[授權翻譯] NXT/EV3 Arduino I2C 終極指南 – 感謝Muhannad Al-Khodari

// I2C Slave Send / Receive

// How to send data from the LEGO Mindstorms NXT/EV3 to the Arduino.

// For LEGO Mindstorms

// Demonstrates how to connect a LEGO MINDSTORMS to an Arduino and Send commands,

// receive data.

// A4 – SDA

// A5 – SCL

// See www.dexterindustries.com/howto for more information on the physical setup.

//________________________________________________________________________________

//________________________________________________________________________________

//________________________________________________________________________________



#include<Wire.h> // I2C library

#include <Servo.h>



///----------------------------------------------

///----------------------------------------------



int instruction[5] = {5,0,0,0,0};



/// instruction[0] = 1 (LED), 2 (servo motor} ,3 (DC motor), 4 (sensor)

///

///

/// instruction [0] = 1 ==>  instruction [1] is port (LED digital pin)

///                          instruction [2] is: 0 (LED off) or 1 (LED on)

///

/// instruction [0] = 2 ==>  instruction [1] is port (servo motor number)

///                          instruction [2] is angle

///

/// instruction [0] = 3 ==>  instruction [1] is pin1 number 

///                          instruction [2] is pin1 speed (0-99)

///                          instruction [3] is pin2 number 

///                          instruction [4] is pin2 speed (0-99)  

///

/// instruction [0] = 4 ==>  instruction [1] is pin number

///                          instruction [2] is: 0 (analog pin) or 1 (digital pin)

///                    



//________________________________________________________________________________

//________________________________________________________________________________

//________________________________________________________________________________



Servo temp_servo;

int temp_sensor = 0;



void setup()

{

  Wire.begin(0x04); // set the slave address

  Wire.onRequest(requestEvent); // Sending information back to the NXT/EV3

  Wire.onReceive(receiveI2C); // Receiving information!

  

  // Debugging

  Serial.begin(9600);

    

}

//________________________________________________________________________________

void loop()

{

  delay(500);      

}



//________________________________________________________________________________

//________________________________________________________________________________

//________________________________________________________________________________



byte read_byte = 0x00;

int byte_count = 0;





// When data is received from NXT/EV3, this function is called.

void receiveI2C(int bytesIn)

{

  read_byte = bytesIn;

  byte_count = 0;

  while(1 < Wire.available()) // loop through all but the last

  {

    read_byte = Wire.read(); 

    

    instruction[byte_count] = read_byte;

    

    byte_count++;

  }

  int x = Wire.read(); 

  // Read the last dummy byte (has no meaning, but must read it)







  if( instruction[0] == 1 )  

  {

    Serial.println("  Light ");

    

    Serial.print("Pin: "); 

    Serial.println(instruction[1]);

    pinMode(instruction[1], OUTPUT);

    

    Serial.print("State: ");

    if(instruction[2] == 0) 

    {

      Serial.print("off");

      digitalWrite(instruction[1], LOW);

    }

    else                    

    {

      Serial.println("on");

      digitalWrite(instruction[1], HIGH);

    }

            

    

  }

  else if( instruction[0] == 2 )  

  {

    Serial.println("  Servo Motor ");

    

    Serial.print("Pin: "); 

    Serial.println(instruction[1]);

    temp_servo.attach(instruction[1]);

    

    

    //Uncomment the next line if you are using EV3 Graphical Programming

    //instruction[2] = instruction[2]*2 + instruction[3];

    

    Serial.print("Angle: ");

    Serial.println(instruction[2]);

    temp_servo.write(instruction[2]);

    

  }

  else if( instruction[0] == 3 )  

  {

    Serial.println("  DC Motor ");

    

    Serial.print("Pin1: "); 

    Serial.print(instruction[1]);

    pinMode(instruction[1], OUTPUT);

    

    Serial.print("  Speed1: "); 

    Serial.println(instruction[2]);

    analogWrite(instruction[1], instruction[2]*2.55);

    

    Serial.print("Pin2: "); 

    Serial.print(instruction[3]);

    pinMode(instruction[3], OUTPUT);

    

    Serial.print("  Speed2: "); 

    Serial.println(instruction[4]);

    analogWrite(instruction[3], instruction[4]*2.55);

    

    Serial.print("Result movement: "); 

    if (instruction[2] !=0)

      Serial.println("Forward");

    else

      Serial.println("Backwards");    

  }

  else if( instruction[0] == 4 )  

  {

    Serial.println("  Sensor "); 

    

    Serial.print("Pin: "); 

    Serial.print(instruction[1]);

    

    if ( instruction[2] == true )

    {

      Serial.println("Analog");

      

      int temp_pin = A0;

      if (instruction[1] !=0 )  temp_pin += instruction[1];

      

      temp_sensor = analogRead(temp_pin);

    }

    else

    {

      Serial.println("Digital");

      pinMode(instruction[1], INPUT);

      temp_sensor = digitalRead(instruction[1]);

    }

  }

   

}//end recieveI2C



//________________________________________________________________________________



void requestEvent()

{  

  if (instruction[0] == 4)

  {

    Wire.write(temp_sensor); // respond with message

    Serial.print("Value: ");

    Serial.println(temp_sensor);

  } 

}//end requestEvent

float LM35()



{



  float t=analogRead(A1);



  t=t*5.0/1024; 



  t*=100;



  return t;



}

// I2C 從方(slave) Send / Receive



// How to send data from the LEGO Mindstorms NXT/EV3 to the Arduino.



// For LEGO Mindstorms



// Demonstrates how to connect a LEGO MINDSTORMS to an Arduino and Send commands,



// receive data.



// A4 – SDA



// A5 – SCL



// See www.dexterindustries.com/howto for more information on the physical setup.



//________________________________________________________________________________



//________________________________________________________________________________



//________________________________________________________________________________



 



#include<Wire.h> // I2C library



#include <Servo.h>



 



///----------------------------------------------



///----------------------------------------------



 



int instruction[5] = {5,0,0,0,0};



 



/// instruction[0] = 1 (LED), 2 (servo motor} ,3 (DC motor), 4 (sensor)



///



///



/// instruction [0] = 1 ==>  instruction [1] is port (LED digital pin)



///                          instruction [2] is: 0 (LED off) or 1 (LED on)



///



/// instruction [0] = 2 ==>  instruction [1] is port (servo motor number)



///                          instruction [2] is angle



///



/// instruction [0] = 3 ==>  instruction [1] is pin1 number 



///                          instruction [2] is pin1 speed (0-99)



///                          instruction [3] is pin2 number 



///                          instruction [4] is pin2 speed (0-99)  



///



/// instruction [0] = 4 ==>  instruction [1] is pin number



///                          instruction [2] is: 0 (analog pin) or 1 (digital pin)



///                    



 



//________________________________________________________________________________



//________________________________________________________________________________



//________________________________________________________________________________



 



float LM35()



{



  float t=analogRead(A1);



  t=t*5.0/1024; 



  t*=100;



  return t;



}



 



//________________________________________________________________________________



 



const int trig = 7;



const int echo = 8;



 



float ultrasonic()



{



  digitalWrite(trig,LOW);



  delayMicroseconds(2);



  digitalWrite(trig,HIGH);



  delayMicroseconds(10);



  digitalWrite(trig,LOW);



  float dis=pulseIn(echo,HIGH)/58.2;



  return dis;



  



}



 



//________________________________________________________________________________



 



int ldr()



{



 int lightl = analogRead(A0);



 lightl = map(lightl,0,900,255);



 lightl = constrain(lightl,0,255);



 return lightl;



}



 



//________________________________________________________________________________



 



Servo temp_servo;



int temp_sensor = 0;



 



void setup()



{



  Wire.begin(0x04); // set the 從方(slave)位址



  Wire.onRequest(requestEvent); // Sending information back to the NXT/EV3



  Wire.onReceive(receiveI2C); // Receiving information!



  



  // Debugging



  Serial.begin(9600);



    



}



//________________________________________________________________________________



void loop()



{



  delay(500);     



}



 



//________________________________________________________________________________



//________________________________________________________________________________



//________________________________________________________________________________



 



byte read_byte = 0x00;



int byte_count = 0;



 



 



// When data is received from NXT/EV3, this function is called.



void receiveI2C(int bytesIn)



{



  read_byte = bytesIn;



  byte_count = 0;



  while(1 < Wire.available()) // loop through all but the last



  {



    read_byte = Wire.read();



    



    instruction[byte_count] = read_byte;



    



    byte_count++;



  }



  int x = Wire.read();



  // Read the last dummy byte (has no meaning, but must read it)



 



 



 



  if( instruction[0] == 1 ) 



  {



    Serial.println("  Light ");



    



    Serial.print("Pin: ");



    Serial.println(instruction[1]);



    pinMode(instruction[1], OUTPUT);



    



    Serial.print("State: ");



    if(instruction[2] == 0)



    {



      Serial.print("off");



      digitalWrite(instruction[1], LOW);



    }



    else                   



    {



      Serial.println("on");



      digitalWrite(instruction[1], HIGH);



    }



            



    



  }



  else if( instruction[0] == 2 ) 



  {



    Serial.println("  Servo Motor ");



    



    Serial.print("Pin: ");



    Serial.println(instruction[1]);



    temp_servo.attach(instruction[1]);



    



    //Uncomment the next line if you are using EV3 Graphical Programming



    //instruction[2] = instruction[2]*2 + instruction[3];



    



    Serial.print("Angle: ");



    Serial.println(instruction[2]);



    temp_servo.write(instruction[2]);



    



  }



  else if( instruction[0] == 3 ) 



  {



    Serial.println("  DC Motor ");



    



    Serial.print("Pin1: ");



    Serial.print(instruction[1]);



    pinMode(instruction[1], OUTPUT);



    



    Serial.print("  Speed1: ");



    Serial.println(instruction[2]);



    analogWrite(instruction[1], instruction[2]*2.55);



    



    Serial.print("Pin2: ");



    Serial.print(instruction[3]);



    pinMode(instruction[3], OUTPUT);



    



    Serial.print("  Speed2: ");



    Serial.println(instruction[4]);



    analogWrite(instruction[3], instruction[4]*2.55);



    



    Serial.print("Result movement: ");



    if (instruction[2] !=0)



      Serial.println("Forward");



    else



      Serial.println("Backwards");   



  }



  else if( instruction[0] == 4 ) 



  {



    Serial.println("  Sensor ");



    



    Serial.print(": ");



    Serial.print(instruction[1]);



    



    if ( instruction[1] == 1 )



    {



      Serial.println("Light");



      temp_sensor = ldr();



    }



    else if ( instruction[1] == 2 )



    {



      Serial.println("Ultrasonic");



      temp_sensor = ultrasonic();



    }



    else if ( instruction[1] == 3 )



    {



      Serial.println("Temperature");



      temp_sensor = LM35();



    }



  }



   



}//end recieveI2C



 



//________________________________________________________________________________



 



void requestEvent()



{  



  if (instruction[0] == 4)



  {



    Wire.write(temp_sensor); // respond with message



    Serial.print("Value: ");



    Serial.println(temp_sensor);



  } 



}//end requestEvent