Based upon a serial interface description that I found at http://forums.trossenrobotics.com/tutorials/how-to-diy-128/complete-control-of-an-arduino-via-serial-3300/, I have decided to try doing the interface in a like manner. I could use firmata but I do not want to program the RPi in python. Here is what I have come up with so far:
Robot Interface Protocol (Serial)
1 - write
1 - digital pin write
"pin number"
"1 for LOW, 2 for HIGH" --> sets pin to value, returns OK
2 - analog pin write
"pin number"
"frequency (0-255)" --> sets pwm on pin to value, returns OK
3 - LCD panel error display
"error number"
2 - read
1 - digital
"pin number" --> returns digital pin value (0 or 1)
2 - analog
"pin number" --> returns analog pin value (0 - 1024)
3 - servo (via Maestro)
1 - read
"servo number" --> returns pwm value
2 - write
"servo number"
"pwm value" --> sets servo to pwm value, returns OK
4 - IR distance sensor (GP2D12 and servo)
1 - set sweep range
"low sweep pwm value (4000 - 8000)"
"high sweep pwm value (4000 - 8000)"
"sweep speed (0.25 us / 10 ms)"
"sample rate in ms" --> returns OK
2 - set IR distance servo
"pwm value" --> returns OK
3 - sample IR distance sensor (raw) --> returns "IR", raw value
4 - sample IR distance sensor (computed) --> returns "IR", computed value
5 - start continuous sample
-->starts sweep back and forth; returns "IR", pwm, computed,
raw at sample rate
6 - stop continuous sample --> returns OK
7 - get statistics at current pwm
"number of samples" --> returns "IR", pwm, mean, sd of computed, mean, sd of raw
8 - display samples on LCD panel
1 - start --> returns OK, starts showing samples on LCD panel
2 - stop --> stops showing samples, clears LCD panel, returns OK
5 - Ultrasonic distance sensor (HC-SR04 and servo)
1 - set sweep range
"low sweep pwm value (4000 - 8000)"
"high sweep pwm value (4000 - 8000)"
"sweep speed (0.25 us / 10 ms)"
"sample rate in ms" --> returns OK
2 - set Ultrasonic distance servo
"pwm value" --> returns OK
3 - sample Ultrasonic distance sensor (raw) --> returns "UL", raw value
4 - sample Ultrasonic distance sensor (computed) --> returns "UL",
computed value
5 - start continuous sample
-->starts sweep back and forth; returns "UL", pwm, computed,
raw at sample rate
6 - stop continuous sample --> returns OK
7 - get statistics at current pwm
"number of samples" --> returns "UL", pwm, mean, sd of computed, mean, sd of raw
8 - display samples on LCD panel
1 - start --> returns OK, starts showing samples on LCD panel
2 - stop --> stops showing samples, clears LCD panel, returns OK
6 - camera pan and tilt servos
1 - set sweep range for pan
"low sweep pwm value (4000 - 8000)"
"high sweep pwm value (4000 - 8000)"
"sweep speed (0.25 us / 10 ms)" --> returns OK
2 - set sweep range for pan
"low sweep pwm value (4000 - 8000)"
"high sweep pwm value (4000 - 8000)"
"sweep speed (0.25 us / 10 ms)" --> returns OK
3 - set camera pan and tilt servos
"pan pwm value"
"tilt pwm value" --> returns OK
4 - start continuous sweep
-->starts sweep back and forth; returns OK
5 - stop continuous sweep --> returns OK
7 - reset all to setup conditions
This is a blog mostly about techie things, what I am doing to my apartment network on the cheap, IOT, 3D Printing, Raspberry Pis, Arduinos, ESP32, ESP8266, Home Automation, Personal Weather Stations, Things That Go Bump in the Night, and some side issues that need discussing. Remember, sometimes the journey to an end is as much fun as the goal achieved!
