API tools faq
paste
Advertisement
joymonkey

Padawan Body code with LCD screen

joymonkey
Oct 15th, 2013
247
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
C 17.82 KB | None | 0 0
raw download clone embed print report
  1. // =======================================================================================
  2. // /////////////////////////Padawan Body Code v1.9X //////////////////////////////////////
  3. // =======================================================================================
  4. //                                 danf
  5. //                        Revised  Date: 10/21/13 (unofficial revision by PaulM)
  6. //
  7. //   Designed to be used with a second Arduino running the Padawan Dome code
  8. //              EasyTransfer and PS2X_lib libraries by Bill Porter
  9. //
  10. //
  11. //         Set Sabertooth 2x25 Dip Switches 1 and 2 Down, All Others Up
  12. //         For SyRen Packetized Serial Set Switches 1 and 2 Down, All Others Up
  13. //         For SyRen Simple Serial Set Switchs 2 & 4 Down, All Others Up
  14. //         Placed a 10K ohm resistor between S1 & GND on the SyRen 10 itself
  15. //
  16. //         (if using Lithium batteries set switch 3 Down on SyRen & Sabertooth 2x25)
  17. //
  18. //     Arduino Pins:             BotBoarduino Pins:
  19. //     D01 = MP3 Trigger RX*     D01 = MP3 Trigger RX*
  20. //     D05 = Syren10 S1**        D06 = PS2 DAT
  21. //     D06 = Sabertooth S2***    D07 = PS2 COM
  22. //     D07 = Sabertooth S1       D08 = PS2 ATT
  23. //     D08 = Dome RXI            D09 = PS2 CLK
  24. //     D10 = PS2 ATT             D10 = Dome RXI
  25. //     D11 = PS2 COM             D11 = Syren10 S1**
  26. //     D12 = PS2 DAT             D12 = Sabertooth S2***
  27. //     D13 = PS2 CLK             D13 = Sabertooth S1
  28. //      A4 = LCD DAT              A4 = LCD DAT
  29. //      A5 = LCD CLK              A5 = LCD CLK
  30. //                               D05 = used by internal speaker
  31. //       *If using MP3 Trigger in mode 1, connect MP3 Trigger RX to D03 instead
  32. //      **If using SyRen in mode 3, connect Syren S1 to D01 instead
  33. //     ***S2 is not needed for Sabertooth's serial mode
  34. //
  35. //************************** Set speed and turn here************************************//
  36.  
  37. byte drivespeed = 75; // 0-stop, 127-full speed.
  38. // Recommend beginner: 50 to 75, experienced: 100 to 127, I like 100
  39.  
  40. byte turnspeed = 45;   // the higher this number the faster it will spin in place, lower - easier to controll.
  41. // Recommend beginner: 40 to 50, experienced: 50 $ up, I like 75
  42.  
  43. byte ramping = 5;      // Ramping- the lower this number the longer R2 will take to speedup or slow down,
  44. // change this by incriments of 1
  45.  
  46. #define MP3TRIGGERMODE 1   // 0 for regular mode (MP3 Tirgger RX connects to Pin 1)
  47.                            // 1 for Software Serial mode (MP3 Trigger connects to Pin 3)
  48.  
  49. #define SYRENMODE 3     // 1=Simple Serial , 2=Packetized Software Serial (recommended), 3=Packetized Hardware Serial (S1 connects to Pin 1)
  50. // Do not use Simple Serial mode in close contact with people.
  51. // NOTE : you can't use MP3TRIGGERMODE 0 with SYRENMODE 3, since they both use Arduino Pin 1
  52.  
  53. int domeBaudeRate = 9600; // Set the Serial baude rate for the Syren motor controller
  54. // for packetized options are: 2400, 9600 (default), 19200 or 38400
  55. // for simple use 9600 .
  56.  
  57. byte domecompensation = 2;  // For controllers that centering problems, causing slight dome drift in one direction
  58. // use the lowest number with no drift
  59.  
  60. byte domespeed = 110;  // If using a speed controller for the dome, sets the top speed
  61.                        // Use a number up to 127
  62.  
  63. #define VOLJUMP 2     // Speed at which volume is adjusted (1=slowest 5=fastest)
  64. #define VOLLIMIT 100   // Quietest volume can be set to (0-255, higher=quieter, over 64 is pretty quiet)
  65.  
  66. #define LCD 0         // Connect to LCD via i2c (pins A4 & A5), default address #0 (A0-A2 not jumpered)
  67. // Backlight can be toggled on/off using R1 + Pad Left
  68. // (comment out if no LCD is connected)
  69.  
  70. #define AUTOMIN 5     // Minimum seconds between sounds in auto mode
  71. #define AUTOMAX 20    // Maximum seconds between sounds in auto mode
  72.  
  73. #define BOARDTYPE 1   // 0 for regular Arduino, 1 for BotBoarduino (uses different PS2, ST & dome pins)
  74.  
  75. ///////include libs and declare variables////////////////////////////
  76. #include <Sabertooth.h>
  77. #if (SYRENMODE==3)
  78. Sabertooth SyR(128);
  79. #endif
  80. #include <SoftwareSerial.h>
  81. #if (SYRENMODE==1)
  82. #include <SyRenSimplified.h>
  83. #endif
  84. #include <PS2X_lib.h>  //for v1.7
  85. #include <Servo.h>
  86. #include <MP3Trigger.h>
  87. #include <SoftEasyTransfer.h>
  88. #if defined(LCD)
  89. #include <Wire.h>
  90. #include <LiquidTWI.h> //this is the speedy i2C LCD library - get it here: http://forums.adafruit.com/viewtopic.php?f=19&t=21586
  91. LiquidTWI lcd(LCD);
  92. #endif
  93.  
  94. //////////////////////////////////////////////////////////////////
  95.  
  96. #if (MP3TRIGGERMODE==1)
  97. SoftwareSerial trigSerial = SoftwareSerial(2, 3);
  98. #endif
  99. MP3Trigger trigger;
  100. #if (BOARDTYPE==0)
  101.   #if (SYRENMODE<3)
  102.   SoftwareSerial SyRSerial(2, 5);
  103.   #endif
  104.   SoftwareSerial domeSerial(2, 8);
  105.   SoftwareSerial STSerial(2, 7);
  106. #else
  107.   #if (SYRENMODE<3)
  108.   SoftwareSerial SyRSerial(2, 11);
  109.   #endif
  110.   SoftwareSerial domeSerial(2, 10);
  111.   SoftwareSerial STSerial(2, 13);
  112. #endif
  113.  
  114. /////////////////////////////////////////////////////////////////
  115. Sabertooth ST(128, STSerial);
  116. #if (SYRENMODE==1)
  117. SyRenSimplified SyR(SyRSerial); // Use SWSerial as the serial port.
  118. #elif (SYRENMODE==2)
  119. Sabertooth SyR(128, SyRSerial);
  120. #endif
  121. SoftEasyTransfer ET;//create object
  122. #include <Servo.h>
  123.  
  124.  
  125. struct SEND_DATA_STRUCTURE{
  126.   //put your variable definitions here for the data you want to send
  127.   //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
  128.   int hpx; // hp movement
  129.   int hpy; // hp movement
  130.   int hpl; // hp light
  131.   int hpa; // hp automation
  132.   int dsp; // 0 = random, 1 = alarm, 5 = leia, 11 = alarm2, 100 = no change
  133. };
  134.  
  135. SEND_DATA_STRUCTURE domeData;//give a name to the group of data
  136.  
  137. PS2X ps2x; // create PS2 Controller Class
  138. int error = 0; // part of the ps2x lib
  139. byte type = 0; // part of the ps2x lib
  140. byte vibrate = 0; // part of the ps2x lib
  141. byte vol = 40; // 0 = full volume, 64+ = inaudible, 255 = off
  142. byte drive = 0; // 0 = drive motors off ( right stick disabled )
  143. byte automate = 0;
  144. unsigned long automateMillis = 0;
  145. byte automateDelay = random(5,20);// set this to min and max seconds between sounds
  146. int turnDirection = 20;
  147. byte action = 0;
  148. unsigned long DriveMillis = 0;
  149. int drivenum = 0;
  150. int sticknum = 0;
  151. int domenum = 0;
  152. int domenumset = 0; //used for ramping in servo mode
  153. int domeramping=(ramping*4);
  154. int turnnum = 0;
  155. #if defined(LCD)  
  156. byte lcdlight = 0; //used to toggle the LCD backlight on and off
  157. #endif
  158. //////////////set up run once//////////////////////////////////////////
  159.  
  160. void setup(){
  161.  
  162.  
  163. #if defined(LCD)  
  164.   lcd.begin(16, 2);// sets up the LCD's number of rows and columns  
  165.   lcd.clear();
  166.   lcd.setBacklight(LOW);
  167.   delay(200);
  168.   lcd.setBacklight(HIGH);
  169.   delay(200);
  170.   lcd.print("Starting up."); // Print a message to the LCD.
  171.   lcd.setBacklight(LOW);
  172.   delay(100);
  173.   lcd.setBacklight(HIGH);  
  174. #endif
  175. #if(SYRENMODE<3)
  176.   SyRSerial.begin(domeBaudeRate);
  177. #endif  
  178. #if(SYRENMODE==1)
  179.   SyR.motor(0);            
  180. #elif(SYRENMODE==2)
  181.   SyR.autobaud();
  182. #elif(SYRENMODE==3)
  183.   SabertoothTXPinSerial.begin(domeBaudeRate);
  184.   SyR.autobaud();
  185. #endif
  186.   STSerial.begin(9600);   // 9600 is the default baud rate for Sabertooth packet serial.
  187.   ST.autobaud();          // Send the autobaud command to the Sabertooth controller(s).
  188.   // NOTE: *Not all* Sabertooth controllers need this command.
  189.   //       It doesn't hurt anything, but V2 controllers use an
  190.   //       EEPROM setting (changeable with the function setBaudRate) to set
  191.   //       the baud rate instead of detecting with autobaud.
  192.   //
  193.   //       If you have a 2x12, 2x25 V2, 2x60 or SyRen 50, you can remove
  194.   //       the autobaud line and save yourself two seconds of startup delay.
  195.  
  196.   ST.drive(0); // The Sabertooth won't act on mixed mode packet serial commands until
  197.   ST.turn(0);  // it has received power levels for BOTH throttle and turning, since it
  198.   // mixes the two together to get diff-drive power levels for both motors.
  199.   #if (MP3TRIGGERMODE==1)
  200.   trigger.setup(&trigSerial);
  201.   trigSerial.begin( MP3Trigger::serialRate() );
  202.   #else
  203.   trigger.setup(&Serial);
  204.   #endif
  205.  
  206. #if (BOARDTYPE==0)
  207.   error = ps2x.config_gamepad(13,11,10,12, true, false);   //setup pins and settings:  GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
  208. #else
  209.   error = ps2x.config_gamepad(9,7,8,6, true, false);   //setup pins and settings:  GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
  210. #endif
  211.  
  212.   trigger.setVolume(vol);//anything with trigger. is for the mp3trigger
  213.   type = ps2x.readType();
  214.   domeSerial.begin(57600);//start the library, pass in the data details and the name of the serial port.
  215.   ET.begin(details(domeData), &domeSerial);
  216.  
  217. #if defined(LCD)  
  218.   lcd.clear();    
  219.   lcd.print("PADAWAN"); // Print a message to the LCD.
  220.   delay(250);
  221.   lcd.setBacklight(LOW);
  222. #endif
  223.  
  224. }
  225.  
  226. ///////function to play sound (also outputs to LCD if connected)////////////////
  227. void playSound(int soundNumber) {
  228. #if defined(LCD)
  229.   lcd.setCursor(0, 0);
  230.   lcd.print("Sound "+String(soundNumber)+" ");
  231. #endif
  232.   trigger.play(soundNumber);
  233. }
  234. ////////////////////////////////////////////////////////////////////////////////////////////
  235.  
  236. ///////Loop run over and over//////////////////////////////////////
  237. //////////////////////////////////////////////////////////////////
  238.  
  239. void loop(){
  240.  
  241.   if(error == 1) //skip loop if no controller found
  242.     return;
  243.  
  244.   ps2x.read_gamepad();   //read controller and set large motor to spin at 'vibrate' speed
  245.  
  246.     //// enable / disable right stick & play sound
  247.   if(ps2x.ButtonPressed(PSB_START))
  248.   {
  249.     if (drive<1)
  250.     {
  251. #if defined(LCD)
  252.       lcd.setCursor(0, 1);
  253.       lcd.print("-Drive  Enabled-");
  254. #endif
  255.       drive = 1;
  256.       playSound(52);
  257.     }
  258.     else {
  259. #if defined(LCD)
  260.       lcd.setCursor(0, 1);
  261.       lcd.print("-Drive Disabled-");
  262. #endif
  263.       drive = 0;
  264.       playSound(53);
  265.     }
  266.   }
  267.  
  268.   ////turn hp automation or automate on & off      
  269.   if(ps2x.ButtonPressed(PSB_SELECT)) {
  270.  
  271.     if(ps2x.Button(PSB_R2)) {
  272.       if(domeData.hpa == 1) {
  273. #if defined(LCD)
  274.         lcd.setCursor(0, 1);
  275.         lcd.print(" -Auto HP OFF-  ");
  276. #endif  
  277.         domeData.hpa = 0;
  278.         domeData.dsp = 100;
  279.         ET.sendData();
  280.       }
  281.       else {//if hp automation is off, turn it on
  282. #if defined(LCD)
  283.         lcd.setCursor(0, 1);
  284.         lcd.print("  -Auto HP ON-  ");
  285. #endif  
  286.         domeData.hpa = 1;
  287.         domeData.dsp = 100;
  288.         ET.sendData();
  289.       }//turn hp automation off  
  290.     }
  291.  
  292.     /////////////automate
  293.     else {
  294.       if (automate<1) {
  295. #if defined(LCD)
  296.         lcd.setCursor(0, 1);
  297.         lcd.print(" -Automate  ON-  ");
  298. #endif
  299.         automate = 1;
  300.         playSound(52);
  301.       }
  302.       else {
  303. #if defined(LCD)
  304.         lcd.setCursor(0, 1);
  305.         lcd.print(" -Automate OFF- ");
  306. #endif
  307.         automate = 0;
  308.         action = 0;
  309.         playSound(53);
  310.       }
  311.     }
  312.   }
  313.  
  314.   if (automate == 1)
  315.   {
  316.     if (ps2x.Analog(PSS_LX)!=128)
  317.     {
  318.       automateMillis = millis();
  319.     }
  320.     unsigned long currentMillis = millis();
  321.     if (currentMillis - automateMillis > (automateDelay*1000))
  322.     {
  323.       automateMillis = millis();
  324.       action = random(1,5);
  325.       if (action>1)
  326.       {
  327.         (playSound(random(32,52)));
  328.       }
  329.       if (action<4)
  330.       {
  331. #if (SYRENMODE==1)        
  332.         SyR.motor(turnDirection);
  333. #elif(SYRENMODE>=2)
  334.         SyR.motor(1,turnDirection);
  335. #endif
  336.         delay(750);
  337. #if(SYRENMODE==1)
  338.         SyR.motor(0);
  339. #elif(SYRENMODE>=2)
  340.         SyR.motor(1,0);
  341. #endif
  342.         if (turnDirection>0)
  343.         {
  344.           turnDirection = -49;
  345.         }
  346.         else
  347.         {
  348.           turnDirection = 45;
  349.         }
  350.       }
  351.       automateDelay = random(AUTOMIN,AUTOMAX);// set this to min and max seconds between sounds
  352.     }
  353.   }
  354.   ////volume control
  355.   if(ps2x.Button(PSB_PAD_UP))
  356.   {
  357.     if(ps2x.Button(PSB_R1))
  358.     {
  359.       if (vol>0)
  360.       {
  361.         vol=vol-VOLJUMP;
  362.         if(vol<0) vol=0;
  363. #if defined(LCD)
  364.         lcd.setCursor(9, 0);
  365.         lcd.print("Vol "+String(vol)+"  ");
  366. #endif
  367.         trigger.setVolume(vol);
  368.       }// volume up
  369.     }  
  370.   }
  371.   if(ps2x.Button(PSB_PAD_DOWN))
  372.   {
  373.     if(ps2x.Button(PSB_R1))
  374.     {
  375.       if (vol<VOLLIMIT)
  376.       {
  377.         vol=vol+VOLJUMP;
  378.         if(vol>VOLLIMIT) vol=VOLLIMIT;
  379. #if defined(LCD)
  380.         lcd.setCursor(9, 0);
  381.         lcd.print("Vol "+String(vol)+"  ");
  382. #endif
  383.         trigger.setVolume(vol);
  384.       }//volume down
  385.     }
  386.   }
  387.  
  388.   ////LCD backlight toggle on/off
  389. #if defined(LCD)
  390.   if(ps2x.Button(PSB_PAD_LEFT))
  391.   {
  392.     if(ps2x.Button(PSB_R1))
  393.     {
  394.       if (lcdlight==0)
  395.       { //turn on backlight
  396.         lcd.setBacklight(HIGH);
  397.         lcdlight=1;
  398.       }
  399.       else
  400.       { //turn off backlight
  401.         lcd.setBacklight(LOW);
  402.         lcdlight=0;
  403.       }
  404.     }  
  405.   }
  406. #endif
  407.  
  408.  
  409.  
  410.   /////hp movement
  411.   if(ps2x.ButtonPressed(PSB_PAD_UP))
  412.   {
  413.     if (!(ps2x.Button(PSB_R1)))
  414.     {
  415.       domeData.hpy = 30;
  416.       domeData.dsp = 100;
  417.       ET.sendData();
  418.     }
  419.   }
  420.   if(ps2x.ButtonPressed(PSB_PAD_DOWN))
  421.   {
  422.     if (!(ps2x.Button(PSB_R1)))
  423.     {
  424.       domeData.hpy = 150;
  425.       domeData.dsp = 100;
  426.       ET.sendData();
  427.     }
  428.   }
  429.   if(ps2x.ButtonReleased(PSB_PAD_UP)||ps2x.ButtonReleased(PSB_PAD_DOWN))
  430.   {
  431.     domeData.hpy = 0;
  432.     domeData.dsp = 100;
  433.     ET.sendData();
  434.   }
  435.  
  436.   if(ps2x.ButtonPressed(PSB_PAD_RIGHT))
  437.   {
  438.     domeData.hpx = 150;
  439.     domeData.dsp = 100;
  440.     ET.sendData();
  441.   }
  442.   if(ps2x.ButtonPressed(PSB_PAD_LEFT))
  443.   {
  444.     domeData.hpx = 30;
  445.     domeData.dsp = 100;
  446.     ET.sendData();
  447.   }
  448.   if(ps2x.ButtonReleased(PSB_PAD_RIGHT)||ps2x.ButtonReleased(PSB_PAD_LEFT))
  449.   {
  450.     domeData.hpx = 0;
  451.     domeData.dsp = 100;
  452.     ET.sendData();
  453.   }
  454.  
  455.  
  456.   /////play sounds and change display
  457.   if(ps2x.ButtonPressed(PSB_GREEN))//triangle top
  458.   {
  459.     if(ps2x.Button(PSB_L1))
  460.     {
  461.       (playSound(8));
  462.       domeData.dsp = 0;
  463.       ET.sendData();
  464.     }
  465.     else if(ps2x.Button(PSB_L2))
  466.     {
  467.       (playSound(2));
  468.       domeData.dsp = 0;
  469.       ET.sendData();
  470.     }
  471.     else if(ps2x.Button(PSB_R1))
  472.     {
  473.       (playSound(9));
  474.       domeData.dsp = 0;
  475.       ET.sendData();
  476.     }
  477.     else
  478.     {
  479.       (playSound(random(13,17)));
  480.       domeData.dsp = 0;
  481.       ET.sendData();
  482.     }
  483.   }
  484.   if(ps2x.ButtonPressed(PSB_BLUE))//x bottom
  485.   {
  486.     if(ps2x.Button(PSB_L1))
  487.     {
  488.       (playSound(6));
  489.       domeData.dsp = 0;
  490.       ET.sendData();
  491.     }
  492.     else if(ps2x.Button(PSB_L2))
  493.     {
  494.       (playSound(1));
  495.       domeData.dsp = 1;
  496.       ET.sendData();
  497.       domeData.dsp = 0;
  498.     }
  499.     else if(ps2x.Button(PSB_R1))
  500.     {
  501.       (playSound(11));
  502.       domeData.dsp = 11;
  503.       ET.sendData();
  504.       domeData.dsp = 0;
  505.     }
  506.     else
  507.     {
  508.       (playSound(random(17,25)));
  509.       domeData.dsp = 0;
  510.       ET.sendData();
  511.     }
  512.   }
  513.   if(ps2x.ButtonPressed(PSB_RED))//circle right
  514.   {
  515.     if(ps2x.Button(PSB_L1))
  516.     {
  517.       (playSound(7));
  518.       domeData.dsp = 0;
  519.       ET.sendData();
  520.     }
  521.     else if(ps2x.Button(PSB_L2))
  522.     {
  523.       (playSound(3));
  524.       domeData.dsp = 0;
  525.       ET.sendData();
  526.     }
  527.     else if(ps2x.Button(PSB_R1))
  528.     {
  529.       (playSound(10));
  530.       domeData.dsp = 0;
  531.       ET.sendData();
  532.     }
  533.     else
  534.     {
  535.       (playSound(random(32,52)));
  536.       domeData.dsp = 0;
  537.       ET.sendData();
  538.     }
  539.   }
  540.   if(ps2x.ButtonPressed(PSB_PINK))//square left
  541.   {
  542.     if(ps2x.Button(PSB_L1))
  543.     {
  544.       (playSound(5));
  545.       domeData.dsp = 5;
  546.       ET.sendData();
  547.       domeData.dsp = 0;
  548.     }
  549.     else if(ps2x.Button(PSB_L2))
  550.     {
  551.       (playSound(4));
  552.       domeData.dsp = 0;
  553.       ET.sendData();
  554.     }
  555.     else if(ps2x.Button(PSB_R1))
  556.     {
  557.       (playSound(12));
  558.       domeData.dsp = 0;
  559.       ET.sendData();
  560.     }
  561.     else
  562.     {
  563.       (playSound(random(25,32)));
  564.       domeData.dsp = 0;
  565.       ET.sendData();
  566.     }
  567.   }
  568.  
  569.   ////turn hp light on & off      
  570.   if(ps2x.ButtonPressed(PSB_L3)) //left joystick
  571.   {
  572.     if(domeData.hpl == 1)
  573.     {
  574.       domeData.hpl = 0;
  575.       domeData.dsp = 100;
  576.       ET.sendData();
  577.     }//if hp light is on, turn it off
  578.     else
  579.     {
  580.       domeData.hpl = 1;
  581.       domeData.dsp = 100;
  582.       ET.sendData();
  583.     }//turn hp light on
  584.   }  
  585.  
  586.   /////foot drives
  587.   /////////////////new stuff//////////////////
  588.   sticknum = (map(ps2x.Analog(PSS_RY), 0, 255, -drivespeed, drivespeed));
  589.  
  590.   if (drivenum < sticknum)
  591.   {
  592.     if (sticknum-drivenum<(ramping+1))
  593.       drivenum+=ramping;
  594.     else
  595.       drivenum = sticknum;
  596.  
  597.   }
  598.  
  599.   else if (drivenum > sticknum)
  600.   {
  601.     if (drivenum-sticknum<(ramping+1))
  602.       drivenum-=ramping;
  603.     else
  604.       drivenum = sticknum;
  605.  
  606.   }
  607.  
  608.  
  609.   turnnum = (ps2x.Analog(PSS_RX));  
  610.   if (turnnum <= 200 && turnnum >= 54)
  611.     turnnum = (map(ps2x.Analog(PSS_RX), 54, 200, -(turnspeed/3), (turnspeed/3)));
  612.   else if (turnnum > 200)
  613.     turnnum = (map(ps2x.Analog(PSS_RX), 201, 255, turnspeed/3, turnspeed));
  614.   else if (turnnum < 54)
  615.     turnnum = (map(ps2x.Analog(PSS_RX), 0, 53, -turnspeed, -(turnspeed/3)));
  616.  
  617.   //////////////////////////////////
  618.   if (drive == 1)// right stick (drive)
  619.   {    
  620. #if defined(LCD)
  621.     /*lcd.setCursor(6, 1);
  622.      lcd.print("Tu"+String(turnnum)+" Dr"+String(drivenum)+"   ");*/
  623. #endif
  624.     ST.turn(turnnum);
  625.     ST.drive(drivenum);
  626.   }
  627.  
  628.   /////dome drive
  629.   domenum = (map(ps2x.Analog(PSS_LX), 0, 255, -domespeed, domespeed));
  630.   if (domenum > domecompensation && domenum < domecompensation) domenum = 0;
  631.  
  632. #if defined(LCD)
  633.   lcd.setCursor(0, 1);
  634.   lcd.print("Sy"+String(domenum)+"   ");
  635. #endif
  636. #if(SYRENMODE==1)
  637.   SyR.motor(domenum);
  638. #elif(SYRENMODE>=2)
  639.   SyR.motor(1,domenum);
  640. #endif
  641.  
  642.   ////////////
  643.   delay(50);
  644. }
  645. /////////////////////////////////////////////////////////////////
  646. //////////////////////////////////////////////////////////////////
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!