├── src_comm_lib ├── example.h ├── Makefile ├── SerialClass.h └── example.cpp ├── src_arduino_code └── libraries │ ├── LiquidCrystal │ ├── docs │ │ └── html │ │ │ ├── bc_s.png │ │ │ ├── nav_f.png │ │ │ ├── nav_h.png │ │ │ ├── open.png │ │ │ ├── tab_a.png │ │ │ ├── tab_b.png │ │ │ ├── tab_h.png │ │ │ ├── tab_s.png │ │ │ ├── closed.png │ │ │ ├── doxygen.png │ │ │ ├── logoGoogle.jpg │ │ │ ├── class_l_c_d.png │ │ │ ├── search │ │ │ ├── close.png │ │ │ ├── mag_sel.png │ │ │ ├── search_l.png │ │ │ ├── search_m.png │ │ │ ├── search_r.png │ │ │ ├── nomatches.html │ │ │ ├── classes_69.html │ │ │ ├── functions_68.html │ │ │ ├── defines_63.html │ │ │ ├── functions_69.html │ │ │ ├── functions_61.html │ │ │ ├── enums_74.html │ │ │ ├── defines_5f.html │ │ │ ├── defines_68.html │ │ │ ├── defines_74.html │ │ │ ├── enumvalues_6e.html │ │ │ ├── enumvalues_70.html │ │ │ ├── functions_65.html │ │ │ ├── files_66.html │ │ │ ├── files_69.html │ │ │ ├── all_6f.html │ │ │ ├── functions_6f.html │ │ │ ├── all_68.html │ │ │ ├── functions_72.html │ │ │ ├── functions_70.html │ │ │ ├── all_6d.html │ │ │ ├── defines_62.html │ │ │ ├── typedefs_66.html │ │ │ ├── functions_6d.html │ │ │ ├── all_74.html │ │ │ ├── defines_61.html │ │ │ ├── functions_63.html │ │ │ ├── functions_64.html │ │ │ ├── all_70.html │ │ │ ├── all_61.html │ │ │ ├── all_77.html │ │ │ ├── functions_77.html │ │ │ ├── all_65.html │ │ │ ├── defines_65.html │ │ │ ├── all_69.html │ │ │ ├── all_63.html │ │ │ ├── functions_6e.html │ │ │ ├── defines_72.html │ │ │ ├── functions_62.html │ │ │ ├── classes_6c.html │ │ │ ├── all_6e.html │ │ │ ├── variables_5f.html │ │ │ ├── defines_66.html │ │ │ ├── all_72.html │ │ │ ├── all_5f.html │ │ │ ├── all_62.html │ │ │ ├── defines_73.html │ │ │ ├── files_6c.html │ │ │ ├── defines_64.html │ │ │ └── search.css │ │ │ ├── class_liquid_crystal.png │ │ │ ├── class_liquid_crystal___i2_c.png │ │ │ ├── class_liquid_crystal___s_r.png │ │ │ ├── class_liquid_crystal___s_r2_w.png │ │ │ ├── class_liquid_crystal___s_r3_w.png │ │ │ ├── class_liquid_crystal___s_r___l_c_d3.png │ │ │ ├── tabs.css │ │ │ ├── installdox │ │ │ ├── index.html │ │ │ ├── _liquid_crystal___s_r2_w_8cpp.html │ │ │ ├── globals_enum.html │ │ │ ├── _i2_c_i_o_8cpp.html │ │ │ ├── _l_c_d_8cpp.html │ │ │ ├── _liquid_crystal___s_r___l_c_d3_8h.html │ │ │ ├── globals_type.html │ │ │ ├── globals_eval.html │ │ │ ├── _liquid_crystal___s_r_8cpp.html │ │ │ └── hierarchy.html │ ├── examples │ │ ├── LCDiSpeed │ │ │ └── LCDiSpeed.txt │ │ ├── SerialDisplay │ │ │ └── SerialDisplay.pde │ │ ├── HelloWorld_SR │ │ │ └── HelloWorld_SR.pde │ │ ├── HelloWorld_i2c │ │ │ └── HelloWorld_i2c.pde │ │ └── HelloWorld_4bit │ │ │ └── HelloWorld_4bit.pde │ ├── keywords.txt │ ├── LiquidCrystal_SR2W.cpp │ ├── I2CIO.cpp │ └── I2CIO.h │ └── IRremote │ └── IRremote.h └── README.md /src_comm_lib/example.h: -------------------------------------------------------------------------------- 1 | #include "SerialClass.h" 2 | 3 | #ifdef _WIN32 4 | #include 5 | #endif 6 | 7 | -------------------------------------------------------------------------------- /src_comm_lib/Makefile: -------------------------------------------------------------------------------- 1 | CC=g++ 2 | CFLAGS=-Wall -O3 3 | 4 | lib: 5 | $(CC) $(CFLAGS) -o platform example.cpp Serial.cpp 6 | clean: 7 | rm platform 8 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/bc_s.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ThomasKNR/RotaryStewartPlatform/HEAD/src_arduino_code/libraries/LiquidCrystal/docs/html/bc_s.png -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/nav_f.png: -------------------------------------------------------------------------------- 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11 | 12 | 13 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/examples/LCDiSpeed/LCDiSpeed.txt: -------------------------------------------------------------------------------- 1 | 16Mhz AVR 2 | Interface ByteXfer 16x2FPS Ftime 3 | ---------------------------------------------- 4 | 4BIT 338uS 86.92 11.51ms (orignal Liquid Crystal) 5 | 4BIT 98uS 298.58 3.35ms 6 | SR2W 76uS 388.62 2.57ms 7 | SR_2W 72uS 406.90 2.46ms 8 | SR_3W 61uS 480.03 2.08ms 9 | SR3W 102uS 287.92 3.47ms 10 | 11 | 12 | 80Mhz Pic32 (ChipKit Uno32) 13 | Interface ByteXfer 16x2FPS Ftime 14 | ---------------------------------------------- 15 | 4BIT 232uS 126.73 7.89ms (orignal mpide Liquid Crystal) 16 | 4BIT 57uS 517.41 1.93ms 17 | SR2W 53uS 557.35 1.79ms 18 | SR_2W 53uS 554.66 1.80ms 19 | SR_3W 50uS 591.40 1.69ms 20 | SR3W 56uS 524.91 1.91ms 21 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/examples/SerialDisplay/SerialDisplay.pde: -------------------------------------------------------------------------------- 1 | /* 2 | * Displays text sent over the serial port (e.g. from the Serial Monitor) on 3 | * an attached LCD. 4 | */ 5 | #include 6 | #include 7 | 8 | #define BACKLIGHT_PIN 13 9 | 10 | LiquidCrystal_I2C lcd(0x38); // set the LCD address to 0x38 11 | 12 | void setup() 13 | { 14 | pinMode ( BACKLIGHT_PIN, OUTPUT ); 15 | lcd.begin (16,2); 16 | digitalWrite ( BACKLIGHT_PIN, HIGH ); 17 | 18 | Serial.begin(57600); 19 | } 20 | 21 | void loop() 22 | { 23 | // when characters arrive over the serial port... 24 | if (Serial.available()) 25 | { 26 | // wait a bit for the entire message to arrive 27 | delay(100); 28 | // clear the screen 29 | lcd.clear(); 30 | // read all the available characters 31 | while (Serial.available() > 0) 32 | { 33 | // display each character to the LCD 34 | lcd.write(Serial.read()); 35 | } 36 | } 37 | } 38 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/classes_69.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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24 | 25 | 26 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/examples/HelloWorld_SR/HelloWorld_SR.pde: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | LiquidCrystal_SR lcd(8,7,TWO_WIRE); 5 | // | | 6 | // | \-- Clock Pin 7 | // \---- Data/Enable Pin 8 | 9 | // Creat a set of new characters 10 | byte armsUp[8] = {0b00100,0b01010,0b00100,0b10101,0b01110,0b00100,0b00100,0b01010}; 11 | byte armsDown[8] = {0b00100,0b01010,0b00100,0b00100,0b01110,0b10101,0b00100,0b01010}; 12 | 13 | void setup(){ 14 | 15 | lcd.begin(16,2); // initialize the lcd 16 | 17 | lcd.createChar (0, armsUp); // load character to the LCD 18 | lcd.createChar (1, armsDown); // load character to the LCD 19 | 20 | lcd.home (); // go home 21 | lcd.print("LiquidCrystal_SR"); 22 | } 23 | 24 | void loop(){ 25 | // Do a little animation 26 | for(int i = 0; i <= 15; i++) showHappyGuy(i); 27 | for(int i = 15; i >= 0; i--) showHappyGuy(i); 28 | } 29 | 30 | void showHappyGuy(int pos){ 31 | lcd.setCursor ( pos, 1 ); // go to position 32 | lcd.print(char(random(0,2))); // show one of the two custom characters 33 | delay(150); // wait so it can be seen 34 | lcd.setCursor ( pos, 1 ); // go to position again 35 | lcd.print(" "); // delete character 36 | } -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/functions_68.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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25 | 26 | 27 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/tabs.css: -------------------------------------------------------------------------------- 1 | .tabs, .tabs2, .tabs3 { 2 | background-image: url('tab_b.png'); 3 | width: 100%; 4 | z-index: 101; 5 | font-size: 13px; 6 | } 7 | 8 | .tabs2 { 9 | font-size: 10px; 10 | } 11 | .tabs3 { 12 | font-size: 9px; 13 | } 14 | 15 | .tablist { 16 | margin: 0; 17 | padding: 0; 18 | display: table; 19 | } 20 | 21 | .tablist li { 22 | float: left; 23 | display: table-cell; 24 | background-image: url('tab_b.png'); 25 | line-height: 36px; 26 | list-style: none; 27 | } 28 | 29 | .tablist a { 30 | display: block; 31 | padding: 0 20px; 32 | font-weight: bold; 33 | background-image:url('tab_s.png'); 34 | background-repeat:no-repeat; 35 | background-position:right; 36 | color: #283A5D; 37 | text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); 38 | text-decoration: none; 39 | outline: none; 40 | } 41 | 42 | .tabs3 .tablist a { 43 | padding: 0 10px; 44 | } 45 | 46 | .tablist a:hover { 47 | background-image: url('tab_h.png'); 48 | background-repeat:repeat-x; 49 | color: #fff; 50 | text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); 51 | text-decoration: none; 52 | } 53 | 54 | .tablist li.current a { 55 | background-image: url('tab_a.png'); 56 | background-repeat:repeat-x; 57 | color: #fff; 58 | text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); 59 | } 60 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/files_66.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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31 | 32 | 33 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | Rotary Stewart Platform 2 | ----------------------- 3 | 4 | 5 | In this repository are source files for a Rotary Stewart Platform project. This project is for a small Stewart platform controlled by RC servos and Arduino. Stewart Platform is a parallel robot capable of positioning its moving platform in 6 degrees of freedom. In this project, platform has additional features such as an LCD to show various data and IrDA used for remote controlling of its movements. Main informations about this project and detailed description of a construction process can be found at http://www.instructables.com/id/Arduino-controlled-Rotary-Stewart-Platform/. 6 | 7 | Source files are divided into three main folders: 8 | 9 | - **src_arduino_code** - contains souce code files and needed libraries for Arduino: 10 | - for controlling LCD via I2C interface: https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home 11 | - for IrDA communication: https://github.com/shirriff/Arduino-IRremote/wiki 12 | - **src_comm_lib** - contains communication library for controlling this platform, it is written in C++ and uses serial communication to communicate with arduino. This library works on Windows and on Linux, it is used for easy control of platform movements. 13 | - **templates_for_cutting** - DXF files containing templates for laser cutting of parts from plastic and also PCB layout for board needed for external supply of power to servos. These files were made using QCad tool. 14 | 15 | In IrDA communication library there are made tiny changes - because servo and also IrDA library need interrupt handling, there were problems when using servos and IrDA communication at the same time, these changes reduce consequence of these problems, consequences were very subtle random servo movements. 16 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/typedefs_66.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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18 | moveCursorRight 19 | LCD 20 |
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12 | t_backlighPol 13 | LCD.h 14 |
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18 | TWO_WIRE 19 | LiquidCrystal_SR.h 20 |
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31 | 32 | 33 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/defines_61.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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18 | ATOMIC_RESTORESTATE 19 | FastIO.h 20 |
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31 | 32 | 33 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/examples/HelloWorld_i2c/HelloWorld_i2c.pde: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | 5 | 6 | #define BACKLIGHT_PIN 13 7 | 8 | LiquidCrystal_I2C lcd(0x38); // Set the LCD I2C address 9 | 10 | //LiquidCrystal_I2C lcd(0x38, BACKLIGHT_PIN, POSITIVE); // Set the LCD I2C address 11 | 12 | 13 | // Creat a set of new characters 14 | const uint8_t charBitmap[][8] = { 15 | { 0xc, 0x12, 0x12, 0xc, 0, 0, 0, 0 }, 16 | { 0x6, 0x9, 0x9, 0x6, 0, 0, 0, 0 }, 17 | { 0x0, 0x6, 0x9, 0x9, 0x6, 0, 0, 0x0 }, 18 | { 0x0, 0xc, 0x12, 0x12, 0xc, 0, 0, 0x0 }, 19 | { 0x0, 0x0, 0xc, 0x12, 0x12, 0xc, 0, 0x0 }, 20 | { 0x0, 0x0, 0x6, 0x9, 0x9, 0x6, 0, 0x0 }, 21 | { 0x0, 0x0, 0x0, 0x6, 0x9, 0x9, 0x6, 0x0 }, 22 | { 0x0, 0x0, 0x0, 0xc, 0x12, 0x12, 0xc, 0x0 } 23 | 24 | }; 25 | 26 | void setup() 27 | { 28 | int charBitmapSize = (sizeof(charBitmap ) / sizeof (charBitmap[0])); 29 | 30 | // Switch on the backlight 31 | pinMode ( BACKLIGHT_PIN, OUTPUT ); 32 | digitalWrite ( BACKLIGHT_PIN, HIGH ); 33 | 34 | lcd.begin(16,2); // initialize the lcd 35 | 36 | for ( int i = 0; i < charBitmapSize; i++ ) 37 | { 38 | lcd.createChar ( i, (uint8_t *)charBitmap[i] ); 39 | } 40 | 41 | lcd.home (); // go home 42 | lcd.print("Hello, ARDUINO "); 43 | lcd.setCursor ( 0, 1 ); // go to the next line 44 | lcd.print (" FORUM - fm "); 45 | delay ( 1000 ); 46 | } 47 | 48 | void loop() 49 | { 50 | lcd.home (); 51 | // Do a little animation by writing to the same location 52 | for ( int i = 0; i < 2; i++ ) 53 | { 54 | for ( int j = 0; j < 16; j++ ) 55 | { 56 | lcd.print (char(random(7))); 57 | } 58 | lcd.setCursor ( 0, 1 ); 59 | } 60 | delay (200); 61 | } 62 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/keywords.txt: -------------------------------------------------------------------------------- 1 | ########################################### 2 | # Syntax Coloring Map For LiquidCrystal_I2C 3 | ########################################### 4 | 5 | ########################################### 6 | # Datatypes (KEYWORD1) 7 | ########################################### 8 | 9 | LiquidCrystal_SR KEYWORD1 10 | LiquidCrystal_I2C KEYWORD1 11 | LiquidCrystal_SR3W KEYWORD1 12 | LiquidCrystal KEYWORD1 13 | LCD KEYWORD1 14 | 15 | ########################################### 16 | # Methods and Functions (KEYWORD2) 17 | ########################################### 18 | begin KEYWORD2 19 | clear KEYWORD2 20 | home KEYWORD2 21 | noDisplay KEYWORD2 22 | display KEYWORD2 23 | noBlink KEYWORD2 24 | blink KEYWORD2 25 | noCursor KEYWORD2 26 | cursor KEYWORD2 27 | scrollDisplayLeft KEYWORD2 28 | scrollDisplayRight KEYWORD2 29 | leftToRight KEYWORD2 30 | rightToLeft KEYWORD2 31 | moveCursorLeft KEYWORD2 32 | moveCursorRight KEYWORD2 33 | autoscroll KEYWORD2 34 | noAutoscroll KEYWORD2 35 | createChar KEYWORD2 36 | setCursor KEYWORD2 37 | print KEYWORD2 38 | write KEYWORD2 39 | println KEYWORD2 40 | backlight KEYWORD2 41 | noBacklight KEYWORD2 42 | on KEYWORD2 43 | off KEYWORD2 44 | setBacklightPin KEYWORD2 45 | setBacklight KEYWORD2 46 | ########################################### 47 | # Constants (LITERAL1) 48 | ########################################### 49 | POSITIVE LITERAL1 50 | NEGATIVE LITERAL1 51 | BACKLIGHT_ON LITERAL1 52 | BACKLIGHT_OFF LITERAL1 -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/examples/HelloWorld_4bit/HelloWorld_4bit.pde: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | 5 | #define CONTRAST_PIN 9 6 | #define BACKLIGHT_PIN 7 7 | #define CONTRAST 110 8 | LiquidCrystal lcd(12, 11, 5, 4, 3, 2, BACKLIGH_PIN, POSITIVE ); 9 | 10 | 11 | // Creat a set of new characters 12 | byte smiley[8] = { 13 | 0b00000, 14 | 0b00000, 15 | 0b01010, 16 | 0b00000, 17 | 0b00000, 18 | 0b10001, 19 | 0b01110, 20 | 0b00000 21 | }; 22 | 23 | byte armsUp[8] = { 24 | 0b00100, 25 | 0b01010, 26 | 0b00100, 27 | 0b10101, 28 | 0b01110, 29 | 0b00100, 30 | 0b00100, 31 | 0b01010 32 | }; 33 | 34 | byte frownie[8] = { 35 | 0b00000, 36 | 0b00000, 37 | 0b01010, 38 | 0b00000, 39 | 0b00000, 40 | 0b00000, 41 | 0b01110, 42 | 0b10001 43 | }; 44 | 45 | void setup() 46 | { 47 | Serial.begin ( 57600 ); 48 | 49 | // Switch on the backlight and LCD contrast levels 50 | pinMode(CONTRAST_PIN, OUTPUT); 51 | analogWrite ( CONTRAST_PIN, CONTRAST ); 52 | 53 | //lcd.setBacklightPin ( BACKLIGHT_PIN, POSITIVE ); 54 | //lcd.setBacklight ( HIGH ); 55 | lcd.backlight(); 56 | 57 | lcd.begin(16,2); // initialize the lcd 58 | 59 | lcd.createChar (0, smiley); // load character to the LCD 60 | lcd.createChar (1, armsUp); // load character to the LCD 61 | lcd.createChar (2, frownie); // load character to the LCD 62 | 63 | lcd.home (); // go home 64 | lcd.print("Hello, ARDUINO "); 65 | lcd.setCursor ( 0, 1 ); // go to the next line 66 | lcd.print (" FORUM - fm "); 67 | } 68 | 69 | void loop() 70 | { 71 | // Do a little animation by writing to the same location 72 | lcd.setCursor ( 14, 1 ); 73 | lcd.print (char(2)); 74 | delay (200); 75 | lcd.setCursor ( 14, 1 ); 76 | lcd.print ( char(0)); 77 | delay (200); 78 | } 79 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/functions_63.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
9 |
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12 | clear 13 | LCD 14 |
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18 | createChar 19 | LCD 20 |
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24 | cursor 25 | LCD 26 |
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30 | 36 |
37 | 38 | 39 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/functions_64.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | digitalRead 13 | I2CIO 14 |
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18 | digitalWrite 19 | I2CIO 20 |
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24 | display 25 | LCD 26 |
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12 | pinMode 13 | I2CIO 14 |
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18 | portMode 19 | I2CIO 20 |
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24 | POSITIVE 25 | LCD.h 26 |
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37 | 38 | 39 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/all_61.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | ATOMIC_BLOCK 13 | FastIO.h 14 |
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18 | ATOMIC_RESTORESTATE 19 | FastIO.h 20 |
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24 | autoscroll 25 | LCD 26 |
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37 | 38 | 39 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/all_77.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | waitUsec 13 | LCD.h 14 |
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18 | write 19 |
20 | I2CIO::write() 21 | LCD::write() 22 |
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27 | 33 |
34 | 35 | 36 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/functions_77.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | waitUsec 13 | LCD.h 14 |
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18 | write 19 |
20 | I2CIO::write() 21 | LCD::write() 22 |
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34 | 35 | 36 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/all_65.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | EN 13 |
14 | EN(): LiquidCrystal_I2C.cpp 15 | EN(): LiquidCrystal_SR3W.cpp 16 |
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20 |
21 | EXEC_TIME 22 | LiquidCrystal.h 23 |
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34 | 35 | 36 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/defines_65.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | EN 13 |
14 | EN(): LiquidCrystal_I2C.cpp 15 | EN(): LiquidCrystal_SR3W.cpp 16 |
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21 | EXEC_TIME 22 | LiquidCrystal.h 23 |
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12 | I2CIO 13 |
14 | I2CIO 15 | I2CIO::I2CIO() 16 |
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21 | I2CIO.cpp 22 |
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26 | I2CIO.h 27 |
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38 | 39 | 40 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/all_63.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | clear 13 | LCD 14 |
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18 | COMMAND 19 | LCD.h 20 |
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24 | createChar 25 | LCD 26 |
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30 | cursor 31 | LCD 32 |
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43 | 44 | 45 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/functions_6e.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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30 | noCursor 31 | LCD 32 |
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49 | 50 | 51 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/defines_72.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | RS 13 |
14 | RS(): LiquidCrystal_I2C.cpp 15 | RS(): LiquidCrystal_SR3W.cpp 16 |
17 |
18 |
19 |
20 |
21 | RW 22 |
23 | RW(): LiquidCrystal_I2C.cpp 24 | RW(): LiquidCrystal_SR3W.cpp 25 |
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37 | 38 | 39 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/functions_62.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | backlight 13 | LCD 14 |
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18 | begin 19 |
20 | I2CIO::begin() 21 | LCD::begin() 22 | LiquidCrystal_I2C::begin() 23 |
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41 | 42 | 43 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/classes_6c.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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17 | LiquidCrystal 18 |
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22 | LiquidCrystal_I2C 23 |
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27 | LiquidCrystal_SR 28 |
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32 | LiquidCrystal_SR2W 33 |
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37 | LiquidCrystal_SR3W 38 |
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42 | 48 |
49 | 50 | 51 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/installdox: -------------------------------------------------------------------------------- 1 | #!/usr/bin/perl 2 | 3 | %subst = ( ); 4 | $quiet = 0; 5 | 6 | while ( @ARGV ) { 7 | $_ = shift @ARGV; 8 | if ( s/^-// ) { 9 | if ( /^l(.*)/ ) { 10 | $v = ($1 eq "") ? shift @ARGV : $1; 11 | ($v =~ /\/$/) || ($v .= "/"); 12 | $_ = $v; 13 | if ( /(.+)\@(.+)/ ) { 14 | if ( exists $subst{$1} ) { 15 | $subst{$1} = $2; 16 | } else { 17 | print STDERR "Unknown tag file $1 given with option -l\n"; 18 | &usage(); 19 | } 20 | } else { 21 | print STDERR "Argument $_ is invalid for option -l\n"; 22 | &usage(); 23 | } 24 | } 25 | elsif ( /^q/ ) { 26 | $quiet = 1; 27 | } 28 | elsif ( /^\?|^h/ ) { 29 | &usage(); 30 | } 31 | else { 32 | print STDERR "Illegal option -$_\n"; 33 | &usage(); 34 | } 35 | } 36 | else { 37 | push (@files, $_ ); 38 | } 39 | } 40 | 41 | foreach $sub (keys %subst) 42 | { 43 | if ( $subst{$sub} eq "" ) 44 | { 45 | print STDERR "No substitute given for tag file `$sub'\n"; 46 | &usage(); 47 | } 48 | elsif ( ! $quiet && $sub ne "_doc" && $sub ne "_cgi" ) 49 | { 50 | print "Substituting $subst{$sub} for each occurrence of tag file $sub\n"; 51 | } 52 | } 53 | 54 | if ( ! @files ) { 55 | if (opendir(D,".")) { 56 | foreach $file ( readdir(D) ) { 57 | $match = ".html"; 58 | next if ( $file =~ /^\.\.?$/ ); 59 | ($file =~ /$match/) && (push @files, $file); 60 | ($file =~ /\.svg/) && (push @files, $file); 61 | ($file =~ "navtree.js") && (push @files, $file); 62 | } 63 | closedir(D); 64 | } 65 | } 66 | 67 | if ( ! @files ) { 68 | print STDERR "Warning: No input files given and none found!\n"; 69 | } 70 | 71 | foreach $f (@files) 72 | { 73 | if ( ! $quiet ) { 74 | print "Editing: $f...\n"; 75 | } 76 | $oldf = $f; 77 | $f .= ".bak"; 78 | unless (rename $oldf,$f) { 79 | print STDERR "Error: cannot rename file $oldf\n"; 80 | exit 1; 81 | } 82 | if (open(F,"<$f")) { 83 | unless (open(G,">$oldf")) { 84 | print STDERR "Error: opening file $oldf for writing\n"; 85 | exit 1; 86 | } 87 | if ($oldf ne "tree.js") { 88 | while () { 89 | s/doxygen\=\"([^ \"\:\t\>\<]*)\:([^ \"\t\>\<]*)\" (xlink:href|href|src)=\"\2/doxygen\=\"$1:$subst{$1}\" \3=\"$subst{$1}/g; 90 | print G "$_"; 91 | } 92 | } 93 | else { 94 | while () { 95 | s/\"([^ \"\:\t\>\<]*)\:([^ \"\t\>\<]*)\", \"\2/\"$1:$subst{$1}\" ,\"$subst{$1}/g; 96 | print G "$_"; 97 | } 98 | } 99 | } 100 | else { 101 | print STDERR "Warning file $f does not exist\n"; 102 | } 103 | unlink $f; 104 | } 105 | 106 | sub usage { 107 | print STDERR "Usage: installdox [options] [html-file [html-file ...]]\n"; 108 | print STDERR "Options:\n"; 109 | print STDERR " -l tagfile\@linkName tag file + URL or directory \n"; 110 | print STDERR " -q Quiet mode\n\n"; 111 | exit 1; 112 | } 113 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/all_6e.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | NEGATIVE 13 | LCD.h 14 |
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18 | noAutoscroll 19 | LCD 20 |
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24 | noBacklight 25 | LCD 26 |
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36 | noCursor 37 | LCD 38 |
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42 | noDisplay 43 | LCD 44 |
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55 | 56 | 57 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/variables_5f.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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18 | _displaycontrol 19 | LCD 20 |
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24 | _displayfunction 25 | LCD 26 |
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30 | _displaymode 31 | LCD 32 |
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36 | _numlines 37 | LCD 38 |
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42 | _polarity 43 | LCD 44 |
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12 | fio_digitalWrite_HIGH 13 | FastIO.h 14 |
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18 | fio_digitalWrite_LOW 19 | FastIO.h 20 |
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24 | fio_digitalWrite_SWITCH 25 | FastIO.h 26 |
27 |
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29 |
30 | fio_digitalWrite_SWITCHTO 31 | FastIO.h 32 |
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35 |
36 | FIO_FALLBACK 37 | FastIO.h 38 |
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42 | FOUR_BITS 43 | LCD.h 44 |
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12 | read 13 | I2CIO 14 |
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18 | rightToLeft 19 | LCD 20 |
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24 | RS 25 |
26 | RS(): LiquidCrystal_I2C.cpp 27 | RS(): LiquidCrystal_SR3W.cpp 28 |
29 |
30 |
31 |
32 |
33 | RW 34 |
35 | RW(): LiquidCrystal_I2C.cpp 36 | RW(): LiquidCrystal_SR3W.cpp 37 |
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18 | _displaycontrol 19 | LCD 20 |
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24 | _displayfunction 25 | LCD 26 |
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30 | _displaymode 31 | LCD 32 |
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35 |
36 | _I2CIO_VERSION 37 | I2CIO.h 38 |
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42 | _numlines 43 | LCD 44 |
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48 | _polarity 49 | LCD 50 |
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61 | 62 | 63 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/all_62.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | backlight 13 | LCD 14 |
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18 | BACKLIGHT_OFF 19 | LCD.h 20 |
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23 |
24 | BACKLIGHT_ON 25 | LCD.h 26 |
27 |
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29 |
30 | begin 31 |
32 | I2CIO::begin() 33 | LCD::begin() 34 | LiquidCrystal_I2C::begin() 35 |
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38 | 44 |
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53 | 54 | 55 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/defines_73.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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12 | SKIP 13 | FastIO.h 14 |
15 |
16 |
17 |
18 | SR2W_BL_MASK 19 | LiquidCrystal_SR2W.h 20 |
21 |
22 |
23 |
24 | SR2W_DATA_MASK 25 | LiquidCrystal_SR2W.h 26 |
27 |
28 |
29 |
30 | SR2W_EN_MASK 31 | LiquidCrystal_SR2W.h 32 |
33 |
34 |
35 |
36 | SR2W_RS_MASK 37 | LiquidCrystal_SR2W.h 38 |
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40 |
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42 | SR_EN_BIT 43 | LiquidCrystal_SR.h 44 |
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48 | SR_RS_BIT 49 | LiquidCrystal_SR.h 50 |
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54 | 60 |
61 | 62 | 63 | -------------------------------------------------------------------------------- /src_comm_lib/SerialClass.h: -------------------------------------------------------------------------------- 1 | /*
3 | * Copyright (C) <2014> 4 | * 5 | * This program is free software: you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation, either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see .*/ 17 | #include 18 | #include 19 | #include 20 | #include 21 | 22 | //header files used on Linux 23 | #ifdef __linux__ 24 | #include 25 | #include 26 | using namespace std; 27 | 28 | //header files and defines used on Windows Platform 29 | #elif defined _WIN32 30 | #include 31 | #define FC_DTRDSR 0x01 32 | #define FC_RTSCTS 0x02 33 | #define FC_XONXOFF 0x04 34 | #define ASCII_BEL 0x07 35 | #define ASCII_BS 0x08 36 | #define ASCII_LF 0x0A 37 | #define ASCII_CR 0x0D 38 | #define ASCII_XON 0x11 39 | #define ASCII_XOFF 0x13 40 | /** 41 | * Helper class for serial communication on Windows Platform 42 | */ 43 | class CSerial 44 | { 45 | 46 | public: 47 | CSerial(); 48 | ~CSerial(); 49 | //open port, communication speed 50 | BOOL Open(int nPort = 2, int nBaud = 9600); 51 | //close COM port 52 | BOOL Close(void); 53 | //functions for reading and writing 54 | int ReadData(void *, int); 55 | int SendData(const unsigned char *, int); 56 | int ReadDataWaiting(void); 57 | BOOL IsOpened(void){ return(m_bOpened); } 58 | 59 | protected: 60 | BOOL WriteCommByte(unsigned char); 61 | HANDLE m_hIDComDev; 62 | OVERLAPPED m_OverlappedRead, m_OverlappedWrite; 63 | BOOL m_bOpened; 64 | 65 | }; 66 | #endif 67 | 68 | /* 69 | * Main class used for communication with Arduino via serial and for control 70 | * of Rotary Stewart Platform, all methods return bool indicating success of failure 71 | * 72 | * */ 73 | class Platform { 74 | 75 | public: 76 | //Constructor, portno is number of COM port on which arduino is connected on Windows 77 | //platform. It can be found in Arduino IDE. On linux, path to arduino is used default 78 | //(/dev/ttyACM0 or /dev/ttyACM1) 79 | Platform(int portno); 80 | //method to turn off backlight of LCD 81 | bool setBacklightOff(); 82 | //method to turn on backlight of LCD 83 | bool setBacklightOn(); 84 | //main method to control position, parameter is array of 6 floats, these contain: 85 | //translation move in x, y, z axis, unit is mm 86 | //rotation move in x,y,z, axis, unit is ordinary degree 87 | //precision is to 1/100, 88 | //return: 0- everything OK 89 | // >0 - desired position is outside of platform range, bigger values means bigger error 90 | // -1 - error during communication with arduino 91 | int setPositions(float *); 92 | //starts showing current position of platform on LCD 93 | bool printPositions(); 94 | //finishes showing current position of platform on LCD 95 | bool endPrintPositions(); 96 | //enables control by irda 97 | bool irDaOn(); 98 | //disables control by irda 99 | bool irDaOff(); 100 | //reserved for future use 101 | bool setPositionsInMs(int *); 102 | //returns current positions 103 | bool getPositions(float *); 104 | //properly ends communication with Arduino 105 | void endCommunication(); 106 | private: 107 | bool writeAction(unsigned char c); 108 | FILE* arduino; 109 | int error; 110 | #ifdef _WIN32 111 | CSerial serial; 112 | #endif 113 | }; 114 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/IRremote/IRremote.h: -------------------------------------------------------------------------------- 1 | /* 2 | * IRremote 3 | * Version 0.1 July, 2009 4 | * Copyright 2009 Ken Shirriff 5 | * For details, see http://arcfn.com/2009/08/multi-protocol-infrared-remote-library.htm http://arcfn.com 6 | * Edited by Mitra to add new controller SANYO 7 | * 8 | * Interrupt code based on NECIRrcv by Joe Knapp 9 | * http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1210243556 10 | * Also influenced by http://zovirl.com/2008/11/12/building-a-universal-remote-with-an-arduino/ 11 | * 12 | * JVC and Panasonic protocol added by Kristian Lauszus (Thanks to zenwheel and other people at the original blog post) 13 | */ 14 | 15 | #ifndef IRremote_h 16 | #define IRremote_h 17 | 18 | // The following are compile-time library options. 19 | // If you change them, recompile the library. 20 | // If DEBUG is defined, a lot of debugging output will be printed during decoding. 21 | // TEST must be defined for the IRtest unittests to work. It will make some 22 | // methods virtual, which will be slightly slower, which is why it is optional. 23 | // #define DEBUG 24 | // #define TEST 25 | 26 | // Results returned from the decoder 27 | class decode_results { 28 | public: 29 | int decode_type; // NEC, SONY, RC5, UNKNOWN 30 | unsigned int panasonicAddress; // This is only used for decoding Panasonic data 31 | unsigned long value; // Decoded value 32 | int bits; // Number of bits in decoded value 33 | volatile unsigned int *rawbuf; // Raw intervals in .5 us ticks 34 | int rawlen; // Number of records in rawbuf. 35 | }; 36 | 37 | // Values for decode_type 38 | #define NEC 1 39 | #define SONY 2 40 | #define RC5 3 41 | #define RC6 4 42 | #define DISH 5 43 | #define SHARP 6 44 | #define PANASONIC 7 45 | #define JVC 8 46 | #define SANYO 9 47 | #define MITSUBISHI 10 48 | #define UNKNOWN -1 49 | 50 | // Decoded value for NEC when a repeat code is received 51 | #define REPEAT 0xffffffff 52 | 53 | // main class for receiving IR 54 | class IRrecv 55 | { 56 | public: 57 | IRrecv(int recvpin); 58 | void blink13(int blinkflag); 59 | int decode(decode_results *results); 60 | void enableIRIn(); 61 | void resume(); 62 | private: 63 | // These are called by decode 64 | int getRClevel(decode_results *results, int *offset, int *used, int t1); 65 | long decodeNEC(decode_results *results); 66 | long decodeSony(decode_results *results); 67 | long decodeSanyo(decode_results *results); 68 | long decodeMitsubishi(decode_results *results); 69 | long decodeRC5(decode_results *results); 70 | long decodeRC6(decode_results *results); 71 | long decodePanasonic(decode_results *results); 72 | long decodeJVC(decode_results *results); 73 | long decodeHash(decode_results *results); 74 | int compare(unsigned int oldval, unsigned int newval); 75 | 76 | } 77 | ; 78 | 79 | // Only used for testing; can remove virtual for shorter code 80 | #ifdef TEST 81 | #define VIRTUAL virtual 82 | #else 83 | #define VIRTUAL 84 | #endif 85 | 86 | class IRsend 87 | { 88 | public: 89 | IRsend() {} 90 | void sendNEC(unsigned long data, int nbits); 91 | void sendSony(unsigned long data, int nbits); 92 | // Neither Sanyo nor Mitsubishi send is implemented yet 93 | // void sendSanyo(unsigned long data, int nbits); 94 | // void sendMitsubishi(unsigned long data, int nbits); 95 | void sendRaw(unsigned int buf[], int len, int hz); 96 | void sendRC5(unsigned long data, int nbits); 97 | void sendRC6(unsigned long data, int nbits); 98 | void sendDISH(unsigned long data, int nbits); 99 | void sendSharp(unsigned long data, int nbits); 100 | void sendPanasonic(unsigned int address, unsigned long data); 101 | void sendJVC(unsigned long data, int nbits, int repeat); // *Note instead of sending the REPEAT constant if you want the JVC repeat signal sent, send the original code value and change the repeat argument from 0 to 1. JVC protocol repeats by skipping the header NOT by sending a separate code value like NEC does. 102 | // private: 103 | void enableIROut(int khz); 104 | VIRTUAL void mark(int usec); 105 | VIRTUAL void space(int usec); 106 | } 107 | ; 108 | 109 | // Some useful constants 110 | 111 | #define USECPERTICK 50 // microseconds per clock interrupt tick 112 | #define RAWBUF 100 // Length of raw duration buffer 113 | 114 | // Marks tend to be 100us too long, and spaces 100us too short 115 | // when received due to sensor lag. 116 | #define MARK_EXCESS 100 117 | 118 | #endif 119 | -------------------------------------------------------------------------------- /src_comm_lib/example.cpp: -------------------------------------------------------------------------------- 1 | #include "example.h" 2 | #include 3 | #include 4 | #include 5 | Platform* p; 6 | float getRand(){ 7 | int value=rand()%4000-2000; 8 | return value/100.0; 9 | } 10 | 11 | int zapis(float array[]){ 12 | char ret=0; 13 | int c; 14 | while(ret==0){ 15 | c=getchar(); 16 | if(c=='z'){ 17 | array[0]=0; 18 | array[1]=0; 19 | array[2]=0; 20 | array[3]=0; 21 | array[4]=0; 22 | array[5]=0; 23 | int resp=p->setPositions(array); 24 | printf("val %d\n",resp); 25 | }else{ 26 | ret=1; 27 | int resp=p->setPositions(array); 28 | printf("val %d\n",resp); 29 | } 30 | } 31 | float arr[]={0,0,0,0,0,0}; 32 | p->getPositions(arr); 33 | printf("%f %f %f %f %f %f \n",arr[0],arr[1],arr[2],arr[3],arr[4],arr[5]); 34 | 35 | 36 | return c; 37 | } 38 | int main(){ 39 | // 40 | p= new Platform(3); 41 | float array[] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; 42 | p->setPositions(array); 43 | Sleep(1000); 44 | float current_val=25; 45 | short cnt=0; 46 | int znak=0; 47 | if(true){ 48 | while(znak!='n'){ 49 | cnt++; 50 | if(cnt%2==1){ 51 | array[0]=-current_val; 52 | znak=zapis(array); 53 | printf("x=%f\n",current_val); 54 | }else{ 55 | array[0]=current_val; 56 | znak=zapis(array); 57 | printf("x=-%f\n",current_val); 58 | } 59 | } 60 | znak=0; 61 | cnt=0; 62 | while(znak!='n'){ 63 | cnt++; 64 | if(cnt%2==1){ 65 | array[0]=0.0; 66 | array[1]=-current_val; 67 | znak=zapis(array); 68 | printf("y=-%f\n",current_val); 69 | }else{ 70 | array[1]=current_val; 71 | znak=zapis(array); 72 | printf("y=%f\n",current_val); 73 | } 74 | } 75 | znak=0; 76 | cnt=0; 77 | while(znak!='n'){ 78 | cnt++; 79 | if(cnt%2==1){ 80 | array[1]=0.0; 81 | array[2]=-current_val; 82 | znak=zapis(array); 83 | printf("z=-%f\n",current_val); 84 | }else{ 85 | array[2]=current_val; 86 | znak=zapis(array); 87 | printf("z=%f\n",current_val); 88 | } 89 | } 90 | znak=0; 91 | cnt=0; 92 | while(znak!='n'){ 93 | cnt++; 94 | if(cnt%2==1){ 95 | array[2]=0.0; 96 | array[3]=current_val; 97 | znak=zapis(array); 98 | printf("rot(x)=%f°\n",current_val); 99 | }else{ 100 | array[3]=-current_val; 101 | znak=zapis(array); 102 | printf("rot(x)=-%f°\n",current_val); 103 | } 104 | } 105 | znak=0; 106 | cnt=0; 107 | while(znak!='n'){ 108 | cnt++; 109 | if(cnt%2==1){ 110 | array[3]=0.0; 111 | array[4]=current_val; 112 | znak=zapis(array); 113 | printf("rot(y)=%f°\n",current_val); 114 | }else{ 115 | array[4]=-current_val; 116 | znak=zapis(array); 117 | printf("rot(y)=-%f°\n",current_val); 118 | } 119 | } 120 | cnt=0; 121 | znak=0; 122 | while(znak!='n'){ 123 | cnt++; 124 | if(cnt%2==1){ 125 | array[4]=0.0; 126 | array[5]=current_val; 127 | znak=zapis(array); 128 | printf("rot(z)=%f°\n",current_val); 129 | }else{ 130 | array[5]=-current_val; 131 | znak=zapis(array); 132 | printf("rot(z)=-%f°\n",current_val); 133 | } 134 | } 135 | }else{ 136 | for(int i=0;i<1000;i++){ 137 | for(int k=0;k<6;k++){ 138 | array[k]=getRand(); 139 | } 140 | p->setPositions(array); 141 | Sleep(3000); 142 | } 143 | } 144 | p->endCommunication(); 145 | delete p; 146 | return 1; 147 | } 148 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/index.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | LCD Library: Main Page 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 16 |
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77 | 78 | 79 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/LiquidCrystal_SR2W.cpp: -------------------------------------------------------------------------------- 1 | // --------------------------------------------------------------------------- 2 | // Created/Adapted by Bill Perry 2012-03-16 3 | // Copyright 2012 - Under creative commons license 3.0: 4 | // Attribution-ShareAlike CC BY-SA 5 | // 6 | // This software is furnished "as is", without technical support, and with no 7 | // warranty, express or implied, as to its usefulness for any purpose. 8 | // 9 | // Thread Safe: No 10 | // Extendable: Yes 11 | // 12 | // @file LiquidCrystal_SR2W.cpp 13 | // Connects a hd44780 LCD using 2 pins from the Arduino, via an 8-bit 14 | // ShiftRegister (SR2W from now on). 15 | // 16 | // @brief 17 | // This is a port of the ShiftRegLCD library from raron and ported to the 18 | // LCD library. 19 | // 20 | // 21 | // See the corresponding SR2W header file for full details. 22 | // 23 | // History 24 | // 2012.03.29 bperrybap - Fixed incorrect use of 5x10 for default font 25 | // (now matches original LQ library) 26 | // Fixed typo in SR2W mask define names 27 | // changed default backlight state to on 28 | // 2012.03.16 bperrybap - created/modified from SR sources to create SR2W 29 | // @author B. Perry - bperrybap@opensource.billsworld.billandterrie.com 30 | // --------------------------------------------------------------------------- 31 | 32 | #include "LiquidCrystal_SR2W.h" 33 | 34 | // CONSTRUCTORS 35 | // --------------------------------------------------------------------------- 36 | // Assuming 1 line 8 pixel high font 37 | LiquidCrystal_SR2W::LiquidCrystal_SR2W (uint8_t srdata, uint8_t srclock, t_backlighPol blpol) 38 | { 39 | init ( srdata, srclock, blpol, 1, 0 ); 40 | } 41 | 42 | 43 | // PRIVATE METHODS 44 | // --------------------------------------------------------------------------- 45 | 46 | // 47 | // init 48 | void LiquidCrystal_SR2W::init(uint8_t srdata, uint8_t srclock, t_backlighPol blpol, uint8_t lines, uint8_t font) 49 | { 50 | _srDataRegister = fio_pinToOutputRegister(srdata); 51 | _srDataMask = fio_pinToBit(srdata); 52 | _srClockRegister = fio_pinToOutputRegister(srclock); 53 | _srClockMask = fio_pinToBit(srclock); 54 | 55 | _blPolarity = blpol; 56 | 57 | _displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS; 58 | 59 | backlight(); // set default backlight state to on 60 | } 61 | 62 | // 63 | // loadSR 64 | void LiquidCrystal_SR2W::loadSR(uint8_t val) 65 | { 66 | // Clear to keep Enable LOW while clocking in new bits 67 | fio_shiftOut(_srDataRegister, _srDataMask, _srClockRegister, _srClockMask); 68 | 69 | 70 | // clock out SR data byte 71 | fio_shiftOut(_srDataRegister, _srDataMask, _srClockRegister, _srClockMask, val, MSBFIRST); 72 | 73 | 74 | // strobe LCD enable which can now be toggled by the data line 75 | ATOMIC_BLOCK(ATOMIC_RESTORESTATE) 76 | { 77 | fio_digitalWrite_HIGH(_srDataRegister, _srDataMask); 78 | waitUsec (1); // enable pulse must be >450ns 79 | fio_digitalWrite_SWITCHTO(_srDataRegister, _srDataMask, LOW); 80 | } // end critical section 81 | } 82 | 83 | // PUBLIC METHODS 84 | // --------------------------------------------------------------------------- 85 | 86 | 87 | /************ low level data pushing commands **********/ 88 | // 89 | // send 90 | void LiquidCrystal_SR2W::send(uint8_t value, uint8_t mode) 91 | { 92 | uint8_t myMode = ( mode == DATA ) ? SR2W_RS_MASK : 0; 93 | 94 | myMode = myMode | SR2W_EN_MASK | _blMask; 95 | 96 | if ( mode != FOUR_BITS ) 97 | { 98 | loadSR(myMode | ((value >> 1) & SR2W_DATA_MASK)); // upper nibble 99 | } 100 | 101 | loadSR(myMode | ((value << 3) & SR2W_DATA_MASK)); // lower nibble 102 | 103 | /* 104 | * Don't call waitUsec() 105 | * do our own delay optmization since this code is so fast it needs some added delay 106 | * even on slower AVRs. 107 | */ 108 | #if (F_CPU <= 16000000) 109 | delayMicroseconds ( 10 ); // commands & data writes need > 37us to complete 110 | #else 111 | delayMicroseconds ( 37 ); // commands & data writes need > 37us to complete 112 | #endif 113 | } 114 | 115 | // 116 | // setBacklight 117 | void LiquidCrystal_SR2W::setBacklight ( uint8_t value ) 118 | { 119 | // Check for polarity to configure mask accordingly 120 | // ---------------------------------------------------------- 121 | if ( ((_blPolarity == POSITIVE) && (value > 0)) || 122 | ((_blPolarity == NEGATIVE ) && ( value == 0 )) ) 123 | { 124 | _blMask = SR2W_BL_MASK; 125 | } 126 | else 127 | { 128 | _blMask = 0; 129 | } 130 | 131 | // send dummy data of blMask to set BL pin 132 | // Note: loadSR() will strobe the data line trying to pulse EN 133 | // but E will not strobe because the EN output bit is not set. 134 | loadSR(_blMask); 135 | } 136 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/files_6c.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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61 | 62 | 63 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/search/search.css: -------------------------------------------------------------------------------- 1 | /*---------------- Search Box */ 2 | 3 | #FSearchBox { 4 | float: left; 5 | } 6 | 7 | #searchli { 8 | float: right; 9 | display: block; 10 | width: 170px; 11 | height: 36px; 12 | } 13 | 14 | #MSearchBox { 15 | white-space : nowrap; 16 | position: absolute; 17 | float: none; 18 | display: inline; 19 | margin-top: 8px; 20 | right: 0px; 21 | width: 170px; 22 | z-index: 102; 23 | } 24 | 25 | #MSearchBox .left 26 | { 27 | display:block; 28 | position:absolute; 29 | left:10px; 30 | width:20px; 31 | height:19px; 32 | background:url('search_l.png') no-repeat; 33 | background-position:right; 34 | } 35 | 36 | #MSearchSelect { 37 | display:block; 38 | position:absolute; 39 | width:20px; 40 | height:19px; 41 | } 42 | 43 | .left #MSearchSelect { 44 | left:4px; 45 | } 46 | 47 | .right #MSearchSelect { 48 | right:5px; 49 | } 50 | 51 | #MSearchField { 52 | display:block; 53 | position:absolute; 54 | height:19px; 55 | background:url('search_m.png') repeat-x; 56 | border:none; 57 | width:116px; 58 | margin-left:20px; 59 | padding-left:4px; 60 | color: #909090; 61 | outline: none; 62 | font: 9pt Arial, Verdana, sans-serif; 63 | } 64 | 65 | #FSearchBox #MSearchField { 66 | margin-left:15px; 67 | } 68 | 69 | #MSearchBox .right { 70 | display:block; 71 | position:absolute; 72 | right:10px; 73 | top:0px; 74 | width:20px; 75 | height:19px; 76 | background:url('search_r.png') no-repeat; 77 | background-position:left; 78 | } 79 | 80 | #MSearchClose { 81 | display: none; 82 | position: absolute; 83 | top: 4px; 84 | background : none; 85 | border: none; 86 | margin: 0px 4px 0px 0px; 87 | padding: 0px 0px; 88 | outline: none; 89 | } 90 | 91 | .left #MSearchClose { 92 | left: 6px; 93 | } 94 | 95 | .right #MSearchClose { 96 | right: 2px; 97 | } 98 | 99 | .MSearchBoxActive #MSearchField { 100 | color: #000000; 101 | } 102 | 103 | /*---------------- Search filter selection */ 104 | 105 | #MSearchSelectWindow { 106 | display: none; 107 | position: absolute; 108 | left: 0; top: 0; 109 | border: 1px solid #90A5CE; 110 | background-color: #F9FAFC; 111 | z-index: 1; 112 | padding-top: 4px; 113 | padding-bottom: 4px; 114 | -moz-border-radius: 4px; 115 | -webkit-border-top-left-radius: 4px; 116 | -webkit-border-top-right-radius: 4px; 117 | -webkit-border-bottom-left-radius: 4px; 118 | -webkit-border-bottom-right-radius: 4px; 119 | -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); 120 | } 121 | 122 | .SelectItem { 123 | font: 8pt Arial, Verdana, sans-serif; 124 | padding-left: 2px; 125 | padding-right: 12px; 126 | border: 0px; 127 | } 128 | 129 | span.SelectionMark { 130 | margin-right: 4px; 131 | font-family: monospace; 132 | outline-style: none; 133 | text-decoration: none; 134 | } 135 | 136 | a.SelectItem { 137 | display: block; 138 | outline-style: none; 139 | color: #000000; 140 | text-decoration: none; 141 | padding-left: 6px; 142 | padding-right: 12px; 143 | } 144 | 145 | a.SelectItem:focus, 146 | a.SelectItem:active { 147 | color: #000000; 148 | outline-style: none; 149 | text-decoration: none; 150 | } 151 | 152 | a.SelectItem:hover { 153 | color: #FFFFFF; 154 | background-color: #3D578C; 155 | outline-style: none; 156 | text-decoration: none; 157 | cursor: pointer; 158 | display: block; 159 | } 160 | 161 | /*---------------- Search results window */ 162 | 163 | iframe#MSearchResults { 164 | width: 60ex; 165 | height: 15em; 166 | } 167 | 168 | #MSearchResultsWindow { 169 | display: none; 170 | position: absolute; 171 | left: 0; top: 0; 172 | border: 1px solid #000; 173 | background-color: #EEF1F7; 174 | } 175 | 176 | /* ----------------------------------- */ 177 | 178 | 179 | #SRIndex { 180 | clear:both; 181 | padding-bottom: 15px; 182 | } 183 | 184 | .SREntry { 185 | font-size: 10pt; 186 | padding-left: 1ex; 187 | } 188 | 189 | .SRPage .SREntry { 190 | font-size: 8pt; 191 | padding: 1px 5px; 192 | } 193 | 194 | body.SRPage { 195 | margin: 5px 2px; 196 | } 197 | 198 | .SRChildren { 199 | padding-left: 3ex; padding-bottom: .5em 200 | } 201 | 202 | .SRPage .SRChildren { 203 | display: none; 204 | } 205 | 206 | .SRSymbol { 207 | font-weight: bold; 208 | color: #425E97; 209 | font-family: Arial, Verdana, sans-serif; 210 | text-decoration: none; 211 | outline: none; 212 | } 213 | 214 | a.SRScope { 215 | display: block; 216 | color: #425E97; 217 | font-family: Arial, Verdana, sans-serif; 218 | text-decoration: none; 219 | outline: none; 220 | } 221 | 222 | a.SRSymbol:focus, a.SRSymbol:active, 223 | a.SRScope:focus, a.SRScope:active { 224 | text-decoration: underline; 225 | } 226 | 227 | .SRPage .SRStatus { 228 | padding: 2px 5px; 229 | font-size: 8pt; 230 | font-style: italic; 231 | } 232 | 233 | .SRResult { 234 | display: none; 235 | } 236 | 237 | DIV.searchresults { 238 | margin-left: 10px; 239 | margin-right: 10px; 240 | } 241 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/_liquid_crystal___s_r2_w_8cpp.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | LCD Library: /Users/fmalpartida/development/ardWorkspace/LiquidCrystal_I2C/LiquiCrystal_I2C/LiquidCrystal_SR2W.cpp File Reference 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 16 |
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#include <WProgram.h>
66 | #include <inttypes.h>
67 | #include <../Wire/Wire.h>
68 | #include "I2CIO.h"
69 |
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91 | 92 | 93 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/I2CIO.cpp: -------------------------------------------------------------------------------- 1 | // --------------------------------------------------------------------------- 2 | // Created by Francisco Malpartida on 20/08/11. 3 | // Copyright 2011 - Under creative commons license 3.0: 4 | // Attribution-ShareAlike CC BY-SA 5 | // 6 | // This software is furnished "as is", without technical support, and with no 7 | // warranty, express or implied, as to its usefulness for any purpose. 8 | // 9 | // Thread Safe: No 10 | // Extendable: Yes 11 | // 12 | // @file I2CIO.h 13 | // This file implements a basic IO library using the PCF8574 I2C IO Expander 14 | // chip. 15 | // 16 | // @brief 17 | // Implement a basic IO library to drive the PCF8574* I2C IO Expander ASIC. 18 | // The library implements basic IO general methods to configure IO pin direction 19 | // read and write uint8_t operations and basic pin level routines to set or read 20 | // a particular IO port. 21 | // 22 | // 23 | // @version API 1.0.0 24 | // 25 | // @author F. Malpartida - fmalpartida@gmail.com 26 | // --------------------------------------------------------------------------- 27 | #if (ARDUINO < 100) 28 | #include 29 | #else 30 | #include 31 | #endif 32 | 33 | #include 34 | 35 | #include <../Wire/Wire.h> 36 | #include "I2CIO.h" 37 | 38 | // CLASS VARIABLES 39 | // --------------------------------------------------------------------------- 40 | 41 | 42 | // CONSTRUCTOR 43 | // --------------------------------------------------------------------------- 44 | I2CIO::I2CIO ( ) 45 | { 46 | _i2cAddr = 0x0; 47 | _dirMask = 0xFF; // mark all as INPUTs 48 | _shadow = 0x0; // no values set 49 | _initialised = false; 50 | } 51 | 52 | // PUBLIC METHODS 53 | // --------------------------------------------------------------------------- 54 | 55 | // 56 | // begin 57 | int I2CIO::begin ( uint8_t i2cAddr ) 58 | { 59 | _i2cAddr = i2cAddr; 60 | 61 | Wire.begin ( ); 62 | 63 | _initialised = Wire.requestFrom ( _i2cAddr, (uint8_t)1 ); 64 | 65 | #if (ARDUINO < 100) 66 | _shadow = Wire.receive (); 67 | #else 68 | _shadow = Wire.read (); // Remove the byte read don't need it. 69 | #endif 70 | 71 | return ( _initialised ); 72 | } 73 | 74 | // 75 | // pinMode 76 | void I2CIO::pinMode ( uint8_t pin, uint8_t dir ) 77 | { 78 | if ( _initialised ) 79 | { 80 | if ( OUTPUT == dir ) 81 | { 82 | _dirMask &= ~( 1 << pin ); 83 | } 84 | else 85 | { 86 | _dirMask |= ( 1 << pin ); 87 | } 88 | } 89 | } 90 | 91 | // 92 | // portMode 93 | void I2CIO::portMode ( uint8_t dir ) 94 | { 95 | 96 | if ( _initialised ) 97 | { 98 | if ( dir == INPUT ) 99 | { 100 | _dirMask = 0xFF; 101 | } 102 | else 103 | { 104 | _dirMask = 0x00; 105 | } 106 | } 107 | } 108 | 109 | // 110 | // read 111 | uint8_t I2CIO::read ( void ) 112 | { 113 | uint8_t retVal = 0; 114 | 115 | if ( _initialised ) 116 | { 117 | Wire.requestFrom ( _i2cAddr, (uint8_t)1 ); 118 | #if (ARDUINO < 100) 119 | retVal = ( _dirMask & Wire.receive ( ) ); 120 | #else 121 | retVal = ( _dirMask & Wire.read ( ) ); 122 | #endif 123 | 124 | } 125 | return ( retVal ); 126 | } 127 | 128 | // 129 | // write 130 | int I2CIO::write ( uint8_t value ) 131 | { 132 | int status = 0; 133 | 134 | if ( _initialised ) 135 | { 136 | // Only write HIGH the values of the ports that have been initialised as 137 | // outputs updating the output shadow of the device 138 | _shadow = ( value & ~(_dirMask) ); 139 | 140 | Wire.beginTransmission ( _i2cAddr ); 141 | #if (ARDUINO < 100) 142 | Wire.send ( _shadow ); 143 | #else 144 | Wire.write ( _shadow ); 145 | #endif 146 | status = Wire.endTransmission (); 147 | } 148 | return ( (status == 0) ); 149 | } 150 | 151 | // 152 | // digitalRead 153 | uint8_t I2CIO::digitalRead ( uint8_t pin ) 154 | { 155 | uint8_t pinVal = 0; 156 | 157 | // Check if initialised and that the pin is within range of the device 158 | // ------------------------------------------------------------------- 159 | if ( ( _initialised ) && ( pin <= 7 ) ) 160 | { 161 | // Remove the values which are not inputs and get the value of the pin 162 | pinVal = this->read() & _dirMask; 163 | pinVal = ( pinVal >> pin ) & 0x01; // Get the pin value 164 | } 165 | return (pinVal); 166 | } 167 | 168 | // 169 | // digitalWrite 170 | int I2CIO::digitalWrite ( uint8_t pin, uint8_t level ) 171 | { 172 | uint8_t writeVal; 173 | int status = 0; 174 | 175 | // Check if initialised and that the pin is within range of the device 176 | // ------------------------------------------------------------------- 177 | if ( ( _initialised ) && ( pin <= 7 ) ) 178 | { 179 | // Only write to HIGH the port if the port has been configured as 180 | // an OUTPUT pin. Add the new state of the pin to the shadow 181 | writeVal = ( 1 << pin ) & ~_dirMask; 182 | if ( level == HIGH ) 183 | { 184 | _shadow |= writeVal; 185 | 186 | } 187 | else 188 | { 189 | _shadow &= ~writeVal; 190 | } 191 | status = this->write ( _shadow ); 192 | } 193 | return ( status ); 194 | } 195 | 196 | // 197 | // PRIVATE METHODS 198 | // --------------------------------------------------------------------------- 199 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/_l_c_d_8cpp.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | LCD Library: /Users/fmalpartida/development/ardWorkspace/LiquidCrystal_I2C/LiquiCrystal_I2C/LCD.cpp File Reference 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 16 |
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#include <stdio.h>
66 | #include <string.h>
67 | #include <inttypes.h>
68 | #include <WProgram.h>
69 | #include "LCD.h"
70 |
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#include <inttypes.h>
68 | #include "LCD.h"
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class  LiquidCrystal_SR_LCD3
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97 | 98 | 99 | -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/I2CIO.h: -------------------------------------------------------------------------------- 1 | // --------------------------------------------------------------------------- 2 | // Created by Francisco Malpartida on 20/08/11. 3 | // Copyright 2011 - Under creative commons license 3.0: 4 | // Attribution-ShareAlike CC BY-SA 5 | // 6 | // This software is furnished "as is", without technical support, and with no 7 | // warranty, express or implied, as to its usefulness for any purpose. 8 | // 9 | // Thread Safe: No 10 | // Extendable: Yes 11 | // 12 | // @file I2CIO.h 13 | // This file implements a basic IO library using the PCF8574 I2C IO Expander 14 | // chip. 15 | // 16 | // @brief 17 | // Implement a basic IO library to drive the PCF8574* I2C IO Expander ASIC. 18 | // The library implements basic IO general methods to configure IO pin direction 19 | // read and write uint8_t operations and basic pin level routines to set or read 20 | // a particular IO port. 21 | // 22 | // @version API 1.0.0 23 | // 24 | // @author F. Malpartida - fmalpartida@gmail.com 25 | // --------------------------------------------------------------------------- 26 | 27 | #ifndef _I2CIO_H_ 28 | #define _I2CIO_H_ 29 | 30 | #include 31 | 32 | #define _I2CIO_VERSION "1.0.0" 33 | 34 | /*! 35 | @class 36 | @abstract I2CIO 37 | @discussion Library driver to control PCF8574 based ASICs. Implementing 38 | library calls to set/get port through I2C bus. 39 | */ 40 | 41 | class I2CIO 42 | { 43 | public: 44 | /*! 45 | @method 46 | @abstract Constructor method 47 | @discussion Class constructor constructor. 48 | */ 49 | I2CIO ( ); 50 | 51 | /*! 52 | @method 53 | @abstract Initializes the device. 54 | @discussion This method initializes the device allocating an I2C address. 55 | This method is the first method that should be call prior to calling any 56 | other method form this class. On initialization all pins are configured 57 | as INPUT on the device. 58 | 59 | @param i2cAddr: I2C Address where the device is located. 60 | @result 1 if the device was initialized correctly, 0 otherwise 61 | */ 62 | int begin ( uint8_t i2cAddr ); 63 | 64 | /*! 65 | @method 66 | @abstract Sets the mode of a particular pin. 67 | @discussion Sets the mode of a particular pin to INPUT, OUTPUT. digitalWrite 68 | has no effect on pins which are not declared as output. 69 | 70 | @param pin[in] Pin from the I2C IO expander to be configured. Range 0..7 71 | @param dir[in] Pin direction (INPUT, OUTPUT). 72 | */ 73 | void pinMode ( uint8_t pin, uint8_t dir ); 74 | 75 | /*! 76 | @method 77 | @abstract Sets all the pins of the device in a particular direction. 78 | @discussion This method sets all the pins of the device in a particular 79 | direction. This method is useful to set all the pins of the device to be 80 | either inputs or outputs. 81 | @param dir[in] Direction of all the pins of the device (INPUT, OUTPUT). 82 | */ 83 | void portMode ( uint8_t dir ); 84 | 85 | /*! 86 | @method 87 | @abstract Reads all the pins of the device that are configured as INPUT. 88 | @discussion Reads from the device the status of the pins that are configured 89 | as INPUT. During initialization all pins are configured as INPUTs by default. 90 | Please refer to pinMode or portMode. 91 | 92 | @param none 93 | */ 94 | uint8_t read ( void ); 95 | 96 | /*! 97 | @method 98 | @abstract Read a pin from the device. 99 | @discussion Reads a particular pin from the device. To read a particular 100 | pin it has to be configured as INPUT. During initialization all pins are 101 | configured as INPUTs by default. Please refer to pinMode or portMode. 102 | 103 | @param pin[in] Pin from the port to read its status. Range (0..7) 104 | @result Returns the pin status (HIGH, LOW) if the pin is configured 105 | as an output, reading its value will always return LOW regardless of its 106 | real state. 107 | */ 108 | uint8_t digitalRead ( uint8_t pin ); 109 | 110 | /*! 111 | @method 112 | @abstract Write a value to the device. 113 | @discussion Writes to a set of pins in the device. The value is the binary 114 | representation of all the pins in device. The value written is masked with 115 | the configuration of the direction of the pins; to change the state of 116 | a particular pin with this method, such pin has to be configured as OUTPUT 117 | using the portMode or pinMode methods. If no pins have been configured as 118 | OUTPUTs this method will have no effect. 119 | 120 | @param value[in] value to be written to the device. 121 | @result 1 on success, 0 otherwise 122 | */ 123 | int write ( uint8_t value ); 124 | 125 | /*! 126 | @method 127 | @abstract Writes a digital level to a particular pin. 128 | @discussion Write a level to the indicated pin of the device. For this 129 | method to have effect, the pin has to be configured as OUTPUT using the 130 | pinMode or portMode methods. 131 | 132 | @param pin[in] device pin to change level. Range (0..7). 133 | @para level[in] logic level to set the pin at (HIGH, LOW). 134 | @result 1 on success, 0 otherwise. 135 | */ 136 | int digitalWrite ( uint8_t pin, uint8_t level ); 137 | 138 | 139 | 140 | private: 141 | uint8_t _shadow; // Shadow output 142 | uint8_t _dirMask; // Direction mask 143 | uint8_t _i2cAddr; // I2C address 144 | bool _initialised; // Initialised object 145 | 146 | }; 147 | 148 | #endif -------------------------------------------------------------------------------- /src_arduino_code/libraries/LiquidCrystal/docs/html/_liquid_crystal___s_r_8cpp.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | LCD Library: /Users/fmalpartida/development/ardWorkspace/LiquidCrystal_I2C/LiquiCrystal_I2C/LiquidCrystal_SR.cpp File Reference 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 16 |
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#include <stdio.h>
66 | #include <string.h>
67 | #include <inttypes.h>
68 | #include <WProgram.h>
69 | #include "LiquidCrystal_SR.h"
70 | #include "FastIO.h"
71 |
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