when using an wireless arduino board (because we need to ensure that arduino isn't waiting the actuators state from Scratch) or when scratch isn't sending information (because is how serial port close is detected)

{

if (millis() - lastDataReceivedTime > 1000) reset(); //reset state if actuators reception timeout = one second

}

ISR(TIMER2_OVF_vect) //timer1 overflow interrupt vector handler

{ //timer2 => 8 bits counter => 256 clock ticks

//preeescaler = 1024 => this routine is called 61 (16.000.000/256/1024) times per second approximately => interruption period = 1 / 16.000.000/256/1024 = 16,384 ms

//as we need a 20 ms interruption period but timer2 doesn't have a suitable preescaler for this, we program the timer with a 10 ms interruption period and we consider an interruption every 2 times this routine is called.

//to have a 10 ms interruption period, timer2 counter must overflow after 156 clock ticks => interruption period = 1 / 16.000.000/156/1024 = 9,984 ms => counter initial value (TCNT) = 100

if (newInterruption)

{

updateServoMotors = true;

}

newInterruption = !newInterruption;

TCNT2 = TIMER2_PRELOAD; //reset timer

}

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