Added placeholders for firmware. First revision of motor driver firmware working.

software/firmware/grasping_end_effector/grasping_end_effector.ino

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+void setup() {
+  // put your setup code here, to run once:
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}

software/firmware/iris/iris.ino

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+void setup() {
+  // put your setup code here, to run once:
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}

software/firmware/motor_driver/motor_driver.ino

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+////////// Includes //////////
+// Define the arduino serial port used for modbus here
+#include <ModbusRtu.h>
+
+////////// Hardware / Date Enumerations //////////
+enum HARDWARE {
+    RS485_EN = 2,
+    RS485_RX = 7,
+    RS485_TX = 8,
+
+    MOTOR_CURRENT_SENSE = A4,
+    MOTOR_DIRECTION = 19,
+    MOTOR_PWM = 20,
+    MOTOR_SLEEP = 21,
+    MOTOR_FAULT = 22,
+
+    TEMP = A9,
+
+    LED_RED = 1,
+    LED_GREEN = 32,
+    LED_BLUE = 6,
+
+    LED_BLUE_EXTRA = 13
+};
+
+enum MODBUS_REGISTERS {
+    DIRECTION = 0,  // Input
+    SPEED = 1,      // Input
+    SLEEP = 2,      // Input
+
+    CURRENT = 3,    // Output
+    FAULT = 4,      // Output
+
+    TEMPERATURE = 5        // Output
+};
+
+////////// Global Variables //////////
+const uint8_t node_id = 1;
+const uint8_t mobus_serial_port_number = 3;
+
+uint16_t modbus_data[] = {0, 0, 0, 0, 0, 0};
+uint8_t num_modbus_registers = 0;
+
+int8_t poll_state = 0;
+bool communication_good = false;
+uint8_t message_count = 0;
+
+uint16_t rampdown_step = 2000;
+
+////////// Class Instantiations //////////
+Modbus slave(node_id, mobus_serial_port_number, HARDWARE::RS485_EN);
+
+void setup() {
+    setup_hardware();
+
+    num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
+    slave.begin(2000000); // baud-rate at 19200
+    slave.setTimeOut(150);
+
+    Serial.begin(9600);
+}
+
+void loop() {
+    poll_modbus();
+    set_leds();
+    set_motor();
+    poll_sensors_and_motor_state();
+}
+
+void setup_hardware(){
+    // Setup pins as inputs / outputs
+    pinMode(HARDWARE::RS485_EN, OUTPUT);
+
+    pinMode(HARDWARE::MOTOR_CURRENT_SENSE, INPUT);
+    pinMode(HARDWARE::MOTOR_DIRECTION, OUTPUT);
+    pinMode(HARDWARE::MOTOR_PWM, OUTPUT);
+    pinMode(HARDWARE::MOTOR_SLEEP, OUTPUT);
+    pinMode(HARDWARE::MOTOR_FAULT, INPUT);
+
+    pinMode(HARDWARE::TEMP, INPUT);
+
+    pinMode(HARDWARE::LED_RED, OUTPUT);
+    pinMode(HARDWARE::LED_GREEN, OUTPUT);
+    pinMode(HARDWARE::LED_BLUE, OUTPUT);
+
+    pinMode(HARDWARE::LED_BLUE_EXTRA, OUTPUT);
+
+    // Set default pin states
+    digitalWrite(HARDWARE::MOTOR_SLEEP, HIGH);
+
+    digitalWrite(HARDWARE::LED_RED, LOW);
+    digitalWrite(HARDWARE::LED_GREEN, HIGH);
+    digitalWrite(HARDWARE::LED_BLUE, HIGH);
+
+    digitalWrite(HARDWARE::LED_BLUE_EXTRA, LOW);
+
+    // Set the PWM resolution to 16-bits
+    analogWriteResolution(16);
+
+    // Change motor PWM frequency so it's not in the audible range
+    analogWriteFrequency(HARDWARE::MOTOR_PWM, 25000);
+}
+
+void poll_modbus(){
+    poll_state = slave.poll(modbus_data, num_modbus_registers);
+    communication_good = !slave.getTimeOutState();
+}
+
+void set_leds(){
+    if(poll_state > 4){
+        message_count++;
+        if(message_count > 2){
+            digitalWrite(HARDWARE::LED_BLUE_EXTRA, !digitalRead(HARDWARE::LED_BLUE_EXTRA));
+            message_count = 0;
+        }
+
+        digitalWrite(HARDWARE::LED_GREEN, LOW);
+        digitalWrite(HARDWARE::LED_RED, HIGH);
+    }else if(!communication_good){
+        digitalWrite(HARDWARE::LED_BLUE_EXTRA, LOW);
+        digitalWrite(HARDWARE::LED_GREEN, HIGH);
+        digitalWrite(HARDWARE::LED_RED, LOW);
+    }
+}
+
+void set_motor(){
+    if(communication_good){
+        digitalWrite(HARDWARE::MOTOR_DIRECTION, modbus_data[MODBUS_REGISTERS::DIRECTION]);
+        analogWrite(HARDWARE::MOTOR_PWM, modbus_data[MODBUS_REGISTERS::SPEED]);
+        digitalWrite(HARDWARE::MOTOR_SLEEP, modbus_data[MODBUS_REGISTERS::SLEEP]);
+    }else{
+        while(modbus_data[MODBUS_REGISTERS::SPEED] != 0 && modbus_data[MODBUS_REGISTERS::SPEED] > rampdown_step){
+            modbus_data[MODBUS_REGISTERS::SPEED] -= rampdown_step;
+            analogWrite(HARDWARE::MOTOR_PWM, modbus_data[MODBUS_REGISTERS::SPEED]);
+            delay(2);
+        }
+
+        modbus_data[MODBUS_REGISTERS::SPEED] = 0;
+        analogWrite(HARDWARE::MOTOR_PWM, modbus_data[MODBUS_REGISTERS::SPEED]);
+    }
+
+}
+
+void poll_sensors_and_motor_state(){
+    // Not the most elegant calculations, could clean up.
+    modbus_data[MODBUS_REGISTERS::CURRENT] = (uint16_t)(((((analogRead(HARDWARE::MOTOR_CURRENT_SENSE) / 8192.0) * 3.3) - 0.05) / 0.02) * 1000);
+    modbus_data[MODBUS_REGISTERS::FAULT] = !digitalRead(HARDWARE::MOTOR_FAULT);
+    modbus_data[MODBUS_REGISTERS::TEMPERATURE] = (uint16_t)(((((analogRead(HARDWARE::TEMP) / 8192.0) * 3.3) - 0.750) / 0.01) * 1000);
+}

software/firmware/pan_tilt/pan_tilt.ino

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+void setup() {
+  // put your setup code here, to run once:
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}

software/firmware/science_end_effector/science_end_effector.ino

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+void setup() {
+  // put your setup code here, to run once:
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}

software/firmware/tower/tower.ino

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+void setup() {
+  // put your setup code here, to run once:
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}