plummino usabile

Esempi/Plummino/Plummino.ino

@@ -4,10 +4,12 @@
 
 // TODO LOW splittare in più file
 
-//#define DEBUG
+#define DEBUG
 
 #include <TaskScheduler.h>
 
+#include <Wire.h>
+
 #include <ESP8266WiFi.h>
 #include <WiFiUdp.h>
 #include <ArduinoOTA.h>
@@ -42,31 +44,11 @@ long hold=0;
 String command="";
 #define MOTORS_CYCLE 100
 
-
-// CHECK https://github.com/stblassitude/Adafruit_SSD1306_Wemos_OLED/blob/master/examples/ssd1306_64x48_i2c/ssd1306_64x48_i2c.ino
-#define SSD1306_LCDHEIGHT 48
-#define SSD1306_LCDWIDTH 96
-//#include <SPI.h>
-#include <Wire.h>
-#include <Adafruit_GFX.h>
-#include <Adafruit_SSD1306.h>
-// SCL GPIO5
-// SDA GPIO4
-
-#define OLED_RESET 0  // GPIO0
-Adafruit_SSD1306 oled(OLED_RESET);
-
-/* OLD OLED
-#include <SFE_MicroOLED.h>  // Include the SFE_MicroOLED library
-#include <Wire.h>  // Include Wire if you're using I2C
-//#include <SPI.h>  // Include SPI if you're using SPI
-*/
-
 #include <Adafruit_Sensor.h>
 #include <Adafruit_HMC5883_U.h>
 /* Assign a unique ID to this sensor at the same time */
-//#define HMC5883_ADDRESS_MAG (0x1E >> 1)
-Adafruit_HMC5883_Unified mag = Adafruit_HMC5883_Unified(12345);
+#define HMC5883_ADDRESS_MAG 0x1E
+Adafruit_HMC5883_Unified mag = Adafruit_HMC5883_Unified(999);
 sensor_t sensor;
 sensors_event_t event;
 float headingDegrees;
@@ -97,20 +79,6 @@ int switchprog;
 ////#include <ArduinoOTA.h>
 //#include <Arduino.h>
 
-//////////////////////////////////
-// MicroOLED Object Declaration //
-/*
-#define PIN_RESET 255
-#define DC_JUMPER 0  // I2C Addres: 0 - 0x3C, 1 - 0x3D
-MicroOLED oled(PIN_RESET, DC_JUMPER);  // I2C Example
-*/
-
-// Global variables to help drawing
-const int MAX_Y = SSD1306_LCDHEIGHT; //oled.getLCDHeight();
-const int MIDDLE_Y = MAX_Y / 2;
-const int MAX_X = SSD1306_LCDWIDTH; //oled.getLCDWidth();
-const int MIDDLE_X = MAX_X / 2;
-const int PXLINE = 9;
 
 //Motor shield I2C Address: 0x30
 //PWM frequency: 1000Hz(1kHz)
@@ -142,10 +110,9 @@ byte packetBuffer[MAX_MSG_SIZE];  //buffer to hold incoming udp packet
 
 ////////////////////////////////// Tasks
 //#define MOTORS
-//#define OLED
 #define SERIAL
 #define SERIALDRIVE
-//#define SENSORS
+#define SENSORS
 //#define STRATEGY
 #define GPS
 #define IMALIVE
@@ -156,11 +123,6 @@ void callbackMotors();
 Task taskMotors(MOTORS_CYCLE, TASK_FOREVER, &callbackMotors);
 #endif
 
-#ifdef OLED
-void callbackStatusOled();
-Task taskStatusOled(100, TASK_FOREVER, &callbackStatusOled);
-#endif
-
 #ifdef SERIAL
 void callbackStatusSerial();
 Task taskStatusSerial(500, TASK_FOREVER, &callbackStatusSerial);
@@ -208,27 +170,8 @@ WiFiUDP Udp;
 
 
 /////////////////////////////////////////////////////
-
-void setupDisplay(){
-	//oled.begin(SSD1306_SWITCHCAPVCC, 0x1E);  // initialize with the I2C addr 0x3C (for the 64x48)
-    oled.begin();     // Initialize the OLED
-    oled.setTextSize(1);
-    oled.setTextColor(WHITE);
-
-    /* TODO check cosa c'è nella nuova lib
-    oled.clear(PAGE); // Clear the display's internal memory
-    oled.clear(ALL);  // Clear the library's display buffer
-    */
-    oled.clearDisplay();
-    //testdrawline();
-
-    oledprint(F("setup"),0,0);
-
-}
-
 void setup() {
     pinMode(LED_BUILTIN,OUTPUT);
-
     collisionReset();
 
     swSer.begin(9600);
@@ -280,11 +223,6 @@ void setup() {
     taskMotors.enable();
 #endif
 
-#ifdef OLED
-    runner.addTask(taskStatusOled);
-    taskStatusOled.enable();
-#endif
-
 #ifdef SERIAL
     runner.addTask(taskStatusSerial);
     taskStatusSerial.enable();
@@ -333,8 +271,10 @@ void pingLed() {
 void callbackSensors() {
     /////////////////////////////////////
     // COMPASS
+	//Serial.println("pre bussola");
     mag.getSensor(&sensor);
     mag.getEvent(&event);
+	//Serial.println("post bussola");
 
     // Hold the module so that Z is pointing 'up' and you can measure the heading with x&y
     // Calculate heading when the magnetometer is level, then correct for signs of axis.
@@ -386,6 +326,7 @@ void callbackSensors() {
 void callbackGPS() {
     ////////////////////////////////////////////
     // GPS
+    //Serial.println("gps...");
 
     // TinyGps++
     while (swSer.available()) {
@@ -547,19 +488,6 @@ void printLatLon() {
 
 
 //////////////////////////////////
-/*
-void oledprint(String s) {
-    //oled.setFontType(2); // set font type, please see declaration in SFE_MicroOLED.cpp
-    oled.print(s);
-    oled.display();
-}
-*/
-
-void oledprint(String s, int x,int y) {
-    oled.setCursor(x,y);
-    oled.print(s);
-}
-
 
 #define ARM 5000
 void callbackStrategy() {
@@ -600,67 +528,6 @@ void callbackStrategy() {
         fullStop();
 }
 
-
-void callbackStatusOled() {
-    /*
-    oled.clear(PAGE); // Clear the display's internal memory
-    oled.clear(ALL);  // Clear the library's display buffer
-    */
-    oled.clearDisplay();
-
-    // compass
-    oledprint("h:",0,0);
-    oled.print(headingDegrees);
-
-    // collision distance TODO trovare alternativa
-    //oled.line(MAX_X-2,MAX_Y-1,MAX_X-2,MAX_X-2-obstacleDistance);
-
-    /* dir, speed
-    oledprint("d:",0,1*PXLINE);
-    oled.print(rudder);
-    oledprint("s:",0,2*PXLINE);
-    oled.print(speed);
-    */
-
-    // lat long
-    oledprint("lat:",0,1*PXLINE);
-    oled.print(latitude);
-    oledprint("lon:",0,2*PXLINE);
-    oled.print(longitude);
-
-    /*
-    oled.setCursor(0,4*PXLINE);
-    oled.print(left);
-    oled.setCursor(MIDDLE_X+20,4*PXLINE);
-    oled.print(right);
-    */
-    // TODO trovare alternativa
-    //oled.line(MIDDLE_X,MAX_Y,MIDDLE_X+(4*rudder),MAX_Y-PXLINE);
-
-    /*
-    oledprint("X:",0,0);
-    oled.print(gX);
-    oled.print(",");
-    oled.print(gXbase);
-
-    oledprint("Y:",0,9);
-    oled.print(gY);
-    oled.print(",");
-    oled.println(gYbase);
-
-    oledprint("Z:",0,17);
-    oled.print(gZ);
-    oled.print(",");
-    oled.print(gZbase);
-    */
-
-    oled.display();
-    delay(1);
-    //statusSerial();
-    //testdrawline();
-    //testscrolltext();
-}
-
 void callbackMotors() {
     // pochi comandi per fare qualche demo
 
@@ -760,12 +627,14 @@ void compassDetails() {
 }
 
 void collisionReset() {
+	// strano dover fare 'sta cosa, se no non tornano su, mah!
     pinMode(COLLISION_LEFT,OUTPUT);
     pinMode(COLLISION_RIGHT,OUTPUT);
     digitalWrite(COLLISION_LEFT,HIGH);
     digitalWrite(COLLISION_RIGHT,HIGH);
-    pinMode(COLLISION_LEFT,INPUT);
-    pinMode(COLLISION_RIGHT,INPUT);
+    pinMode(COLLISION_LEFT,INPUT_PULLUP);
+    pinMode(COLLISION_RIGHT,INPUT_PULLUP);
+    // tra l'altro solo il left, ri-mah!
 }
 
 void readAccelerometer() {