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#include "pyCommsLib.h"
int pinArray[2][9] =
{
{12, 10, 8, 6, 4, 13, 15, 17, 19},
{11, 9, 7, 5, 3, 14, 16, 18, 20}
};
void setup() {
// put your setup code here, to run once:
for(int pin = 2; pin<22; pin++) {
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
}
Serial.begin(115200);
init_python_communication();
}
void loop() {
if(latest_received_msg() != "NO_PYTHON_MESSAGE"){
for(int i = 0; i<9; i++) {
String temp = latest_received_msg(i);
int dir = temp.toFloat();
move_motor(i, dir);
}
}
sync();
}
void move_motor(int id, int dir){
int pinA = pinArray[0][id];
int pinB = pinArray[1][id];
if(dir == 1){
digitalWrite(pinA, LOW);
digitalWrite(pinB, HIGH);
}
else if(dir == -1){
digitalWrite(pinA, HIGH);
digitalWrite(pinB, LOW);
}
else{
digitalWrite(pinA, LOW);
digitalWrite(pinB, LOW);
}
}