Projektlabor Robotik MINTgrün

Ein Beispiel-Programm zum Ansteuern des TRex DMC durch die Arduino-Plattform:

/*
 The circuit: 
 * RX is digital pin 10 (connect to SO on TRex DMC)
 * TX is digital pin 11 (connect to SI on TRex DMC)
 
 
 */
#include <SoftwareSerial.h>
SoftwareSerial mySerial(10, 11); // RX, TX
 
void setup()  
{
  // Open serial communications and wait for port to open:
  Serial.begin(57600);
  while (!Serial) {
    ; // wait for serial port to connect. Needed for Leonardo only
  }
 
  // set the data rate for the SoftwareSerial port
  mySerial.begin(19200);
  // further Data-Query Commands: http://www.pololu.com/file/download/TReX_Commands_v1.2.pdf?file_id=0J1
  mySerial.write(0x83);
  delay(100);
  if(mySerial.read() == 1){
    Serial.println("Serial is in control!");
  }else{
    Serial.println("Serial ist not in control!");
  }
 
}
 
void loop() 
{  
  //Motor 1
  mySerial.write(0xC2); //forward motor 1
  mySerial.write(20); //Speedvalue from 0 to 127
  //Motor 2
  mySerial.write(0xCA); //forward motor 2
  mySerial.write(20); //Speedvalue from 0 to 127
}

erweiterter Code:

/*
 The circuit: 
 *connect RX3 Pin 14 to SO on TRex DMC
 *connect TX3 Pin 15 to SI on TRex DMC
 
 
 */
 
void setup()  
{
  // Open serial communications and wait for port to open:
  Serial.begin(57600);

 
  // initialize connection to trex
  Serial3.begin(19200);
  // further Data-Query Commands: http://www.pololu.com/file/download/TReX_Commands_v1.2.pdf?file_id=0J1
  
  //Ask the trex module if serial control is enabled
  Serial3.write(0x83); 
  delay(100);
  if(Serial3.read() == 1){
    Serial.println("Serial is in control!");
  }else{
    Serial.println("Serial ist not in control!");
  }
 
}
 
void loop() 
{  
  //drive forward: (Motor 1: 0xC2, Motor 2: 0xCA)
  
  // Motor 1 
  Serial3.write(0xC2); //forward motor 1
  Serial3.write(100); //Speedvalue from 0 to 127
  //Motor 2
 Serial3.write(0xCA); //forward motor 2
 Serial3.write(100); //Speedvalue from 0 to 127
 
/*  drive reverse: (Motor 1: 0xC1, Motor 2: 0xC9)
 
   // Motor 1 
  Serial3.write(0xC1); //reverse motor 1
  Serial3.write(100); //Speedvalue from 0 to 127
  //Motor 2
 Serial3.write(0xC9); //reverse motor 2
 Serial3.write(100); //Speedvalue from 0 to 127 
 
 
 drive left: 
 
   // Motor 1 
  Serial3.write(0xC2); //forward motor 1
  Serial3.write(100); //Speedvalue from 0 to 127
  //Motor 2
 Serial3.write(0xCA); //forward motor 2
 Serial3.write(50); //Speedvalue from 0 to 127
 
 drive right:
 
    // Motor 1 
  Serial3.write(0xC2); //forward motor 1
  Serial3.write(50); //Speedvalue from 0 to 127
  //Motor 2
 Serial3.write(0xCA); //forward motor 2
 Serial3.write(100); //Speedvalue from 0 to 127
 */
 
}