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/*
* LabUI Arduino Firmware v1.1
* ─────────────────────────────────────────────────────────────────────────
* Upload this sketch to your Arduino.
* Set baud rate to 115200 in both this sketch and LabUI.
*
* WHAT IT DOES
* Continuously streams analog + digital readings to the PC.
* Listens for commands from the PC and executes them.
*
* RECEIVED COMMANDS (PC → Arduino):
* W:D13:1 digitalWrite(13, HIGH)
* W:D6:0 digitalWrite(6, LOW)
* P:D9:128 analogWrite(9, 128) → ~50% PWM
* C:SETPOINT:75.0 store named parameter
* Q:A0 reply immediately with A0 reading
* R:ALL send full data frame immediately
* X:STOP set all outputs LOW
* X:RESET reset to defaults
*
* SENT DATA (Arduino → PC):
* A0:3.142,A1:0.015,D2:0,D3:1\n (every SEND_INTERVAL ms)
* ACK:W:D13:1\n (after each command)
* ERR:Unknown command\n (on parse failure)
* ─────────────────────────────────────────────────────────────────────────
*/
// ── Configuration ─────────────────────────────────────────────────────────
int ANALOG_PINS[6] = {A0, A1, A2, A3, A4, A5}; // actual pin numbers (reconfigured by APIN:)
int ANALOG_IDX[6] = {0, 1, 2, 3, 4, 5}; // label indices used in output (A0, A1, …)
int DIGITAL_IN[16] = {2, 3, 4}; // reconfigured at runtime via DPIN:IN:
int DIGITAL_OUT[16] = {5, 6, 7, 9, 10, 11}; // reconfigured via DPIN:OUT:
int N_ANALOG = 0; // set by APIN: command (0 = inactive until configured by PC)
int N_DIG_IN = 0; // set by DPIN:IN: command (0 = inactive until configured)
int N_DIG_OUT = 0; // set by DPIN:OUT: command (0 = inactive until configured)
const int SEND_INTERVAL = 50; // ms between data frames (50 = 20 Hz)
const long BAUD_RATE = 115200;
// ── Named parameters (set via C: commands) ──────────────────────────────
float param_setpoint = 0.0;
float param_kp = 1.0;
float param_ki = 0.0;
float param_kd = 0.0;
int param_mode = 0;
unsigned long lastSend = 0;
// ── Setup ─────────────────────────────────────────────────────────────────
void setup() {
Serial.begin(BAUD_RATE);
for (int i = 0; i < N_DIG_IN; i++) pinMode(DIGITAL_IN[i], INPUT_PULLUP);
for (int i = 0; i < N_DIG_OUT; i++) pinMode(DIGITAL_OUT[i], OUTPUT);
}
// ── Main loop ─────────────────────────────────────────────────────────────
void loop() {
handleCommands();
sendData();
}
// ── Command handler ───────────────────────────────────────────────────────
void handleCommands() {
if (!Serial.available()) return;
String cmd = Serial.readStringUntil('\n');
cmd.trim();
if (cmd.length() == 0) return;
char type = cmd.charAt(0);
// W:Dxx:val — digital write
if (type == 'W') {
int c1 = cmd.indexOf(':', 2);
if (c1 < 0) { Serial.println("ERR:Bad W format"); return; }
String pinStr = cmd.substring(2, c1);
int val = cmd.substring(c1 + 1).toInt();
int pin = pinStr.substring(1).toInt(); // strip 'D'
digitalWrite(pin, val ? HIGH : LOW);
Serial.print("ACK:"); Serial.println(cmd);
}
// P:Dxx:duty — PWM write (0-255)
else if (type == 'P') {
int c1 = cmd.indexOf(':', 2);
if (c1 < 0) { Serial.println("ERR:Bad P format"); return; }
int pin = cmd.substring(2, c1).substring(1).toInt();
int duty = constrain(cmd.substring(c1 + 1).toInt(), 0, 255);
analogWrite(pin, duty);
Serial.print("ACK:"); Serial.println(cmd);
}
// C:NAME:value — set named parameter
else if (type == 'C') {
int c1 = cmd.indexOf(':', 2);
int c2 = cmd.indexOf(':', c1 + 1);
if (c1 < 0 || c2 < 0) { Serial.println("ERR:Bad C format"); return; }
String name = cmd.substring(2, c1);
float val = cmd.substring(c2 + 1).toFloat();
if (name == "SETPOINT") param_setpoint = val;
else if (name == "KP") param_kp = val;
else if (name == "KI") param_ki = val;
else if (name == "KD") param_kd = val;
else if (name == "MODE") param_mode = (int)val;
// Add your own parameters here:
// else if (name == "SPEED") motor_speed = val;
Serial.print("ACK:"); Serial.println(cmd);
}
// Q:NAME — immediate query
else if (type == 'Q') {
String name = cmd.substring(2);
if (name == "SETPOINT") { Serial.print("SETPOINT:"); Serial.println(param_setpoint, 3); }
else if (name == "KP") { Serial.print("KP:"); Serial.println(param_kp, 4); }
else {
// Try to read as analog pin Q:A0
if (name.charAt(0) == 'A') {
int pin = name.substring(1).toInt();
float v = analogRead(pin) * (5.0 / 1023.0);
Serial.print(name); Serial.print(":"); Serial.println(v, 3);
}
}
}
// R:ALL — send full frame immediately
else if (type == 'R') {
sendFrame();
}
// X:STOP / X:RESET — emergency stop
else if (type == 'X') {
String sub = cmd.substring(2);
for (int i = 0; i < N_DIG_OUT; i++) digitalWrite(DIGITAL_OUT[i], LOW);
Serial.print("ACK:"); Serial.println(cmd);
}
// APIN:0,1,3 — reconfigure analog inputs at runtime (indices 0–5 into A0–A5)
else if (type == 'A') {
if (!cmd.startsWith("APIN:")) { Serial.println("ERR:Bad A command"); return; }
String pinList = cmd.substring(5); // "0,1,3"
const int _APINS[] = {A0,A1,A2,A3,A4,A5};
N_ANALOG = 0;
int start = 0;
for (int i = 0; i <= (int)pinList.length(); i++) {
if (i == (int)pinList.length() || pinList[i] == ',') {
String tok = pinList.substring(start, i); tok.trim();
if (tok.length() > 0 && N_ANALOG < 6) {
int idx = tok.toInt();
if (idx >= 0 && idx < 6) {
ANALOG_PINS[N_ANALOG] = _APINS[idx];
ANALOG_IDX[N_ANALOG] = idx;
N_ANALOG++;
}
}
start = i + 1;
}
}
Serial.print("ACK:"); Serial.println(cmd);
}
// DPIN:IN:2,3,8 or DPIN:OUT:5,6,7 — reconfigure digital I/O pins at runtime
else if (type == 'D') {
int c1 = cmd.indexOf(':', 2);
int c2 = (c1 >= 0) ? cmd.indexOf(':', c1 + 1) : -1;
if (c1 < 0 || c2 < 0) { Serial.println("ERR:Bad DPIN format"); return; }
String dir = cmd.substring(2, c1); // "IN" or "OUT"
String pinList = cmd.substring(c2 + 1); // "2,3,8"
bool isIn = (dir == "IN");
int* arr = isIn ? DIGITAL_IN : DIGITAL_OUT;
int* cnt = isIn ? &N_DIG_IN : &N_DIG_OUT;
int mode = isIn ? INPUT_PULLUP : OUTPUT;
*cnt = 0;
int start = 0;
for (int i = 0; i <= (int)pinList.length(); i++) {
if (i == (int)pinList.length() || pinList[i] == ',') {
String tok = pinList.substring(start, i); tok.trim();
if (tok.length() > 0 && *cnt < 16) {
arr[*cnt] = tok.toInt();
pinMode(arr[*cnt], mode);
(*cnt)++;
}
start = i + 1;
}
}
Serial.print("ACK:"); Serial.println(cmd);
}
else {
Serial.print("ERR:Unknown command: "); Serial.println(cmd);
}
}
// ── Data sender ───────────────────────────────────────────────────────────
void sendData() {
if (millis() - lastSend < SEND_INTERVAL) return;
lastSend = millis();
sendFrame();
}
void sendFrame() {
String out = "";
bool first = true;
// Analog inputs — converted to 0.0–5.0 V
for (int i = 0; i < N_ANALOG; i++) {
float v = analogRead(ANALOG_PINS[i]) * (5.0 / 1023.0);
if (!first) out += ",";
out += "A" + String(ANALOG_IDX[i]) + ":" + String(v, 3);
first = false;
}
// Digital inputs (INPUT_PULLUP — invert so pressed=1)
// These share the same output line as analog — one line per frame.
for (int i = 0; i < N_DIG_IN; i++) {
if (!first) out += ",";
out += "D" + String(DIGITAL_IN[i]) + ":" + String(!digitalRead(DIGITAL_IN[i]));
first = false;
}
Serial.println(out);
// Example combined output: A0:3.142,D2:0,D3:1
}
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