wild thumper robot - проблема с программированием.
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Втр, 08/04/2014 - 15:22
Добрый день!
Попала мне в руки вот такая карта - LMR Review Dagu Wild Thumper Motor Driver и вот такое шасси - Wild Thumper 6WD with 34:1 gearboxes.
Я скачал прошивку для платы все настроил (прошил программу и подключил блок ДУ аналоговый) при включении ДУ происходит следующие - шасси постоянно крутят моторами с бешеной скоростью но при этом реагируют на джойстик, т.е. при повороте рычага одни сторона начинает крутиться в обратную сторону. Помогите со скетчем, я не особо разбираюсь в программировании особенно в чужом коде.
вот код:
#include <Servo.h>
#include "IOpins.h"
#include "Constants.h"
int d1; // Here's where we'll keep our channel values
int d0;
//-------------------------------------------------------------- define global variables --------------------------------------------
unsigned int Volts;
unsigned int LeftAmps;
unsigned int RightAmps;
unsigned long chargeTimer;
unsigned long leftoverload;
unsigned long rightoverload;
int highVolts;
int startVolts;
int Leftspeed=0;
int Rightspeed=0;
int Speed;
int Steer;
byte Charged=1; // 0=Flat battery 1=Charged battery
int Leftmode=1; // 0=reverse, 1=brake, 2=forward
int Rightmode=1; // 0=reverse, 1=brake, 2=forward
byte Leftmodechange=0; // Left input must be 1500 before brake or reverse can occur
byte Rightmodechange=0; // Right input must be 1500 before brake or reverse can occur
int LeftPWM; // PWM value for left motor speed / brake
int RightPWM; // PWM value for right motor speed / brake
int data;
int servo[7];
//-------------------------------------------------------------- define servos ------------------------------------------------------
Servo Servo0; // define servos
Servo Servo1; // define servos
Servo Servo2; // define servos
Servo Servo3; // define servos
Servo Servo4; // define servos
Servo Servo5; // define servos
Servo Servo6; // define servos
void setup()
{
//------------------------------------------------------------ Initialize Servos ----------------------------------------------------
Servo0.attach(S0); // attach servo to I/O pin
Servo1.attach(S1); // attach servo to I/O pin
Servo2.attach(S2); // attach servo to I/O pin
Servo3.attach(S3); // attach servo to I/O pin
Servo4.attach(S4); // attach servo to I/O pin
Servo5.attach(S5); // attach servo to I/O pin
Servo6.attach(S6); // attach servo to I/O pin
//------------------------------------------------------------ Set servos to default position ---------------------------------------
Servo0.writeMicroseconds(DServo0); // set servo to default position
Servo1.writeMicroseconds(DServo1); // set servo to default position
Servo2.writeMicroseconds(DServo2); // set servo to default position
Servo3.writeMicroseconds(DServo3); // set servo to default position
Servo4.writeMicroseconds(DServo4); // set servo to default position
Servo5.writeMicroseconds(DServo5); // set servo to default position
Servo6.writeMicroseconds(DServo6); // set servo to default position
//------------------------------------------------------------ Initialize I/O pins --------------------------------------------------
pinMode (Charger,OUTPUT); // change Charger pin to output
digitalWrite (Charger,1); // disable current regulator to charge battery
if (Cmode==1)
{
Serial.begin(Brate); // enable serial communications if Cmode=1
Serial.flush(); // flush buffer
}
//Serial.begin(57600);
}
void loop()
{
//------------------------------------------------------------ Check battery voltage and current draw of motors ---------------------
Volts=analogRead(Battery); // read the battery voltage
LeftAmps=analogRead(LmotorC); // read left motor current draw
RightAmps=analogRead(RmotorC); // read right motor current draw
//Serial.print(LeftAmps);
//Serial.print(" ");
//Serial.println(RightAmps);
if (LeftAmps>Leftmaxamps) // is motor current draw exceeding safe limit
{
analogWrite (LmotorA,0); // turn off motors
analogWrite (LmotorB,0); // turn off motors
leftoverload=millis(); // record time of overload
}
if (RightAmps>Rightmaxamps) // is motor current draw exceeding safe limit
{
analogWrite (RmotorA,0); // turn off motors
analogWrite (RmotorB,0); // turn off motors
rightoverload=millis(); // record time of overload
}
if ((Volts<lowvolt) && (Charged==1)) // check condition of the battery
{ // change battery status from charged to flat
//---------------------------------------------------------- FLAT BATTERY speed controller shuts down until battery is recharged ----
//---------------------------------------------------------- This is a safety feature to prevent malfunction at low voltages!! ------
Charged=0; // battery is flat
highVolts=Volts; // record the voltage
startVolts=Volts;
chargeTimer=millis(); // record the time
digitalWrite (Charger,0); // enable current regulator to charge battery
}
//------------------------------------------------------------ CHARGE BATTERY -------------------------------------------------------
if ((Charged==0) && (Volts-startVolts>67)) // if battery is flat and charger has been connected (voltage has increased by at least 1V)
{
if (Volts>highVolts) // has battery voltage increased?
{
highVolts=Volts; // record the highest voltage. Used to detect peak charging.
chargeTimer=millis(); // when voltage increases record the time
}
if (Volts>batvolt) // battery voltage must be higher than this before peak charging can occur.
{
if ((highVolts-Volts)>5 || (millis()-chargeTimer)>chargetimeout) // has voltage begun to drop or levelled out?
{
Charged=1; // battery voltage has peaked
digitalWrite (Charger,1); // turn off current regulator
}
}
}
else
{//----------------------------------------------------------- GOOD BATTERY speed controller opperates normally ----------------------
switch(Cmode)
{
case 0: // RC mode via D0 and D1
RCmode();
break;
case 1: // Serial mode via D0(RX) and D1(TX)
SCmode();
break;
case 2: // I2C mode via A4(SDA) and A5(SCL)
I2Cmode();
break;
}
// --------------------------------------------------------- Code to drive dual "H" bridges --------------------------------------
if (Charged==1) // Only power motors if battery voltage is good
{
if ((millis()-leftoverload)>overloadtime)
{
switch (Leftmode) // if left motor has not overloaded recently
{
case 2: // left motor forward
analogWrite(LmotorA,0);
analogWrite(LmotorB,LeftPWM);
break;
case 1: // left motor brake
analogWrite(LmotorA,LeftPWM);
analogWrite(LmotorB,LeftPWM);
break;
case 0: // left motor reverse
analogWrite(LmotorA,LeftPWM);
analogWrite(LmotorB,0);
break;
}
}
if ((millis()-rightoverload)>overloadtime)
{
switch (Rightmode) // if right motor has not overloaded recently
{
case 2: // right motor forward
analogWrite(RmotorA,0);
analogWrite(RmotorB,RightPWM);
break;
case 1: // right motor brake
analogWrite(RmotorA,RightPWM);
analogWrite(RmotorB,RightPWM);
break;
case 0: // right motor reverse
analogWrite(RmotorA,RightPWM);
analogWrite(RmotorB,0);
break;
}
}
}
else // Battery is flat
{
analogWrite (LmotorA,0); // turn off motors
analogWrite (LmotorB,0); // turn off motors
analogWrite (RmotorA,0); // turn off motors
analogWrite (RmotorB,0); // turn off motors
}
}
}
void RCmode()
{
//------------------------------------------------------------ Code for RC inputs ---------------------------------------------------------
Speed=pulseIn(RCleft,HIGH,25000); // read throttle/left stick 12V
Steer=pulseIn(RCright,HIGH,25000); // read steering/right stick 12V
if (Speed==0) Speed=1500; // if pulseIn times out (25mS) then set speed to stop
if (Steer==0) Steer=1500; // if pulseIn times out (25mS) then set steer to centre
if (abs(Speed-1500)<RCdeadband) Speed=1500; // if Speed input is within deadband set to 1500 (1500uS=center position for most servos)
if (abs(Steer-1500)<RCdeadband) Steer=1500; // if Steer input is within deadband set to 1500 (1500uS=center position for most servos)
if (Mix==1) // Mixes speed and steering signals
{
Steer=Steer-1500;
Leftspeed=Speed-Steer;
Rightspeed=Speed+Steer;
}
else // Individual stick control
{
Leftspeed=Speed;
Rightspeed=Steer;
}
/*
Serial.print("Left:");
Serial.print(Leftspeed);
Serial.print(" -- Right:");
Serial.println(Rightspeed);
*/
Leftmode=2;
Rightmode=2;
if (Leftspeed>(Leftcenter+RCdeadband)) Leftmode=0; // if left input is forward then set left mode to forward
if (Rightspeed>(Rightcenter+RCdeadband)) Rightmode=0; // if right input is forward then set right mode to forward
LeftPWM=abs(Leftspeed-Leftcenter)*10/scale; // scale 1000-2000uS to 0-255
LeftPWM=min(LeftPWM,255); // set maximum limit 255
RightPWM=abs(Rightspeed-Rightcenter)*10/scale; // scale 1000-2000uS to 0-255
RightPWM=min(RightPWM,255); // set maximum limit 255
}
void SCmode()
{// ------------------------------------------------------------ Code for Serial Communications --------------------------------------
// FL = flush serial buffer
// AN = report Analog inputs 1-5
// SV = next 7 integers will be position information for servos 0-6
// HB = "H" bridge data - next 4 bytes will be:
// left motor mode 0-2
// left motor PWM 0-255
// right motor mode 0-2
// right motor PWM 0-255
if (Serial.available()>1) // command available
{
int A=Serial.read();
int B=Serial.read();
int command=A*256+B;
switch (command)
{
case 17996: // FL
Serial.flush(); // flush buffer
break;
case 16718: // AN - return values of analog inputs 1-5
for (int i=1;i<6;i++) // index analog inputs 1-5
{
data=analogRead(i); // read 10bit analog input
Serial.write(highByte(data)); // transmit high byte
Serial.write(lowByte(data)); // transmit low byte
}
break;
case 21334: // SV - receive postion information for servos 0-6
for (int i=0;i<15;i++) // read 14 bytes of data
{
Serialread();
servo[i]=data;
}
Servo0.writeMicroseconds(servo[0]*256+servo[1]); // set servo position
Servo1.writeMicroseconds(servo[2]*256+servo[3]); // set servo position
Servo2.writeMicroseconds(servo[4]*256+servo[5]); // set servo position
Servo3.writeMicroseconds(servo[6]*256+servo[7]); // set servo position
Servo4.writeMicroseconds(servo[8]*256+servo[9]); // set servo position
Servo5.writeMicroseconds(servo[10]*256+servo[11]); // set servo position
Servo6.writeMicroseconds(servo[12]*256+servo[13]); // set servo position
break;
case 18498: // HB - mode and PWM data for left and right motors
Serialread();
Leftmode=data;
Serialread();
LeftPWM=data;
Serialread();
Rightmode=data;
Serialread();
RightPWM=data;
break;
default: // invalid command
Serial.flush(); // flush buffer
}
}
}
void Serialread()
{//---------------------------------------------------------- Read serial port until data has been received -----------------------------------
do
{
data=Serial.read();
} while (data<0);
}
void I2Cmode()
{//----------------------------------------------------------- Your code goes here ------------------------------------------------------------
}
