Week13 大原大次郎的龜有公園前派出所日常

執勤任務1：
案造前幾個禮拜的程序安裝驅動程式
→File>Example>Digital>DigitalInputPullup
→File>Example>Communication>ReadASCIIString

DigitalInputPullup程式碼

void setup(){

  //start serial connection

  Serial.begin(9600);

  //configure pin2 as an input and enable the internal pull-up resistor

  pinMode(2, INPUT_PULLUP);

  pinMode(3, INPUT_PULLUP);

  pinMode(13, OUTPUT); 

}

void loop(){

  //read the pushbutton value into a variable

  int sensorVal = digitalRead(2);

  int sensorVal3 = digitalRead(3);

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

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

}

開Processing→File>Example>Libraries>Serial>SimpleRead

Processing程式碼

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==48) {

      carX+=cos(carDir+carWheel);

      carY-=sin(carDir+carWheel);

      carDir-=carWheel/50;

    } else if (val==49) {

      carX-=cos(carDir+carWheel);

      carY-=sin(carDir+carWheel);

      carDir-=carWheel/50;

    }

  }

  println(val);

  background(100);

  drawCar();

  rect(0+187/2, 0+89/2, 187, 89);

  rect(450+187/2, 0+89/2, 187, 89);

}