# REQUIRED LIBRARIES

library(tidyverse)

library(serial)

library(magrittr)

library(plotly)

listPorts()

# SERIAL CONNECTION

myArduino <- serialConnection(

port = "cu.usbmodem1421",

mode = "9600,n,8,1" ,

buffering = "none",

newline = TRUE,

eof = "",

translation = "cr",

handshake = "none",

buffersize = 4096

)

# OPEN AND TESTING THE CONNECTION

open(myArduino)

isOpen(myArduino)

# MAKING RGB DATA

n <- 30

arduinoInput <- tibble(

r = (sample(1:100, size = n, replace = T) %>%

paste('R', sep = '')),

g = (sample(1:100, size = n, replace = T) %>%

paste('G', sep = '')),

b = (sample(1:100, size = n, replace = T) %>%

paste('B', sep = ''))

)

# A GLIMPSE OF ARDUINO INPUT

glimpse(arduinoInput)

# CLOSE THE OPEN CONNECTION AGAIN (BEST PRACTICE)

close(myArduino)

open(myArduino)

# GIVING TIME FOR THE BOARD TO RESET ONCE THE SERIAL INTERFACE IS INITIATED

Sys.sleep(3)

for (r in seq_len(n)){

Sys.sleep(0.25)

write.serialConnection(myArduino, paste(arduinoInput[r,], collapse = ''))

}

# READ MAPPED DATA SENT FROM MY ARDUINO

dataFromArduino <- tibble(

capture.output(cat(read.serialConnection(myArduino,n=0)))

)

# SELECT FIRST NINE ROWS, ASSIGN VALUES TO THEIR LEDS AND RENAME FIRST COLUMN

dataFromArduino %>%

slice_head(n = 9)

# ASSIGN VALUES TO LEDS AND CHANGE COLUMN NAME

dataFromArduino %<>%

tibble(ledNames = rep_along(seq_len(nrow(dataFromArduino)),

c('rMapped','gMapped','bMapped'))) %>%

rename("ledVal" = 1) %>%

group_by(ledNames) %>%

# ADD IDENTIFIERS REQUIRED BY PIVOT_WIDER FUNCTION AND CREATE NEW COLUMNS WITH 'LEDVAL' VALUES

mutate(row = row_number()) %>%

pivot_wider(names_from = ledNames, values_from = ledVal) %>%

# DROPPING 'ROW' COLUMN AND CONVERT ALL COLUMNS TO DATA TYPE INTEGER

select(-row) %>%

mutate_all(as.integer)

dataFromArduino %>%

slice_head(n = 10)

# MERGE THE TWO DATA SETS, DROP NON NUMERICAL CHARACTERS (R,G,B), AND REORDER COLUMNS

combinedData <- as_tibble(cbind(arduinoInput, dataFromArduino)) %>%

mutate(across(where(is.character), ~parse_number(.x)), across(where(is.double), as.integer)) %>%

select(c(1, 4, 2, 5, 3, 6))

combinedData %>%

slice_head(n = 10)

# CREATING NEW DATA SET THAT SELECTS VALUES IN ORDER: MAXIMUM OF RECEIVED LED VALUES, THEN MINIMUM, AND SO IS REPEATED

rowMin <- tibble(inputMin = dataFromArduino %>% apply(1,min)) %>%

# SELECT EVEN ROWS

filter(row_number() %% 2 == 0)

servoInput <- tibble(servoIn = dataFromArduino %>%

apply(1,max))

# REPLACE EVEN ROWS WITH A MINIMUM VALUE, AND APPENDING A TERMINATING CHARACTER

servoInput[c(1:n)[c(F,T)],] <- rowMin

servoInput %<>%

mutate(servoIn = servoIn %>%

paste('S', sep = ''))

close(myArduino)

open(myArduino)

Sys.sleep(1)

for (r in seq_len(n)){

Sys.sleep(1)

write.serialConnection(myArduino, paste(servoInput[r,], collapse = ''))

}

# READ MAPPED ANGLES SENT FROM MY ARDUINO, RENAME FIRST COLUMN

angleFromServo <- tibble(

capture.output(cat(read.serialConnection(myArduino,n=0)))) %>%

rename("servoAnglesMapped" = 1) %>%

mutate_all(as.integer)

# SELECT FIRST TEN ROWS

angleFromServo %>%

slice_head(n = 10)

# WHAT WE SENT VS WHAT WE RECEIVED. MERGE THE TWO DATA SETS AND DROP NON NUMERIC CHARACTER 'S'

combinedAngles <- as_tibble(

cbind(servoInput, angleFromServo)) %>%

mutate(across(where(is.character), ~parse_number(.x)),

across(where(is.double), as.integer))

combinedAngles %>%

slice_head(n = 10)

# PLOT VARIATION OF SERVO ANGLE

theme_set(theme_light())

myPlot <- angleFromServo %>%

ggplot(mapping = aes(x = 1:nrow(angleFromServo), y = servoAnglesMapped)) +

geom_line() +

geom_smooth(se = F) +

labs(x = "Count", y = "Servo angle", title = "Servo angle variation at each count instance")+

theme(plot.title = element_text(hjust = 0.5))

ggplotly(myPlot)