copy all code from hoverbrett controller_pio
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527e7accd6
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@ -1 +1 @@
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Subproject commit 97630cfcff7fa813ace7d1cfb7d4268a07e98750
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Subproject commit 2bb9f3d672d3f664dc3f77c3a4cbaecf33f3a915
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@ -18,3 +18,7 @@ monitor_speed = 115200
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build_flags =
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-D USB_SERIAL_HID
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lib_deps =
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https://github.com/maniacbug/RF24
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@ -1,15 +1,336 @@
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#include <Arduino.h>
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#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
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uint8_t error = 0;
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#define IMU_NO_CHANGE 2 //IMU values did not change for too long
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#include "hoverboard-esc-serial-comm.h"
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ESCSerialComm esc(Serial2);
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//Serial1 = TX1=1, RX1=0
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//Serial2 = TX2=10, RX2=9
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//Serial3 = TX3=8, RX3=7
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#define PIN_GAMETRAK_LENGTH_A A6 //A6=20
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#define PIN_GAMETRAK_LENGTH_B A7 //A7=21
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#define PIN_GAMETRAK_VERTICAL A8 //A8=22
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#define PIN_GAMETRAK_HORIZONTAL A9 //A9=23
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long last_adcupdated=0;
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#define ADC_UPDATEPERIOD 10 //in ms
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#define CONTROLUPDATEPERIOD 10
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long last_controlupdate = 0;
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#define GT_LENGTH_OFFSET 4090 //adc offset value (rolled up value)
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#define GT_LENGTH_MIN 220 //length in mm at which adc values start to change
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#define GT_LENGTH_SCALE -0.73 //(offset-adcvalue)*scale = length[mm] (+length_min)
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//2720 at 1000mm+220mm -> 1370 for 1000mm ->
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#define GT_LENGTH_MAXLENGTH 2500 //maximum length in [mm]. maximum string length is around 2m80
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uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
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#define GT_VERTICAL_CENTER 2048 //adc value for center position
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#define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
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int8_t gt_vertical=0; //0=center. joystick can rotate +-30 degrees. -127 = -30 deg
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//left = -30 deg, right= 30deg
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#define GT_HORIZONTAL_CENTER 2048 //adc value for center position
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#define GT_HORIZONTAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
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int8_t gt_horizontal=0; //0=center
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uint16_t gt_length_set=1000; //set length to keep [mm]
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#define GT_LENGTH_MINDIFF 10 //[mm] threshold, do not move within gt_length_set-GT_LENGTH_MINDIFF and gt_length_set+GT_LENGTH_MINDIFF
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float gt_speed_p=0.7; //value to multipy difference [mm] with -> out_speed
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float gt_speedbackward_p=0.7;
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float gt_steer_p=2.0;
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#define GT_SPEED_LIMIT 300 //maximum out_speed value +
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#define GT_SPEEDBACKWARD_LIMIT 100//maximum out_speed value (for backward driving) -
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#define GT_STEER_LIMIT 300 //maximum out_steer value +-
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#define GT_LENGTH_MAXIMUMDIFFBACKWARD -200 //[mm]. if gt_length_set=1000 and GT_LENGTH_MAXIMUMDIFFBACKWARD=-200 then only drives backward if lenght is greater 800
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#include <SPI.h>
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#include "nRF24L01.h"
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#include "RF24.h"
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RF24 radio(14, 15); //ce, cs
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//SCK D13 (Pro mini), A5 (bluepill),13 (teensy32)
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//Miso D12 (Pro mini), A6 (bluepill),12 (teensy32)
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//Mosi D11 (Pro mini), A7 (bluepill),11 (teensy32)
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// Radio pipe addresses for the 2 nodes to communicate.
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const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
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#define NRF24CHANNEL 75
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struct nrfdata {
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uint8_t steer;
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uint8_t speed;
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uint8_t commands; //bit 0 set = motor enable
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uint8_t checksum;
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};
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nrfdata lastnrfdata;
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long last_nrfreceive = 0; //last time values were received and checksum ok
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long nrf_delay = 0;
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#define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
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boolean radiosendOk=false;
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//command variables
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boolean motorenabled = false; //set by nrfdata.commands
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long last_send = 0;
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int16_t set_speed = 0;
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int16_t set_steer = 0;
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uint8_t out_checksum = 0; //0= disable motors, 255=reserved, 1<=checksum<255
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#define NRFDATA_CENTER 127
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//boolean armed = false;
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boolean lastpacketOK = false;
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//Gametrak
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//boolean armed_gt = false;
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uint8_t controlmode=0;
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#define MODE_DISARMED 0
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#define MODE_RADIONRF 1
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#define MODE_GAMETRAK 2
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void setup() {
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Serial.begin(SERIAL_BAUD); //Debug and Program
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esc.init();
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pinMode(PIN_GAMETRAK_LENGTH_A, INPUT);
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pinMode(PIN_GAMETRAK_LENGTH_B, INPUT);
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pinMode(PIN_GAMETRAK_VERTICAL, INPUT);
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pinMode(PIN_GAMETRAK_HORIZONTAL, INPUT);
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radio.begin();
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//Serial1.println("set rate");
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radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
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//radio.setDataRate( RF24_1MBPS );
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//Serial1.println("set channel");
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radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
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//Serial1.println("set retries and payload");
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radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
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radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
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//Serial1.println("open pipe");
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radio.openWritingPipe(pipes[0]); //write on pipe 0
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radio.openReadingPipe(1, pipes[1]); //read on pipe 1
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//Serial1.println("start listening");
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radio.startListening();
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}
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void loop() {
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unsigned long loopmillis=millis();
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if (millis() - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
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gt_length = constrain(( analogRead(PIN_GAMETRAK_LENGTH_A))*GT_LENGTH_SCALE - (GT_LENGTH_SCALE*GT_LENGTH_OFFSET) +GT_LENGTH_MIN, 0,GT_LENGTH_MAXLENGTH);
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if (gt_length<=GT_LENGTH_MIN){
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gt_length=0; //if below minimum measurable length set to 0mm
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}
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gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-((int16_t)GT_VERTICAL_CENTER), +GT_VERTICAL_RANGE,-GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
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gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-((int16_t)GT_HORIZONTAL_CENTER), +GT_HORIZONTAL_RANGE,-GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
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last_adcupdated = millis();
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/*
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Serial1.print("gt_length=");
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Serial1.print(gt_length);
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Serial1.print(", gt_vertical=");
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Serial1.print(gt_vertical);
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Serial1.print(", gt_horizontal=");
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Serial1.println(gt_horizontal);*/
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/*
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Serial1.print("PIN_GAMETRAK_LENGTH=");
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Serial1.print(analogRead(PIN_GAMETRAK_LENGTH));
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Serial1.print(", PIN_GAMETRAK_VERTICAL=");
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Serial1.print(analogRead(PIN_GAMETRAK_VERTICAL));
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Serial1.print(", PIN_GAMETRAK_HORIZONTAL=");
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Serial1.println(analogRead(PIN_GAMETRAK_HORIZONTAL));*/
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}
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//NRF24
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nrf_delay = millis() - last_nrfreceive; //update nrf delay
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if ( radio.available() )
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{
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//Serial1.println("radio available ...");
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lastpacketOK = false; //initialize with false, if checksum ok gets set to true
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//digitalWrite(PIN_LED, !digitalRead(PIN_LED));
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radio.read( &lastnrfdata, sizeof(nrfdata) );
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if (lastnrfdata.speed == NRFDATA_CENTER && lastnrfdata.steer == NRFDATA_CENTER) { //arm only when centered
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controlmode = MODE_RADIONRF;//set radionrf mode at first received packet
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}
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uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
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if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
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lastpacketOK = true;
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last_nrfreceive = millis();
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//parse commands
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motorenabled = (lastnrfdata.commands & (1 << 0))>>0; //check bit 0
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}
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}
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if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
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controlmode = MODE_DISARMED;
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#ifdef DEBUG
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Serial1.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
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#endif
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}
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if (controlmode == MODE_RADIONRF) { //is armed in nrf mode
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if (lastpacketOK) { //if lastnrfdata is valid
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if (millis() - last_controlupdate > CONTROLUPDATEPERIOD) {
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last_controlupdate = millis();
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//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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set_speed = (int16_t)( ((int16_t)(lastnrfdata.speed) - NRFDATA_CENTER) * 1000 / 127 ); //-1000 to 1000
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set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 );
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//calculate speed l and r from speed and steer
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#define SPEED_COEFFICIENT_NRF 1 // higher value == stronger
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#define STEER_COEFFICIENT_NRF 0.5 // higher value == stronger
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int16_t _out_speedl,_out_speedr;
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_out_speedl = constrain(set_speed * SPEED_COEFFICIENT_NRF + set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
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_out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF - set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
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esc.setSpeed(_out_speedl,_out_speedr);
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}
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}//if pastpacket not ok, keep last out_steer and speed values until disarmed
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#ifdef DEBUG
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if (!lastpacketOK) {
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Serial1.println("Armed but packet not ok");
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}
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#endif
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}
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if (controlmode==MODE_DISARMED) { //check if gametrak can be armed
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if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
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controlmode=MODE_GAMETRAK; //enable gametrak mode
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Serial1.println("Enable Gametrak");
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}
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}else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
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//Gametrak Control Code
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motorenabled=true;
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if (gt_length<=GT_LENGTH_MIN){ //let go
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Serial1.println("gametrak released");
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controlmode=MODE_DISARMED;
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motorenabled=false;
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}
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int16_t _gt_length_diff = gt_length-gt_length_set; //positive if needs to drive forward
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if (_gt_length_diff>-GT_LENGTH_MINDIFF & _gt_length_diff<GT_LENGTH_MINDIFF){ //minimum difference to drive
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_gt_length_diff=0; //threshold
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}
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set_steer=constrain((int16_t)(-gt_horizontal*gt_steer_p),-GT_STEER_LIMIT,GT_STEER_LIMIT); //steer positive is left //gt_horizontal left is negative
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if (_gt_length_diff>0) { //needs to drive forward
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set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,GT_SPEED_LIMIT);
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}else{ //drive backward
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if (_gt_length_diff > GT_LENGTH_MAXIMUMDIFFBACKWARD){ //only drive if not pulled back too much
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set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-GT_SPEEDBACKWARD_LIMIT,0);
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}else{
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set_speed = 0; //stop
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set_steer = 0;
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}
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}
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//calculate speed l and r from speed and steer
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#define SPEED_COEFFICIENT_GT 1 // higher value == stronger
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#define STEER_COEFFICIENT_GT 0.5 // higher value == stronger
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int16_t _out_speedl,_out_speedr;
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_out_speedl = constrain(set_speed * SPEED_COEFFICIENT_GT + set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
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_out_speedr = constrain(set_speed * SPEED_COEFFICIENT_GT - set_steer * STEER_COEFFICIENT_GT, -1000, 1000);
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esc.setSpeed(_out_speedl,_out_speedr);
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}
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if (error > 0) { //disarm if error occured
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controlmode = MODE_DISARMED; //force disarmed
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}
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if (controlmode == MODE_DISARMED){ //all disarmed
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esc.setSpeed(0,0);
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}
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if (esc.sendPending(loopmillis)) {
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//calculate checksum
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out_checksum = ((uint8_t) ((uint8_t)esc.getCmdL()) * ((uint8_t)esc.getCmdR())); //simple checksum
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if (out_checksum == 0 || out_checksum == 255) {
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out_checksum = 1; //cannot be 0 or 255 (special purpose)
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}
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if (!motorenabled) { //disable motors?
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out_checksum = 0; //checksum=0 disables motors
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}
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if (!motorenabled) {//motors disabled
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esc.setSpeed(0,0);
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}
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last_send = millis();
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#ifdef DEBUG
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Serial1.print(" out_speedl=");
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Serial1.print(out_speedl);
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Serial1.print(" out_speedr=");
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Serial1.print(out_speedr);
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Serial1.print(" checksum=");
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Serial1.print(out_checksum);
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Serial1.print(" controlmode=");
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Serial1.print(controlmode);
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Serial1.println();
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#endif
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}
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esc.update(loopmillis);
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}
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