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Wall Climbing I2C Code
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#include <Psx.h> // Includes the Psx Library
// Any pins can be used since it is done in software
#define dataPin 12//brown8
#define cmndPin 11//orange9
#define clockPin 13//blue10
#define attPin 10//yellow11
#define LEDPin 13
Psx Psx;
unsigned int data = 0;
//int roof_pump=40;
//int wall_pump=42;
void setup()
{
Serial.begin(2400);
Psx.setupPins(dataPin, cmndPin, attPin, clockPin, 10); // Defines what each pin is used
// (Data Pin #, Cmnd Pin #, Att Pin #, Clk Pin #, Delay)
}
/* pinMode(roof_pump,OUTPUT);
pinMode(wall_pump,OUTPUT);
pinMode(14,OUTPUT);
pinMode(15,OUTPUT);
pinMode(24,OUTPUT);
pinMode(25,OUTPUT);
pinMode(26,OUTPUT);
pinMode(27,OUTPUT);
pinMode(28,OUTPUT);
pinMode(29,OUTPUT);
pinMode(30,OUTPUT);
pinMode(31,OUTPUT);
pinMode(32,OUTPUT);
pinMode(33,OUTPUT);
pinMode(34,OUTPUT);
pinMode(35,OUTPUT);
pinMode(36,OUTPUT);
pinMode(4,OUTPUT);
pinMode(5,OUTPUT);
pinMode(6,OUTPUT);
pinMode(7,OUTPUT);
digitalWrite(roof_pump,HIGH);
digitalWrite(wall_pump,HIGH);
digitalWrite(14,LOW);
digitalWrite(15,LOW);
}
void roof_on()
{
digitalWrite(roof_pump,LOW);
digitalWrite(4,200);
digitalWrite(25,HIGH);
digitalWrite(26,HIGH);
digitalWrite(5,200);
digitalWrite(28,HIGH);
digitalWrite(29,HIGH);
digitalWrite(6,200);
digitalWrite(31,HIGH);
digitalWrite(32,HIGH);
digitalWrite(7,200);
digitalWrite(34,HIGH);
digitalWrite(35,HIGH);
}
void wall_on()
{
digitalWrite(wall_pump,LOW);
digitalWrite(4,200);
digitalWrite(25,HIGH);
digitalWrite(26,HIGH);
digitalWrite(5,200);
digitalWrite(28,HIGH);
digitalWrite(29,HIGH);
digitalWrite(6,200);
digitalWrite(31,HIGH);
digitalWrite(32,HIGH);
digitalWrite(7,200);
digitalWrite(34,HIGH);
digitalWrite(35,HIGH);
}
void roof_off()
{
digitalWrite(roof_pump,HIGH);
}
void wall_off()
{
digitalWrite(wall_pump,HIGH);
}
void forward()
{
analogWrite(4,200);
digitalWrite(25,HIGH);
digitalWrite(26,LOW);
analogWrite(5,200);
digitalWrite(28,HIGH);
digitalWrite(29,LOW);
analogWrite(6,200);
digitalWrite(31,HIGH);
digitalWrite(32,LOW);
analogWrite(7,200);
digitalWrite(34,HIGH);
digitalWrite(35,LOW);
}
void backward()
{
analogWrite(4,200);
digitalWrite(25,LOW);
digitalWrite(26,HIGH);
analogWrite(5,200);
digitalWrite(28,LOW);
digitalWrite(29,HIGH);
analogWrite(6,200);
digitalWrite(31,LOW);
digitalWrite(32,HIGH);
analogWrite(7,200);
digitalWrite(34,LOW);
digitalWrite(35,HIGH);
}
void right()
{
analogWrite(4,200);
digitalWrite(25,HIGH);
digitalWrite(26,LOW);
analogWrite(5,200);
digitalWrite(28,HIGH);
digitalWrite(29,LOW);
analogWrite(6,200);
digitalWrite(31,LOW);
digitalWrite(32,HIGH);
analogWrite(7,200);
digitalWrite(34,LOW);
digitalWrite(35,HIGH);
}
void left()
{
analogWrite(4,200);
digitalWrite(25,LOW);
digitalWrite(26,HIGH);
analogWrite(5,200);
digitalWrite(28,LOW);
digitalWrite(29,HIGH);
analogWrite(6,200);
digitalWrite(31,HIGH);
digitalWrite(32,LOW);
analogWrite(7,200);
digitalWrite(34,HIGH);
digitalWrite(35,LOW);
}
void stop1()
{
digitalWrite(4,200);
digitalWrite(25,HIGH);
digitalWrite(26,HIGH);
digitalWrite(5,200);
digitalWrite(28,HIGH);
digitalWrite(29,HIGH);
digitalWrite(6,200);
digitalWrite(31,HIGH);
digitalWrite(32,HIGH);
digitalWrite(7,200);
digitalWrite(34,HIGH);
digitalWrite(35,HIGH);
digitalWrite(roof_pump,HIGH);
digitalWrite(wall_pump,HIGH);
digitalWrite(14,LOW);
digitalWrite(15,LOW);
//wall_off();
// roof_off();
}
void roof_forward()
{
digitalWrite(roof_pump,LOW);
analogWrite(4,200);
digitalWrite(25,HIGH);
digitalWrite(26,LOW);
analogWrite(5,200);
digitalWrite(28,HIGH);
digitalWrite(29,LOW);
analogWrite(6,200);
digitalWrite(31,HIGH);
digitalWrite(32,LOW);
analogWrite(7,200);
digitalWrite(34,HIGH);
digitalWrite(35,LOW);
}
void roof_backward()
{
digitalWrite(roof_pump,LOW);
analogWrite(4,200);
digitalWrite(25,LOW);
digitalWrite(26,HIGH);
analogWrite(5,200);
digitalWrite(28,LOW);
digitalWrite(29,HIGH);
analogWrite(6,200);
digitalWrite(31,LOW);
digitalWrite(32,HIGH);
analogWrite(7,200);
digitalWrite(34,LOW);
digitalWrite(35,HIGH);
}
void roof_right()
{
digitalWrite(roof_pump,LOW);
analogWrite(4,200);
digitalWrite(25,HIGH);
digitalWrite(26,LOW);
analogWrite(5,200);
digitalWrite(28,HIGH);
digitalWrite(29,LOW);
analogWrite(6,200);
digitalWrite(31,LOW);
digitalWrite(32,HIGH);
analogWrite(7,200);
digitalWrite(34,LOW);
digitalWrite(35,HIGH);
}
void roof_left()
{
digitalWrite(roof_pump,LOW);
analogWrite(4,200);
digitalWrite(25,LOW);
digitalWrite(26,HIGH);
analogWrite(5,200);
digitalWrite(28,LOW);
digitalWrite(29,HIGH);
analogWrite(6,200);
digitalWrite(31,HIGH);
digitalWrite(32,LOW);
analogWrite(7,200);
digitalWrite(34,HIGH);
digitalWrite(35,LOW);
}
void wall_forward()
{
digitalWrite(wall_pump,LOW);
analogWrite(4,200);
digitalWrite(25,HIGH);
digitalWrite(26,LOW);
analogWrite(5,200);
digitalWrite(28,HIGH);
digitalWrite(29,LOW);
analogWrite(6,200);
digitalWrite(31,HIGH);
digitalWrite(32,LOW);
analogWrite(7,200);
digitalWrite(34,HIGH);
digitalWrite(35,LOW);
}
void wall_backward()
{
digitalWrite(wall_pump,LOW);
analogWrite(4,200);
digitalWrite(25,LOW);
digitalWrite(26,HIGH);
analogWrite(5,200);
digitalWrite(28,LOW);
digitalWrite(29,HIGH);
analogWrite(6,200);
digitalWrite(31,LOW);
digitalWrite(32,HIGH);
analogWrite(7,200);
digitalWrite(34,LOW);
digitalWrite(35,HIGH);
}
void wall_right()
{
digitalWrite(wall_pump,LOW);
analogWrite(4,200);
digitalWrite(25,HIGH);
digitalWrite(26,LOW);
analogWrite(5,200);
digitalWrite(28,HIGH);
digitalWrite(29,LOW);
analogWrite(6,200);
digitalWrite(31,LOW);
digitalWrite(32,HIGH);
analogWrite(7,200);
digitalWrite(34,LOW);
digitalWrite(35,HIGH);
}
void wall_left()
{
digitalWrite(wall_pump,LOW);
analogWrite(4,200);
digitalWrite(25,LOW);
digitalWrite(26,HIGH);
analogWrite(5,200);
digitalWrite(28,LOW);
digitalWrite(29,HIGH);
analogWrite(6,200);
digitalWrite(31,HIGH);
digitalWrite(32,LOW);
analogWrite(7,200);
digitalWrite(34,HIGH);
digitalWrite(35,LOW);
}
void trans1()
{
digitalWrite(wall_pump,LOW);
digitalWrite(14,HIGH);
delay(200);
}
void trans2()
{
digitalWrite(roof_pump,LOW);
digitalWrite(15,HIGH);
delay(200);
}
*/
void loop()
{
data = Psx.read(); // Psx.read() initiates the PSX controller and returns
// the button data
Serial.println(data); // Display the returned numeric value
switch (data)
{
case 2048:
Serial.println("forward");
//forward();
break;
/*case 512:
Serial.println("backward");
backward();
break;
case 1024:
Serial.println("right");
right();
break;
case 256:
Serial.println("left");
left();
break;
case 10240:
Serial.println("wall_forward");
wall_forward();
break;
case 8704:
Serial.println("wall_backward");
wall_backward();
break;
case 9216:
Serial.println("wall_right");
wall_right();
break;
case 8448:
Serial.println("wall_left");
wall_left();
break;
case 6144:
Serial.println("roof_forward");
roof_forward();
break;
case 4608:
Serial.println("roof_backward");
roof_backward();
break;
case 5200:
Serial.println("roof_right");
roof_right();
break;
case 4352:
Serial.println("roof_left");
roof_left();
break;
case 4096:
Serial.println("roof_on");
roof_on();
break;
case 8192:
Serial.println("wall_on");
wall_on();
break;
case 12288:
Serial.println("both_pump_on");
wall_on();
roof_on();
break;
case 0:
Serial.println("stop");
stop1();
break;
case 40960:
Serial.println("transition1");
trans1();
break;
case 20480:
Serial.println("transition 2");
trans2();
break;
*/
}
}