JustPaste.it - Share Text & Images the Easy Way

#include "Arduino.h"
#if !defined(SERIAL_PORT_MONITOR)
#error "Arduino version not supported. Please update your IDE to the latest version."
#endif

#if defined(__SAMD21G18A__)
// Shield Jumper on HW (for Zero, use Programming Port)
#define port SERIAL_PORT_HARDWARE
#define pcSerial SERIAL_PORT_MONITOR
#elif defined(SERIAL_PORT_USBVIRTUAL)
// Shield Jumper on HW (for Leonardo and Due, use Native Port)
#define port SERIAL_PORT_HARDWARE
#define pcSerial SERIAL_PORT_USBVIRTUAL
#else
// Shield Jumper on SW (using pins 12/13 or 8/9 as RX/TX)
#include "SoftwareSerial.h"
SoftwareSerial port(12, 13);
#define pcSerial SERIAL_PORT_MONITOR
#endif

#include "EasyVR.h"

EasyVR easyvr(port);

//Groups and Commands
enum Groups
{
GROUP_1 = 1,
};

enum Group1
{
G1_PROVA = 0,
G1_VERDE = 1,
G1_ROSSO = 2,
G1_BLU = 3,
G1_BIANCO = 4,
G1_SPEGNITI = 5,
G1_VIOLA = 6,
G1_AZZURRO = 7,
G1_AUTOMATICO = 8,
};

//Grammars and Words
enum Wordsets
{
SET_1 = -1,
SET_2 = -2,
SET_3 = -3,
};

enum Wordset1
{
S1_ACTION = 0,
S1_MOVE = 1,
S1_TURN = 2,
S1_RUN = 3,
S1_LOOK = 4,
S1_ATTACK = 5,
S1_STOP = 6,
S1_HELLO = 7,
};

enum Wordset2
{
S2_LEFT = 0,
S2_RIGHT = 1,
S2_UP = 2,
S2_DOWN = 3,
S2_FORWARD = 4,
S2_BACKWARD = 5,
};

enum Wordset3
{
S3_ZERO = 0,
S3_ONE = 1,
S3_TWO = 2,
S3_THREE = 3,
S3_FOUR = 4,
S3_FIVE = 5,
S3_SIX = 6,
S3_SEVEN = 7,
S3_EIGHT = 8,
S3_NINE = 9,
S3_TEN = 10,
};

// use negative group for wordsets
int8_t group, idx;

void setup()
{
pinMode(22, OUTPUT);
pinMode(24, OUTPUT);
pinMode(26, OUTPUT);
pinMode(28, OUTPUT);
digitalWrite(22, HIGH);
// setup PC serial port
pcSerial.begin(9600);
bridge:
// bridge mode?
int mode = easyvr.bridgeRequested(pcSerial);
switch (mode)
{
case EasyVR::BRIDGE_NONE:
    // setup EasyVR serial port
    port.begin(9600);
    // run normally
    pcSerial.println(F("Bridge not requested, run normally"));
    pcSerial.println(F("---"));
    break;

case EasyVR::BRIDGE_NORMAL:
    // setup EasyVR serial port (low speed)
    port.begin(9600);
    // soft-connect the two serial ports (PC and EasyVR)
    easyvr.bridgeLoop(pcSerial);
    // resume normally if aborted
    pcSerial.println(F("Bridge connection aborted"));
    pcSerial.println(F("---"));
    break;

case EasyVR::BRIDGE_BOOT:
    // setup EasyVR serial port (high speed)
    port.begin(115200);
    pcSerial.end();
    pcSerial.begin(115200);
    // soft-connect the two serial ports (PC and EasyVR)
    easyvr.bridgeLoop(pcSerial);
    // resume normally if aborted
    pcSerial.println(F("Bridge connection aborted"));
    pcSerial.println(F("---"));
    break;
}

// initialize EasyVR
while (!easyvr.detect())
{
    pcSerial.println(F("EasyVR not detected!"));
    for (int i = 0; i < 10; ++i)
    {
      if (pcSerial.read() == '?')
        goto bridge;
      delay(100);
    }
}

pcSerial.print(F("EasyVR detected, version "));
pcSerial.print(easyvr.getID());

if (easyvr.getID() < EasyVR::EASYVR3)
easyvr.setPinOutput(EasyVR::IO1, LOW); // Shield 2.0 LED off

if (easyvr.getID() < EasyVR::EASYVR)
    pcSerial.print(F(" = VRbot module"));
else if (easyvr.getID() < EasyVR::EASYVR2)
    pcSerial.print(F(" = EasyVR module"));
else if (easyvr.getID() < EasyVR::EASYVR3)
    pcSerial.print(F(" = EasyVR 2 module"));
else
    pcSerial.print(F(" = EasyVR 3 module"));
pcSerial.print(F(", FW Rev."));
pcSerial.println(easyvr.getID() & 7);

easyvr.setDelay(0); // speed-up replies

easyvr.setTimeout(5);
easyvr.setLanguage(0); //<-- same language set on EasyVR Commander when code was generated

group = GROUP_1; //<-- start group (customize)
}

void loop()
{
if (easyvr.getID() < EasyVR::EASYVR3)
easyvr.setPinOutput(EasyVR::IO1, HIGH); // LED on (listening)

if (group < 0) // SI wordset/grammar
{
    pcSerial.print("Say a word in Wordset ");
    pcSerial.println(-group);
    easyvr.recognizeWord(-group);
}
else // SD group
{
    pcSerial.print("Say a command in Group ");
    pcSerial.println(group);
    easyvr.recognizeCommand(group);
}

do
{
    // allows Commander to request bridge on Zero (may interfere with user protocol)
    if (pcSerial.read() == '?')
    {
      setup();
      return;
    }
    // <<-- can do some processing here, while the module is busy
}
while (!easyvr.hasFinished());

if (easyvr.getID() < EasyVR::EASYVR3)
    easyvr.setPinOutput(EasyVR::IO1, LOW); // LED off

idx = easyvr.getWord();
if (idx == 0 && group == EasyVR::TRIGGER)
{
    // beep
    easyvr.playSound(0, EasyVR::VOL_FULL);
    // print debug message
    pcSerial.println("Word: ROBOT");
    // write your action code here
    // group = GROUP_X\SET_X; <-- jump to another group or wordset
    return;
}
else if (idx >= 0)
{
    // beep
    easyvr.playSound(0, EasyVR::VOL_FULL);
    // print debug message
    uint8_t flags = 0, num = 0;
    char name[32];
    pcSerial.print("Word: ");
    pcSerial.print(idx);
    if (easyvr.dumpGrammar(-group, flags, num))
    {
      for (uint8_t pos = 0; pos < num; ++pos)
      {
        if (!easyvr.getNextWordLabel(name))
          break;
        if (pos != idx)
          continue;
        pcSerial.print(F(" = "));
        pcSerial.println(name);
        break;
      }
    }
    // perform some action
    action();
    return;
}
idx = easyvr.getCommand();
if (idx >= 0)
{
    // beep
    easyvr.playSound(0, EasyVR::VOL_FULL);
    // print debug message
    uint8_t train = 0;
    char name[32];
    pcSerial.print("Command: ");
    pcSerial.print(idx);
    if (easyvr.dumpCommand(group, idx, name, train))
    {
      pcSerial.print(" = ");
      pcSerial.println(name);
    }
    else
      pcSerial.println();
    // perform some action
    action();
}
else // errors or timeout
{
    if (easyvr.isTimeout())
      pcSerial.println("Timed out, try again...");
    int16_t err = easyvr.getError();
    if (err >= 0)
    {
      pcSerial.print("Error ");
      pcSerial.println(err, HEX);
    }
}
}

void action()
{
switch (group)
{
case GROUP_1:
    switch (idx)
    {
    case G1_PROVA:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case G1_VERDE:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      digitalWrite(22, LOW); //ROSSo
      digitalWrite(24, HIGH); //VERDE
      digitalWrite(26, LOW); //BLU
      digitalWrite(28, LOW); //BIANCO
      break;
    case G1_ROSSO:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
            digitalWrite(22, HIGH);
      digitalWrite(24, LOW);
      digitalWrite(26, LOW);
      digitalWrite(28, LOW);
      break;
    case G1_BLU:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
            digitalWrite(22, LOW);
      digitalWrite(24, LOW);
      digitalWrite(26, HIGH);
      digitalWrite(28, LOW);
      break;
    case G1_BIANCO:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
            digitalWrite(22, LOW);
      digitalWrite(24, LOW);
      digitalWrite(26, LOW);
      digitalWrite(28, HIGH);
      break;
    case G1_SPEGNITI:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
            digitalWrite(22, LOW);
      digitalWrite(24, LOW);
      digitalWrite(26, LOW);
      digitalWrite(28, LOW);
      break;
    case G1_VIOLA:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
            digitalWrite(22, HIGH);
      digitalWrite(24, LOW);
      digitalWrite(26, HIGH);
      digitalWrite(28, LOW);
      break;
    case G1_AZZURRO:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
            digitalWrite(22, LOW);
      digitalWrite(24, HIGH);
      digitalWrite(26, HIGH);
      digitalWrite(28, LOW);
      break;
    case G1_AUTOMATICO:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    }
    break;
case SET_1:
    switch (idx)
    {
    case S1_ACTION:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S1_MOVE:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S1_TURN:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S1_RUN:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S1_LOOK:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S1_ATTACK:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S1_STOP:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S1_HELLO:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    }
    break;
case SET_2:
    switch (idx)
    {
    case S2_LEFT:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S2_RIGHT:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S2_UP:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S2_DOWN:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S2_FORWARD:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S2_BACKWARD:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    }
    break;
case SET_3:
    switch (idx)
    {
    case S3_ZERO:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_ONE:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_TWO:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_THREE:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_FOUR:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_FIVE:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_SIX:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_SEVEN:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_EIGHT:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_NINE:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    case S3_TEN:
      // write your action code here
      // group = GROUP_X\SET_X; <-- or jump to another group or wordset for composite commands
      break;
    }
    break;
}
}