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#define SPU 80 // 20 teeth pulley, 16 microstep, 2mm a tooth belt, 16*200 microsteps per turn == (16*200)/(20*2) == 80
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typedef uint8_t (*CallbackFunction)(uint8_t*, int, uint8_t*);
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struct EventCallback {
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CallbackFunction callback;
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float pos[] = {0, 0};
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const int motor1StepPin = D10;
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const int motor1DirPin = D9;
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const int motor2StepPin = D8;
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const int motor2DirPin = D7;
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const int enablePin = D1;
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servo.attach(PIN_SERVO);
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// on("light", onLight);
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on("servo", moveServo);
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on("motorsOn", motorsOn);
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on("motorsOff", motorsOff);
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on("moveTowardsOrigin", moveTowardsOrigin);
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on("setOrigin", setOrigin);
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pinMode(motor1StepPin, OUTPUT);
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pinMode(motor1DirPin, OUTPUT);
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pinMode(motor2StepPin, OUTPUT);
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pinMode(motor2DirPin, OUTPUT);
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pinMode(enablePin, OUTPUT); // enable pin
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pinMode(PIN_LED, OUTPUT);
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startupIndicator(); // once startup is finished, indicate to user
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void startupIndicator() {
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// flash LED to indicate board is initialized
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for (int i = 0; i < 3; i++) {
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digitalWrite(PIN_LED, 0);
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digitalWrite(PIN_LED, 1);
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uint8_t onLight(uint8_t* payload, int length, uint8_t* reply) {
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uint8_t value = payload[0];
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// Serial.println("light it up");
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digitalWrite(PIN_LED, value);
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uint8_t motorsOn(uint8_t* payload, int length, uint8_t* reply) {
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digitalWrite(enablePin, 0);
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uint8_t motorsOff(uint8_t* payload, int length, uint8_t* reply) {
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digitalWrite(enablePin, 1);
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uint8_t moveTowardsOrigin(uint8_t* payload, int length, uint8_t* reply) {
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// this ternary may not be neccesary
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x + ( x < 0 ? 10 : -10),
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y + ( y < 0 ? 10 : -10)
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uint8_t setOrigin(uint8_t* payload, int length, uint8_t* reply) {
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/* ------------------------------------------------------------ */
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int bufferIndex = 0;
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uint8_t msgBuffer[100];
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void readSerial() {
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while (Serial.available() > 0) {
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uint8_t incoming = Serial.read();
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msgBuffer[bufferIndex] = incoming;
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if (incoming != 0) {
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continue; // Proceed to the next byte if current byte is not null
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// Serial.print("RECEIVED: ");
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// for (int i = 0; i < bufferIndex; i++) {
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// Serial.print(msgBuffer[i]);
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// Serial.print(", ");
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// Serial.println("DONE");
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// Now we have a full message, perform COBS decoding
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uint8_t decoded[bufferIndex];
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cobs_decode(decoded, msgBuffer, bufferIndex);
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// Serial.print("DECODED: ");
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// for (int i = 0; i < bufferIndex; i++) {
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// Serial.print(decoded[i]);
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// Serial.print(", ");
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// Serial.println("DONE");
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// Parse the decoded message
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uint8_t msgLength = decoded[i];
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// Serial.print("MSG-LENGTH: ");
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// Serial.println(msgLength);
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uint8_t msgArr[msgLength];
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while (i < 1 + msgLength) {
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msgArr[i-1] = decoded[i];
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// Serial.print("MSGARR: ");
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// for (int i = 0; i < msgLength; i++) {
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// Serial.print(msgArr[i]);
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// Serial.print(", ");
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// Serial.println("MSGARR-END");
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uint8_t payloadLength = decoded[i];
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uint8_t payload[payloadLength];
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while (i < 1 + msgLength + 1 + payloadLength) {
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payload[i-1-msgLength-1] = decoded[i];
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uint8_t msgCount = decoded[i];
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// String msg = String((char*)msgArr);
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String msg = byteArrayToString(msgArr, msgLength);
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// Serial.println(msg);
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// printArray("PAYLOAD", payload, payloadLength);
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// Serial.print("MSGCOUNT: ");
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// Serial.println(msgCount);
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bool triggered = triggerEvent(msg, payload, payloadLength, msgCount);
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bufferIndex = 0; // Reset the buffer for the next message
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/* ------------------------------------------------------------ */
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const int MAX_EVENTS = 255; // Maximum number of events to store, adjust as needed
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EventCallback eventCallbacks[MAX_EVENTS];
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int eventCount = 0;
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const int REPLY_PAYLOAD_LENGTH = 255;
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uint8_t reply[REPLY_PAYLOAD_LENGTH];
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void on(String event, CallbackFunction callback) {
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if (eventCount < MAX_EVENTS) {
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eventCallbacks[eventCount].event = event;
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eventCallbacks[eventCount].callback = callback;
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eventCount = (eventCount + 1) % MAX_EVENTS;
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// Serial.println("Max number of events reached. Wrapping events.");
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bool triggerEvent(String event, uint8_t* payload, int payloadLength, uint8_t msgCount) {
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for (int i = 0; i < eventCount; i++) {
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if (eventCallbacks[i].event == event) {
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// want to pass payload and payloadLength, need to get response payload
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uint8_t reply_length = eventCallbacks[i].callback(payload, payloadLength, reply);
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sendAck(msgCount, reply, reply_length);
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// Serial.println(" No event registered.");
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const int arrayLength = 7; // + length;
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uint8_t byteArray[arrayLength];
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void sendAck(uint8_t msgCount, uint8_t* reply, uint8_t length) {
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// Serial.println("SEND ACK");
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// int arrayLength = 7; // + length;
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// static uint8_t byteArray[arrayLength];
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byteArray[0] = 0x03;
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byteArray[1] = 0x61;
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byteArray[2] = 0x63;
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byteArray[3] = 0x6B;
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byteArray[4] = 0x00;
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byteArray[5] = msgCount;
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byteArray[6] = 0x0A;
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// byteArray[4] = length;
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// for (int i = 0; i < length; i++) {
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// byteArray[i+5] = reply[i];
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// byteArray[5+length] = msgCount;
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// byteArray[6+length] = 0x0A;
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// Serial.println(msgCount);
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// printArray("ACK", byteArray, 5+length);
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Serial.write(byteArray, arrayLength);
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// uint8_t byteArrayEncoded[arrayLength + 2]; // +2 for possible COBS overhead
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// cobs_encode(byteArrayEncoded, byteArray, arrayLength);
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// Serial.write(byteArrayEncoded, arrayLength + 2);
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// printArray("ENCODED-ACK", byteArray, 5+length);
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/* ------------------------------------------------------------ */
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void cobs_encode(uint8_t *dst, const uint8_t *src, size_t len) {
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size_t read_index = 0;
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size_t write_index = 1;
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size_t code_index = 0;
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while (read_index < len) {
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if (src[read_index] == 0) {
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dst[code_index] = code;
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code_index = write_index++;
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dst[write_index++] = src[read_index++];
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if (code == 0xFF) {
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dst[code_index] = code;
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code_index = write_index++;
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dst[code_index] = code;
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// Add trailing zero
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if (write_index < len + 2) {
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dst[write_index] = 0;
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void cobs_decode(uint8_t *dst, const uint8_t *src, size_t len) {
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size_t i, j, dst_i = 0;
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for (i = 0; i < len;) {
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uint8_t code = src[i++];
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for (j = 1; j < code && i < len; j++) {
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dst[dst_i++] = src[i++];
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if (code < 0xFF && dst_i < len) {
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/* ------------------------------------------------------------ */
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// TODO: THINK THIS IS BUGGY
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void cobs_print(const String& message) {
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// Convert the message to a byte array
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int length = message.length();
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uint8_t byteArray[length + 1]; // +1 for the null terminator
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message.getBytes(byteArray, length + 1);
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// Prepare the buffer for the encoded message
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uint8_t encoded[length + 2]; // +2 for possible COBS overhead
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// Perform COBS encoding
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cobs_encode(encoded, byteArray, length + 1);
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// Send the encoded message
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Serial.write(encoded, length + 2); // Write the encoded bytes
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/* ------------------------------------------------------------ */
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float read_float(uint8_t* buffer, int index) {
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uint8_t byte0 = buffer[index];
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uint8_t byte1 = buffer[index+1];
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uint8_t byte2 = buffer[index+2];
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uint8_t byte3 = buffer[index+3];
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uint8_t byteArray[] = {byte0, byte1, byte2, byte3};
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memcpy(&floatValue, &byteArray, sizeof(floatValue));
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int read_int(uint8_t* buffer, int index) {
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uint8_t byte0 = buffer[index];
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uint8_t byte1 = buffer[index+1];
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uint8_t byte2 = buffer[index+2];
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uint8_t byte3 = buffer[index+3];
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uint8_t byteArray[] = {byte0, byte1, byte2, byte3};
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memcpy(&value, &byteArray, sizeof(value));
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String byteArrayToString(byte arr[], int length) {
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String result = "";
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for (int i = 0; i < length; i++) {
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result += (char)arr[i]; // Convert each byte to a character and append it to the string
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/* ------------------------------------------------------------------------ */
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#define EPSILON 0.01
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void goTo(float x, float y) {
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// Serial.println("START GOTO");
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// Set your target distances for each motor (in steps)
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float motor1Target = (x + y) - pos[0];
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float motor2Target = (y - x) - pos[1];
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// Set motor direction based on target values
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digitalWrite(motor1DirPin, motor1Target >= 0 ? HIGH : LOW);
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digitalWrite(motor2DirPin, motor2Target >= 0 ? HIGH : LOW);
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// Calculate the relative speeds and maximum duration for both motors
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float maxSteps = max(abs(motor1Target), abs(motor2Target));
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float motor1Speed = abs(motor1Target) / maxSteps;
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float motor2Speed = abs(motor2Target) / maxSteps;
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unsigned long stepDuration = 500; // The time it takes to perform one step in microseconds
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unsigned long motor1StepInterval = stepDuration / motor1Speed;
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unsigned long motor2StepInterval = stepDuration / motor2Speed;
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// Initialize variables for step timing
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unsigned long motor1PrevStepTime = 0;
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unsigned long motor2PrevStepTime = 0;
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float motor1Step = 0;
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float motor2Step = 0;
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// Loop until both motors reach their target steps
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while (abs(motor1Target - motor1Step) > EPSILON || abs(motor2Target - motor2Step) > EPSILON) {
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unsigned long currentTime = micros();
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if (abs(motor1Target - motor1Step) > EPSILON && ((currentTime - motor1PrevStepTime) >= motor1StepInterval)) {
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digitalWrite(motor1StepPin, HIGH);
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delayMicroseconds(1);
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digitalWrite(motor1StepPin, LOW);
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delayMicroseconds(1);
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motor1Step += (motor1Target >= 0 ? 1.0 : -1.0)/SPU;
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motor1PrevStepTime = currentTime;
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if (abs(motor2Target - motor2Step) > EPSILON && ((currentTime - motor2PrevStepTime) >= motor2StepInterval)) {
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digitalWrite(motor2StepPin, HIGH);
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delayMicroseconds(1);
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digitalWrite(motor2StepPin, LOW);
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delayMicroseconds(1);
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motor2Step += (motor2Target >= 0 ? 1.0 : -1.0)/SPU;
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motor2PrevStepTime = currentTime;
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// Serial.println("END GOTO");
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pos[0] += motor1Step;
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pos[1] += motor2Step;
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uint8_t go(uint8_t* payload, int length, uint8_t* reply) {
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float x = read_float(payload, 0);
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float y = read_float(payload, 4);
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uint8_t moveServo(uint8_t* payload, int length, uint8_t* reply) {
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int angle = read_int(payload, 0);
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servo.writeMicroseconds(angle);
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void printArray(String label, uint8_t* arr, int arrSize) {
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Serial.print(label);
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Serial.print("-BEGIN: ");
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for (int i = 0; i < arrSize; i++) {
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Serial.print(arr[i]);
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Serial.print(", ");
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Serial.print(label);
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Serial.println("-END");
dunkirk.sh