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module ArduinoTools
using SerialPorts
function connectBoard(baudrate::Int64) # Automatically detects SerialPort and opens it
arr = list_serialports() # with given baudrate
port = arr[1]
ser = SerialPort(port,baudrate) # Caution: works in most cases... If doesn't,
sleep(2) # Use the openSerial() function
return ser
end
# function openSerial(port::ASCIIString, baudrate::Int64) # starts serial communication
# ser = SerialPorts.SerialPort(port,baudrate)
# sleep(2)
# return ser
# end
function closeSerial(ser::SerialPorts.SerialPort) # closes serial port
SerialPorts.close(ser)
end
# function Write(ser::SerialPorts.SerialPort, str::ASCIIString) # writes a string to connected serial device
# SerialPorts.write(ser,str)
# end
# function Write(ser::SerialPorts.SerialPort, str::UTF8String) # writes a string to connected serial device
# SerialPorts.write(ser,str)
# end
function Read(ser::SerialPorts.SerialPort, bytes::Int64) # reads 'bytes' number of bytes from serial port
SerialPorts.read(ser,bytes)
end
function ReadAvailable(ser::SerialPorts.SerialPort) # reads all available bytes from serial port
SerialPorts.readavailable(ser)
end
function nbAvailable(ser::SerialPorts.SerialPort) # returns number of bytes available for reading
SerialPorts.nb_available(ser)
end
function listSerialPorts() # returns array of serial port names on computer
SerialPorts.list_serialports()
end
function pinMode(file_des::SerialPorts.SerialPort , pin_no::Int64 , mode::String)
# isascii(mode) && throw("Mode needs to be ascii") #This will throw an error if mode is not ascii
# m = uppercase(mode) # Prevent errors due to case differences
if mode == "INPUT" str = "Da"*string(Char(48+pin_no))*"0" end # Dan0 for INPUT
if mode == "OUTPUT" str = "Da"*string(Char(48+pin_no))*"1" end # Dan1 for OUTPUT
str = ascii(str) # Converts UTF8String to ASCIIString
write(file_des,str)
end
function digiWrite(file_des::SerialPorts.SerialPort , pin_no::Int64 , val::Int64)
if val > 0 str = "Dw"*string(Char(48+pin_no))*"1" end # Dwn1 for HIGH
if val == 0 str = "Dw"*string(Char(48+pin_no))*"0" end # Dwn0 for LOW
str = ascii(str) # Converts UTF8String to ASCIIString
write(file_des,str)
end
function digiRead(file_des::SerialPorts.SerialPort , pin_no::Int64)
str = "Dr"*string(Char(48+pin_no)) # Drn to read digital pin n
str = ascii(str) # Convert UTF8String to ASCIIString
write(file_des,str)
sleep(0.01) # Delay the next step by 10 milliseconds
c = read(file_des,1) # Read one byte from SerialPort
n = parse(Int,c) # Convert the received string into integer
return n # Return the integer
end
function analogWrite(file_des::SerialPorts.SerialPort , pin_no::Int64 , val::Int64)
if val > 255 val = 255 end # Make sure val isn't beyond limits
if val < 0 val = 0 end
c = Char(val) # Conversion of val into character
d = string(c) # Converting character to string
s = "W"*string(Char(48+pin_no))*d # Wnm for analog value m on pin n
write(file_des,s)
end
function analogRead(file_des::SerialPorts.SerialPort , pin_no::Int64)
str = "A"*string(Char(48+pin_no)) #"An" for analog value on pin n
write(file_des,str)
sleep(0.1) # Delay next step by 100 milliseconds
n = bytesavailable(file_des) # Get number of bytes in input buffer
s = read(file_des, n) # Read n bytes from SerialPort
iolit = IOBuffer(s)
num = read(iolit, Int16)
# num = reinterpret(Int16, s)
# println(sizeof(num))
# println(num[1])
# @printf("value = %d", Int(num))
# close(iolit)
# typeof(s)
# k = parse(Int,s) # Convert String to integer
return num # Return the integer
end
function DCMotorSetup(file_des::SerialPorts.SerialPort, driver_type::Int64, motor_no::Int64, pin1::Int64, pin2::Int64)
println("Initializing motor")
if (driver_type == 1) # adafruit
code_sent = "C"*string(motor_no)*string(Char(48+pin1))*string(Char(48+pin2))*"1"
elseif (driver_type == 2) # L298
code_sent = "C"*string(motor_no)*string(Char(48+pin1))*string(Char(48+pin2))*"1"
elseif (driver_type == 3) # L293
code_sent = "C"*string(motor_no)*string(Char(48+pin1))*string(Char(48+pin2))*"0"
end
write(file_des,code_sent)
sleep(0.1) # sleep for a tenth of a second
s = readavailable(file_des) # read all available bytes from input buffer
if s == "OK"
println("Motor Setup Successful")
else
println("Motor Setup unsuccessful")
end
end # end function
function DCMotorRun(file_des::SerialPorts.SerialPort, motor_no::Int64, speed::Int64)
sgn = sign(speed) # Checking sign of speed to set direction
if sgn >= 0
direction = "1"
else
direction = "0"
end
speed = abs(speed) # Dropping the sign
if speed > 255 speed = 255 end # Make sure speed is not beyond limit
code_sent = "M"*string(motor_no)*direction*string(Char(speed))
write(file_des,code_sent)
end # end function
function DCMotorRelease(file_des::SerialPorts.SerialPort, motor_no::Int64)
code_sent = "M"*string(motor_no)*"1"*string(Char(0))
write(file_des,code_sent) # Stops the motor first
sleep(0.1) # Delay of 0.1 second
code_sent = "M"*string(motor_no)*"r"
write(file_des,code_sent) # Releases the motor
end
function ServoAttach(file_des::SerialPorts.SerialPort, servo_no::Int64)
println("Initializing servo")
if servo_no == 1
pin = "Sa1"
write(file_des,pin)
elseif servo_no == 2
pin = "Sa2"
write(file_des,pin)
else
println("Error")
end
end
function ServoMove(file_des::SerialPorts.SerialPort, servo_no::Int64, val::Int64)
if val < 0 val = 0 end
if val >180 val = 180 end
pin = "Sw"*string(servo_no)*string(Char(val))
write(file_des,pin)
end
function ServoDetach(file_des::SerialPorts.SerialPort, servo_no::Int64)
if servo_no == 1
pin = "Sa1"
write(file_des,pin)
elseif servo_no == 2
pin = "Sa2"
write(file_des,pin)
else
println("Error")
end
end
function MPUReadin(file_des::SerialPorts.SerialPort)
cmd = "F"
write(file_des,cmd)
analog_times = []
sleep(0.03)
s = readavailable(file_des)
sarr = split(s,"/")
for i in 1:length(sarr)
push!(analog_times,parse(Int,sarr[i]))
end
return analog_times
end
export connectBoard,openSerial,closeSerial,Write,Read,ReadAvailable,nbAvailable,listSerialPorts,pinMode,digiWrite,digiRead,analogWrite,analogRead,DCMotorSetup,DCMotorRun,DCMotorRelease,ServoAttach,ServoMove,ServoDetach,MPUReadin
end # module
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