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| /** | ||
| * Arduino.java - Arduino/firmata library for Processing | ||
| * Copyright (C) 2006-08 David A. Mellis | ||
| * | ||
| * This library is free software; you can redistribute it and/or | ||
| * modify it under the terms of the GNU Lesser General Public | ||
| * License as published by the Free Software Foundation; either | ||
| * version 2.1 of the License, or (at your option) any later version. | ||
| * | ||
| * This library is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
| * Lesser General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU Lesser General | ||
| * Public License along with this library; if not, write to the | ||
| * Free Software Foundation, Inc., 59 Temple Place, Suite 330, | ||
| * Boston, MA 02111-1307 USA | ||
| * | ||
| * Processing code to communicate with the Arduino Firmata 2 firmware. | ||
| * http://firmata.org/ | ||
| * | ||
| * $Id$ | ||
| */ | ||
|
|
||
| package cc.arduino; | ||
|
|
||
| import processing.core.PApplet; | ||
| import processing.serial.Serial; | ||
|
|
||
| import org.firmata.Firmata; | ||
|
|
||
| /** | ||
| * Together with the Firmata 2 firmware (an Arduino sketch uploaded to the | ||
| * Arduino board), this class allows you to control the Arduino board from | ||
| * Processing: reading from and writing to the digital pins and reading the | ||
| * analog inputs. | ||
| */ | ||
| public class Arduino { | ||
| /** | ||
| * Constant to set a pin to input mode (in a call to pinMode()). | ||
| */ | ||
| public static final int INPUT = 0; | ||
| /** | ||
| * Constant to set a pin to output mode (in a call to pinMode()). | ||
| */ | ||
| public static final int OUTPUT = 1; | ||
| /** | ||
| * Constant to set a pin to analog mode (in a call to pinMode()). | ||
| */ | ||
| public static final int ANALOG = 2; | ||
| /** | ||
| * Constant to set a pin to PWM mode (in a call to pinMode()). | ||
| */ | ||
| public static final int PWM = 3; | ||
| /** | ||
| * Constant to set a pin to servo mode (in a call to pinMode()). | ||
| */ | ||
| public static final int SERVO = 4; | ||
| /** | ||
| * Constant to set a pin to shiftIn/shiftOut mode (in a call to pinMode()). | ||
| */ | ||
| public static final int SHIFT = 5; | ||
| /** | ||
| * Constant to set a pin to I2C mode (in a call to pinMode()). | ||
| */ | ||
| public static final int I2C = 6; | ||
|
|
||
| /** | ||
| * Constant to write a high value (+5 volts) to a pin (in a call to | ||
| * digitalWrite()). | ||
| */ | ||
| public static final int LOW = 0; | ||
| /** | ||
| * Constant to write a low value (0 volts) to a pin (in a call to | ||
| * digitalWrite()). | ||
| */ | ||
| public static final int HIGH = 1; | ||
|
|
||
| PApplet parent; | ||
| Serial serial; | ||
| SerialProxy serialProxy; | ||
| Firmata firmata; | ||
|
|
||
| // We need a class descended from PApplet so that we can override the | ||
| // serialEvent() method to capture serial data. We can't use the Arduino | ||
| // class itself, because PApplet defines a list() method that couldn't be | ||
| // overridden by the static list() method we use to return the available | ||
| // serial ports. This class needs to be public so that the Serial class | ||
| // can access its serialEvent() method. | ||
| public class SerialProxy extends PApplet { | ||
| public SerialProxy() { | ||
| } | ||
|
|
||
| public void serialEvent(Serial which) { | ||
| try { | ||
| // Notify the Arduino class that there's serial data for it to process. | ||
| while (which.available() > 0) | ||
| firmata.processInput(which.read()); | ||
| } catch (Exception e) { | ||
| e.printStackTrace(); | ||
| throw new RuntimeException("Error inside Arduino.serialEvent()"); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| public class FirmataWriter implements Firmata.Writer { | ||
| public void write(int val) { | ||
| serial.write(val); | ||
| // System.out.print("<" + val + " "); | ||
| } | ||
| } | ||
|
|
||
| public void dispose() { | ||
| this.serial.dispose(); | ||
| } | ||
|
|
||
| /** | ||
| * Get a list of the available Arduino boards; currently all serial devices | ||
| * (i.e. the same as Serial.list()). In theory, this should figure out | ||
| * what's an Arduino board and what's not. | ||
| */ | ||
| public static String[] list() { | ||
| return Serial.list(); | ||
| } | ||
|
|
||
| /** | ||
| * Create a proxy to an Arduino board running the Firmata 2 firmware at the | ||
| * default baud rate of 57600. | ||
| * | ||
| * @param parent the Processing sketch creating this Arduino board | ||
| * (i.e. "this"). | ||
| * @param iname the name of the serial device associated with the Arduino | ||
| * board (e.g. one the elements of the array returned by Arduino.list()) | ||
| */ | ||
| public Arduino(PApplet parent, String iname) { | ||
| this(parent, iname, 57600); | ||
| } | ||
|
|
||
| /** | ||
| * Create a proxy to an Arduino board running the Firmata 2 firmware. | ||
| * | ||
| * @param parent the Processing sketch creating this Arduino board | ||
| * (i.e. "this"). | ||
| * @param iname the name of the serial device associated with the Arduino | ||
| * board (e.g. one the elements of the array returned by Arduino.list()) | ||
| * @param irate the baud rate to use to communicate with the Arduino board | ||
| * (the firmata library defaults to 57600, and the examples use this rate, | ||
| * but other firmwares may override it) | ||
| */ | ||
| public Arduino(PApplet parent, String iname, int irate) { | ||
| this.parent = parent; | ||
| this.firmata = new Firmata(new FirmataWriter()); | ||
| this.serialProxy = new SerialProxy(); | ||
| this.serial = new Serial(serialProxy, iname, irate); | ||
|
|
||
| parent.registerMethod("dispose", this); | ||
|
|
||
| try { | ||
| Thread.sleep(3000); // let bootloader timeout | ||
| } catch (InterruptedException e) {} | ||
|
|
||
| firmata.init(); | ||
| } | ||
|
|
||
| /** | ||
| * Returns the last known value read from the digital pin: HIGH or LOW. | ||
| * | ||
| * @param pin the digital pin whose value should be returned (from 2 to 13, | ||
| * since pins 0 and 1 are used for serial communication) | ||
| */ | ||
| public int digitalRead(int pin) { | ||
| return firmata.digitalRead(pin); | ||
| } | ||
|
|
||
| /** | ||
| * Returns the last known value read from the analog pin: 0 (0 volts) to | ||
| * 1023 (5 volts). | ||
| * | ||
| * @param pin the analog pin whose value should be returned (from 0 to 5) | ||
| */ | ||
| public int analogRead(int pin) { | ||
| return firmata.analogRead(pin); | ||
| } | ||
|
|
||
| /** | ||
| * Set a digital pin to input or output mode. | ||
| * | ||
| * @param pin the pin whose mode to set (from 2 to 13) | ||
| * @param mode either Arduino.INPUT or Arduino.OUTPUT | ||
| */ | ||
| public void pinMode(int pin, int mode) { | ||
| try { | ||
| firmata.pinMode(pin, mode); | ||
| } catch (Exception e) { | ||
| e.printStackTrace(); | ||
| throw new RuntimeException("Error inside Arduino.pinMode()"); | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Write to a digital pin (the pin must have been put into output mode with | ||
| * pinMode()). | ||
| * | ||
| * @param pin the pin to write to (from 2 to 13) | ||
| * @param value the value to write: Arduino.LOW (0 volts) or Arduino.HIGH | ||
| * (5 volts) | ||
| */ | ||
| public void digitalWrite(int pin, int value) { | ||
| try { | ||
| firmata.digitalWrite(pin, value); | ||
| } catch (Exception e) { | ||
| e.printStackTrace(); | ||
| throw new RuntimeException("Error inside Arduino.digitalWrite()"); | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Write an analog value (PWM-wave) to a digital pin. | ||
| * | ||
| * @param pin the pin to write to (must be 9, 10, or 11, as those are they | ||
| * only ones which support hardware pwm) | ||
| * @param value the value: 0 being the lowest (always off), and 255 the highest | ||
| * (always on) | ||
| */ | ||
| public void analogWrite(int pin, int value) { | ||
| try { | ||
| firmata.analogWrite(pin, value); | ||
| } catch (Exception e) { | ||
| e.printStackTrace(); | ||
| throw new RuntimeException("Error inside Arduino.analogWrite()"); | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Write a value to a servo pin. | ||
| * | ||
| * @param pin the pin the servo is attached to | ||
| * @param value the value: 0 being the lowest angle, and 180 the highest angle | ||
| */ | ||
| public void servoWrite(int pin, int value) { | ||
| try { | ||
| firmata.servoWrite(pin, value); | ||
| } catch (Exception e) { | ||
| e.printStackTrace(); | ||
| throw new RuntimeException("Error inside Arduino.servoWrite()"); | ||
| } | ||
| } | ||
| } |
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