tami/wiperMotorPlatform
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its working, but the motion is messy. probebly beacuse the oriontation of the joystick is wrong or somehting

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This commit is contained in:
yair 2015-06-18 05:07:54 +02:00
parent ab188a36d5
commit cbe1ec8ce8
1 changed files with 83 additions and 58 deletions
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139
wiperMotorPlatform.ino
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@ -4,12 +4,11 @@
#include <SPI.h> #include <SPI.h>
#include "RF24.h" #include "RF24.h"
byte addresses[][6] = {"1Node","2Node"}; #define DEBUG 1
RF24 radio(9,8);
byte addresses[][7] = {"ampBot","ampCtl"};
#define role_pin 2
typedef enum { role_ping_out = 1, role_pong_back } role_e; // The various roles supported by this sketch typedef enum { role_ping_out = 1, role_pong_back } role_e; // The various roles supported by this sketch
const char* role_friendly_name[] = { "invalid", "Ping out", "Pong back"}; // The debug-friendly names of those roles
role_e role ; role_e role ;
/** /**
@ -21,30 +20,23 @@ struct dataStruct{
unsigned long _micros; unsigned long _micros;
int xin; int xin;
int yin; int yin;
boolean btn;
}myData; }myData;
RF24 radio(9,8); //also miso/mosi at 11/12/13
#define role_pin 2
/////// remote ///////////// /////// remote /////////////
#include <Bounce2.h> // https://github.com/thomasfredericks/Bounce-Arduino-Wiring
Bounce bouncer = Bounce();
uint8_t snsVal[] = {0, 0, 0, 0, 0}; //int>byte array (hi and low for anlog and one byte for btn) AX,AY,btn;
int xout, yout, btnout;
int x2pwm, y2pwm ;
int leftMotorSpeed, rightMotorSpeed;
#define BTN_pin 7
#define AX_pin A0 #define AX_pin A0
#define AY_pin A1 #define AY_pin A1
///////// motor /////////////
int inApin[2] = {A3, 6}; // INA: Clockwise input
//had to change inBpin from the default 8,9
//beacuse of conflict with NRF24 wiring // on the nano side :/
int inBpin[2] = {7, 10}; // INB: Counter-clockwise input
int pwmpin[2] = {3, 5}; // PWM input
/// motor shield init int x2pwm, y2pwm;
#define BRAKEVCC 0 int leftMotorSpeed, rightMotorSpeed;
#define CW 1
#define CCW 2
#define BRAKEGND 3
#define CS_THRESHOLD 100
int inApin[2] = {7, 4}; // INA: Clockwise input
int inBpin[2] = {10, 11}; // INB: Counter-clockwise input
int pwmpin[2] = {5, 6}; // PWM input
void setup() { void setup() {
Serial.begin(115200); Serial.begin(115200);
@ -72,32 +64,25 @@ void setup() {
Serial << "im a controller!" << endl; Serial << "im a controller!" << endl;
} }
if(role==role_pong_back) if(role==role_pong_back)
{ {
// Initialize motor pins as outputs // Initialize motor pins as outputs
for (int i = 0; i < 2; i++) for (int i = 0; i < 2; i++)
{ {
pinMode(inApin[i], OUTPUT); pinMode(inApin[i], OUTPUT);
pinMode(inBpin[i], OUTPUT); pinMode(inBpin[i], OUTPUT);
pinMode(pwmpin[i], OUTPUT); pinMode(pwmpin[i], OUTPUT);
}
// Initialize braked
for (int i = 0; i < 2; i++)
{
digitalWrite(inApin[i], LOW);
digitalWrite(inBpin[i], LOW);
}
}else if(role == role_ping_out){
pinMode(AX_pin, INPUT);
pinMode(AY_pin, INPUT);
} }
// Initialize braked
for (int i = 0; i < 2; i++)
{
digitalWrite(inApin[i], LOW);
digitalWrite(inBpin[i], LOW);
}
}else if(role == role_ping_out){
pinMode(AX_pin, INPUT);
pinMode(AY_pin, INPUT);
pinMode(BTN_pin, INPUT);
digitalWrite(BTN_pin, HIGH);
// Bounce object with a 20 millisecond debounce time
bouncer.attach(BTN_pin);
bouncer.interval(20);
}
} }
@ -107,18 +92,19 @@ void loop() {
if (role == role_ping_out) { if (role == role_ping_out) {
myData.xin = analogRead(AX_pin); myData.xin = analogRead(AX_pin);
myData.yin = analogRead(AY_pin); myData.yin = analogRead(AY_pin);
myData.btn = bouncer.read();
if (radio.write( &myData, sizeof(myData) )){ bool ok = radio.write( &myData, sizeof(myData) );
//Serial.println(F("all good")); if (ok)
} Serial << "transfer OK \n\r";
else
Serial << "transfer failed \n\r";
} }
/****************** Pong Back Role ***************************/ /****************** Pong Back Role ***************************/
if ( role == role_pong_back ) else if ( role == role_pong_back )
{ {
if( radio.available()){ if( radio.available()){
@ -126,15 +112,54 @@ void loop() {
while (radio.available()) { // While there is data ready while (radio.available()) { // While there is data ready
radio.read( &myData, sizeof(myData) ); // Get the payload radio.read( &myData, sizeof(myData) ); // Get the payload
} }
//process data
x2pwm = map(myData.xin, 0, 1024, 255, -255);
y2pwm = map(myData.yin, 0, 1024, 255, -255);
//radio.stopListening(); // First, stop listening so we can talk leftMotorSpeed = constrain(y2pwm + x2pwm, -255, 255);
//myData.value += 0.01; // Increment the float value rightMotorSpeed = constrain(y2pwm - x2pwm, -255, 255);
//radio.write( &myData, sizeof(myData) ); // Send the final one back.
//radio.startListening(); // Now, resume listening so we catch the next packets. if (myData.xin == 518)
Serial<<"x:"<<myData.xin<<" y:"<<myData.yin<<" btn:"<<myData.btn<<endl; stop(0);
else
move(0, leftMotorSpeed);
if (myData.yin == 521)
stop(1);
else
move(1, rightMotorSpeed);
if(DEBUG) Serial<<"left:"<<leftMotorSpeed<<" right:"<<rightMotorSpeed<<endl; delay(4);
if(DEBUG) Serial<<"x:"<<myData.xin<<" y:"<<myData.yin<<endl; delay(4);
} }
} }
delay(100); //pause comm, tweak!
} // Loop } // Loop
// motor functions
void move(int motor, int speed) {
if (speed < 0)
{
digitalWrite(inApin[motor], HIGH);
digitalWrite(inBpin[motor], LOW);
}
else{
digitalWrite(inApin[motor], LOW);
digitalWrite(inBpin[motor], HIGH);
}
analogWrite(pwmpin[motor], abs(speed));
}
void stop(int motor) {
digitalWrite(inApin[motor], LOW);
digitalWrite(inBpin[motor], LOW);
analogWrite(pwmpin[motor], 0);
}