Week13 JimC

一.Arduino開車
電路圖參考以下
source code 可参考Arduino 里的 File ——> Example ——> Digital ——> DigitalInputPullup
裡面有個網址有提供按鈕的電路圖(circuit)

二.寫出車子程式

void setup() {
size(640, 480, P3D);
rectMode(CENTER);
}
float carX=640/2, carY=320/2;
float carDir=PI, carWheel=0;
void drawCar() {
pushMatrix();
translate(carX, carY);
rotateZ(carDir);
rect(0, 0, 187, 89);
drawWheel(127/2, 89/2, 1);
drawWheel(127/2, -89/2, 1);
drawWheel(-127/2, 89/2, 0);
drawWheel(-127/2, -89/2, 0);

if (keyPressed && keyCode==UP) {
carX+= cos(carDir+carWheel);
carY+=sin(carDir+carWheel);
carDir+=carWheel/50;
} else if (keyPressed && keyCode==DOWN) {
carX-= cos(carDir+carWheel);
carY-=sin(carDir+carWheel);
carDir-=carWheel/50;
} else if (keyPressed && keyCode==RIGHT) {
carWheel+=0.01;
if (carWheel > 0.3) carWheel=0.3;
} else if (keyPressed && keyCode==LEFT) {
carWheel-=0.01;
if (carWheel < -0.3) carWheel=-0.3;
}
popMatrix();
}
void drawWheel(float x, float y, int front) {
pushMatrix();
translate(x, y);
if (front==1) rotateZ(carWheel);
rect(0, 0, 40, 20);
popMatrix();
}
void draw() {
background(100);
drawCar();
rect(0+187/2, 0+89/2, 187, 89);
rect(450+187/2, 0+89/2, 187, 89);
}

二.寫出車子程式（二)

void draw() {

  while(myPort.available()>0)

  {

      val=myPort.read();

      if(val==48)

      {

        carX+= cos(carDir+carWheel); 

        carY+=sin(carDir+carWheel);

        carDir+=carWheel/50;

        

      }

///按下按鈕車子往前行駛

      else if(val==49)

      {

        carX-= cos(carDir+carWheel); 

        carY-=sin(carDir+carWheel);

        carDir+=carWheel/50;

        

      }

//處於0的狀態車子往後退

  }

background(100);

二.寫出車子程式（三)

in arduino

void setup(){

  //start serial connection

  Serial.begin(9600);

  pinMode(2, INPUT_PULLUP);

  pinMode(3, INPUT_PULLUP);

  pinMode(4, INPUT_PULLUP);

  pinMode(5, INPUT_PULLUP);

  pinMode(13, OUTPUT); 

}

void loop(){

  

  int sensorVal = digitalRead(2);

  int sensorVal3 = digitalRead(3);

  int sensorVal4 = digitalRead(4);

   int sensorVal5 = digitalRead(5);

  

  if(sensorVal==LOW) Serial.print('0');

  if(sensorVal3==LOW) Serial.print('1');

  if(sensorVal4==LOW) Serial.print('2');

   if(sensorVal5==LOW) Serial.print('3');

  

  //Serial.println(sensorVal);  //delete

   if (sensorVal == HIGH) {

    digitalWrite(13, LOW);

  } 

  else {

    digitalWrite(13, HIGH);

  }

}

in processing

import processing.serial.*;

Serial myPort;

int val;

void setup() {

size(640, 480, P3D);

myPort=new Serial(this,"COM4",9600);

rectMode(CENTER);

}

float carX=640/2, carY=320/2;

float carDir=PI, carWheel=0;

void drawCar() {

pushMatrix();

translate(carX, carY);

rotateZ(carDir);

rect(0, 0, 187, 89);

drawWheel(127/2, 89/2, 1);

drawWheel(127/2, -89/2, 1);

drawWheel(-127/2, 89/2, 0);

drawWheel(-127/2, -89/2, 0);

if (keyPressed && keyCode==UP) {

carX+= cos(carDir+carWheel); 

carY+=sin(carDir+carWheel);

carDir+=carWheel/50;

} else if (keyPressed && keyCode==DOWN) {

carX-= cos(carDir+carWheel); 

carY-=sin(carDir+carWheel);

carDir-=carWheel/50;

} else if (keyPressed && keyCode==RIGHT) {

carWheel+=0.01;

if (carWheel > 0.3) carWheel=0.3;

} else if (keyPressed && keyCode==LEFT) {

carWheel-=0.01;

if (carWheel < -0.3) carWheel=-0.3;

}

popMatrix();

}

void drawWheel(float x, float y, int front) {

pushMatrix();

translate(x, y);

if (front==1) rotateZ(carWheel);

rect(0, 0, 40, 20);

popMatrix();

}

void draw() {

  while(myPort.available()>0)

  {

      val=myPort.read();

      if(val==49)

      {

        carX+= cos(carDir+carWheel); 

        carY+=sin(carDir+carWheel);

        carDir+=carWheel/50;

        

      }

      else if(val==48)

      {

        carX-= cos(carDir+carWheel); 

        carY-=sin(carDir+carWheel);

        carDir-=carWheel/50;

        

      }

      else if(val==50)

      {

       carWheel+=0.01;

        

      }

      else if(val==51)

      {

       carWheel-=0.01;

        

      }

  }

background(100);

drawCar();

rect(0+187/2, 0+89/2, 187, 89);

rect(450+187/2, 0+89/2, 187, 89);

}