v1.1.3, Add some sensors support

Author: a10036gt

library.properties

@@ -1,5 +1,5 @@
 name=MatrixMiniR4
-version=1.1.2
+version=1.1.3
 author=KKITC
 maintainer=Matrix Robotics & KKITC <[email protected]>
 sentence=An Arduino R4 based Robotics controller made by MATRIX Robotics.

src/Modules/MiniR4Digital.h

@@ -2,6 +2,10 @@
 #define MiniR4Digital_H
 
 #include "MiniR4HC04.h"
+#include "MiniR4_DHT11.h"
+#include "MiniR4_DS18B20.h"
+#include "MiniR4_Grove_US.h"
+// #include "MiniR4_Grove_TM1637.h"
 #include <Arduino.h>
 
 template<uint8_t PIN1, uint8_t PIN2> class MiniR4Digital
@@ -58,6 +62,10 @@ template<uint8_t PIN1, uint8_t PIN2> class MiniR4Digital
     }
 
     MiniR4HC04<PIN1, PIN2> US;
+    MiniR4DHT11<PIN1, PIN2> DHT11;
+    MiniR4DS18B20<PIN1, PIN2> DS18B20;
+    MiniR4_Grove_US<PIN1, PIN2> GroveUS;
+    // MiniR4_Grove_TM1637<PIN1, PIN2> GroveTM1637;
 
 private:
     uint8_t _pin1;

src/Modules/MiniR4I2C.h

@@ -6,6 +6,7 @@
 #include "MiniR4MxCtrlExt.h"
 #include "MiniR4MotionExt.h"
 #include "MiniR4TCS34725.h"
+#include "MiniR4_GroveI2C_BME280.h"
 
 template<uint8_t ID, TwoWire* WIRE> class MiniR4I2C
 {
@@ -16,17 +17,20 @@ template<uint8_t ID, TwoWire* WIRE> class MiniR4I2C
         MXLaser._ch  = ID;
         MXColor._ch  = ID;
         MXCtrl._ch  = ID;
+        GroveBME280._ch  = ID;
 
         MXMotion._pWire = WIRE;
         MXLaser._pWire  = WIRE;
         MXColor._pWire  = WIRE;
         MXCtrl._pWire  = WIRE;
+        GroveBME280._pWire  = WIRE;
     }
 
     MatrixMotion MXMotion;
     MatrixLaser  MXLaser;
     MatrixColor  MXColor;
     MatrixController  MXCtrl;
+    GroveI2C_BME280  GroveBME280;
 
     // Adafruit_TCS34725 MXColor = Adafruit_TCS34725(
     //     TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X, TCS34725_ADDRESS, WIRE, ID);

src/Modules/MiniR4_DHT11.h

@@ -0,0 +1,181 @@
+/**
+ * DHT11.h DHT11.cpp
+ * Header file for the DHT11 library, providing functionalities to interface with
+ * the DHT11 temperature & humidity sensor.
+ *
+ * Author: Dhruba Saha
+ * Version: 2.1.0
+ * License: MIT
+ * 241016 Anthony: 
+ * Add float temp return.
+ */
+#ifndef MINIR4_DHT11_H
+#define MINIR4_DHT11_H
+
+#include <Arduino.h>
+
+template <uint8_t PIN1, uint8_t PIN2> class MiniR4DHT11 {
+public:
+    MiniR4DHT11() {
+        _pin = PIN2; //目前都在DI_R位置，未來可以改成LEFT跟MATRIX現行感應器一樣
+        pinMode(_pin, OUTPUT);
+        digitalWrite(_pin, HIGH);
+    }
+
+    static const int ERROR_CHECKSUM = 254;   // Error code for checksum mismatch.
+    static const int ERROR_TIMEOUT = 253;    // Error code for timeout.
+	// static const int ERROR_NOT_READY = 252;  // Error code for not ready (delay not passed).
+    static const int TIMEOUT_DURATION = 1000; // Timeout duration in milliseconds.
+
+    /**
+     * Sets the delay between consecutive sensor readings.
+     * Default is 250ms if not set.
+     */
+    void setDelay(unsigned long delay) {
+        _delayMS = delay;
+    }
+
+    /**
+     * Reads and returns the temperature from the DHT11 sensor.
+     * 
+     * @return Temperature in Celsius, or error codes if reading fails.
+     */
+    float readTemperature() {
+        byte data[5];
+        int error = readRawData(data);
+        if (error != 0) {
+            return error;
+        }
+
+        float t = (float)data[3] / 10;
+        return data[2] + t;
+    }
+
+    /**
+     * Reads and returns the humidity from the DHT11 sensor.
+     * 
+     * @return Humidity percentage, or error codes if reading fails.
+     */
+    int readHumidity() {
+        byte data[5];
+        int error = readRawData(data);
+        if (error != 0) {
+            return error;
+        }
+
+        return data[0];
+    }
+
+    /**
+     * Reads temperature and humidity.
+     * 
+     * @param temperature Reference to store temperature.
+     * @param humidity Reference to store humidity.
+     * @return 0 on success, otherwise error code.
+     */
+    int readTemperatureHumidity(int &temperature, int &humidity) {
+        byte data[5];
+        int error = readRawData(data);
+        if (error != 0) {
+            return error;
+        }
+		
+        humidity = data[0]; 
+        float t = (float)data[3] / 10;
+        temperature = data[2] + t;
+        return 0;
+    }
+
+    /**
+     * Converts error codes into human-readable strings.
+     * 
+     * @param errorCode Error code to convert.
+     * @return String describing the error.
+     */
+    String getErrorString(int errorCode) {
+        switch (errorCode) {
+            case ERROR_TIMEOUT:
+                return "Error 253: Timeout reading from DHT11.";
+            case ERROR_CHECKSUM:
+                return "Error 254: Checksum mismatch reading from DHT11.";
+			// case ERROR_NOT_READY:
+                // return "Error 252: Not ready to read from DHT11. Delay not passed.";
+            default:
+                return "Error: Unknown.";
+        }
+    }
+
+private:
+    int _pin;                    // Pin number for the DHT11 sensor.
+    unsigned long _delayMS = 250; // Delay between readings.
+
+    /**
+     * Sends a start signal to the DHT11 sensor.
+     */
+    void startSignal() {
+        pinMode(_pin, OUTPUT);
+        digitalWrite(_pin, LOW);
+        delay(18);
+        digitalWrite(_pin, HIGH);
+        delayMicroseconds(40);
+        pinMode(_pin, INPUT);
+    }
+
+    /**
+     * Reads raw data from the DHT11 sensor.
+     * 
+     * @param data Array to store the raw data.
+     * @return 0 on success, otherwise error code.
+     */
+    int readRawData(byte data[5]) {
+        delay(_delayMS);
+		// if (millis() - _lastReadTime < _delayMS) {
+            // return ERROR_NOT_READY; // if not reach delayMS, bypass.
+        // }
+		
+        startSignal();
+        unsigned long timeout_start = millis();
+
+        while (digitalRead(_pin) == HIGH) {
+            if (millis() - timeout_start > TIMEOUT_DURATION) {
+				return ERROR_TIMEOUT;
+            }
+        }
+
+        delayMicroseconds(80);
+        if (digitalRead(_pin) == HIGH) {
+            delayMicroseconds(80);
+            for (int i = 0; i < 5; i++) {
+                data[i] = readByte();
+            }
+
+            if (data[4] == ((data[0] + data[1] + data[2] + data[3]) & 0xFF)) {
+				// _lastReadTime = millis(); // update daley timer
+				return 0; // Success
+            } else {
+                return ERROR_CHECKSUM;
+            }
+        }
+        return ERROR_TIMEOUT;
+    }
+
+    /**
+     * Reads a byte of data from the sensor.
+     * 
+     * @return The byte read from the sensor.
+     */
+    byte readByte() {
+        byte value = 0;
+        for (int i = 0; i < 8; i++) {
+            while (digitalRead(_pin) == LOW);
+            delayMicroseconds(30);
+            if (digitalRead(_pin) == HIGH) {
+                value |= (1 << (7 - i));
+            }
+            while (digitalRead(_pin) == HIGH);
+        }
+        return value;
+    }
+};
+
+#endif // MINIR4_DHT11_H