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