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hoverserial
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speed control by BTN

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in_progress_old_board
JbLb 5 years ago
parent 8cfb4deff7
commit 67e787a061
2 changed files with 159 additions and 182 deletions
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14
platformio.ini
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@ -18,10 +18,10 @@ board = leonardo
framework = arduino
platform = atmelavr
lib_deps =
Nintendo Extension Ctrl
adafruit/Adafruit GFX Library@^1.10.3
adafruit/Adafruit SSD1306@^2.4.1
adafruit/Adafruit BusIO@^1.6.0
fastled/FastLED @ ^3.3.3
platform_packages =
; use GCC AVR 7.3.0+
toolchain-atmelavr@>=1.70300.0
monitor_port = /dev/ttyACM*
upload_port = /dev/ttyACM*
monitor_speed = 115200
@ -32,9 +32,7 @@ framework = arduino
board = leonardo
lib_deps =
Nintendo Extension Ctrl
adafruit/Adafruit GFX Library@^1.10.3
adafruit/Adafruit SSD1306@^2.4.1
adafruit/Adafruit BusIO@^1.6.0
marcoschwartz/LiquidCrystal_I2C@^1.1.4
upload_protocol = usbasp
upload_flags =
-Pusb
@ -50,6 +48,7 @@ lib_deps =
adafruit/Adafruit GFX Library@^1.10.3
adafruit/Adafruit SSD1306@^2.4.1
adafruit/Adafruit BusIO@^1.6.0
marcoschwartz/LiquidCrystal_I2C@^1.1.4
debug_tool = stlink
monitor_port = /dev/ttyACM*
monitor_speed = 115200
@ -65,3 +64,4 @@ lib_deps =
adafruit/Adafruit GFX Library@^1.10.3
adafruit/Adafruit SSD1306@^2.4.1
adafruit/Adafruit BusIO@^1.6.0
marcoschwartz/LiquidCrystal_I2C@^1.1.4

327
src/hoverserial.ino
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@ -30,7 +30,11 @@
// // #define DEBUG_SERIAL_USART3
// *******************************************************************
#define VERSION_TAG "v test 0.1"
#define VERSION_TAG "V test 0.1"
#define BTN_PLUS 2
#define BTN_MOINS 3
#define BTN_MARCHE 4
#define MAX_SPEED 300
// ########################## DEFINES ##########################
@ -43,10 +47,11 @@
// ########################## macros ############################
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <NintendoExtensionCtrl.h> // https://github.com/dmadison/NintendoExtensionCtrl
#include <EEPROM.h>
#include <FastLED.h>
// #include <SoftwareSerial.h>
@ -87,51 +92,44 @@ int cmd2;
int motor_test_direction = 1;
int accel_speed =10;
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
int eeprom_address = 0;
// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins)
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire);
// Connect to a Nunchuk
Nunchuk nchuk;
int consigne_speed = 10;
int actual_speed = 0;
int btn_control = 20;
// ########################## SETUP ##########################
void setup()
{
bool run_mode, last_run, last_plus, last_moins, last_marche = false;
bool rel_marche = true;
nchuk.begin();
while (!nchuk.connect()) {
Serial.println("nunchuck not connected");
delay(1000);
}
display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C addr 0x3C (for the 128x64)
// Clear the buffer
display.clearDisplay();
display.display();
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.setCursor(int
((display.width() -
(strlen("Hoverboard Serial") * 6)) / 2), 0);
display.println("Hoverboard Serial");
display.setCursor(int
((display.width() -(strlen(VERSION_TAG) *6))/2), 8);
display.println(VERSION_TAG);
/*
display.print("Nunchuk ");
nchuk.connect()? display.print("") : display.print("not ");
display.println("connected");
display.drawCircle(80, 41, 22, SSD1306_WHITE);
*/
display.display();
// ################ Led definition ########################
#define LED_PIN 5
#define NUM_LEDS 1
#define BRIGHTNESS 64
#define LED_TYPE WS2812
#define COLOR_ORDER GRB
CRGB leds[NUM_LEDS];
// ########################## SETUP ##########################
void setup()
{
pinMode(BTN_MARCHE, INPUT_PULLUP);
pinMode(BTN_PLUS, INPUT_PULLUP);
pinMode(BTN_MOINS, INPUT_PULLUP);
Serial1.begin(HOVER_SERIAL_BAUD); // RX, TX from arduino to TX RX on hoverboard board. ! be carreful 3v3
pinMode(LED_BUILTIN, OUTPUT);
consigne_speed = EEPROMReadInt(eeprom_address);
if (consigne_speed > MAX_SPEED) {
consigne_speed = MAX_SPEED ;
}
Serial.begin(SERIAL_BAUD);
if (Serial) {
Serial.println(VERSION_TAG);
@ -156,7 +154,6 @@ void Send(int16_t uSteer, int16_t uSpeed)
void Receive()
{
int old_cursorX, old_cursorY;
// Check for new data availability in the Serial buffer
if (Serial1.available()) {
incomingByte = Serial1.read(); // Read the incoming byte
@ -216,16 +213,6 @@ void Receive()
Serial.print(" 8: ");
Serial.println(Feedback.boardTemp);
}
display.setCursor(0, 30);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("V : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 5), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(Feedback.batVoltage);
display.display();
} else {
if (Serial)
Serial.println("Non-valid data skipped");
@ -237,129 +224,96 @@ void Receive()
incomingBytePrev = incomingByte;
}
void Nunchuk_control()
{
int old_cursorX, old_cursorY;
if (!nchuk.update()) {
nchuk.connect();
} else {
cmd1 = map(nchuk.joyX(),0,256,150,-150); // x - axis. Nunchuck joystick readings range 30 - 230
cmd2 = map(nchuk.joyY(),0,256,-1000,1000); // y - axis
Serial.print("X : "); Serial.println(nchuk.joyX());
Serial.print("Y : "); Serial.println(nchuk.joyY());
}
display.setCursor(0, 40);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("X : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 5), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(cmd1);
display.setCursor(0, 50);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("y : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 5), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(cmd2);
display.display();
// Send(cmd1, cmd2);
Send(0, cmd2);
}
// ########################## nunchuk ##########################
void Nunchuk_display()
{
if (!nchuk.update()) {
if (Serial) {
Serial.println("Controller disconnected!");
}
nchuk.connect();
// #############################
//This function will write a 2 byte integer to the eeprom at the specified address and address + 1
void EEPROMWriteInt(int p_address, int p_value)
{
byte lowByte = ((p_value >> 0) & 0xFF);
byte highByte = ((p_value >> 8) & 0xFF);
EEPROM.write(p_address, lowByte);
EEPROM.write(p_address + 1, highByte);
}
//This function will read a 2 byte integer from the eeprom at the specified address and address + 1
unsigned int EEPROMReadInt(int p_address)
{
byte lowByte = EEPROM.read(p_address);
byte highByte = EEPROM.read(p_address + 1);
return ((lowByte << 0) & 0xFF) + ((highByte << 8) & 0xFF00);
}
void run_control(void) {
if (!digitalRead(BTN_MARCHE)) {
if (last_marche){
if (!run_mode ){
if (rel_marche){
// run
run_mode = true;
rel_marche = false;
return;
}
} else {
if (rel_marche){
rel_marche = false;
run_mode = false;
actual_speed = 0;
if ( EEPROMReadInt(eeprom_address) != consigne_speed ){
EEPROMWriteInt(eeprom_address, consigne_speed);
}
return;
}
}
} else {
last_marche = true;
return;
}
} else {
if (Serial) {
// Read a button (on/off, C and Z)
Serial.print("Z: ");
nchuk.buttonZ()? Serial.print("On ") : Serial.print("Off ");
Serial.print("C: ");
nchuk.buttonC()? Serial.print("On ") : Serial.print("Off ");
// Read joystick axis (0-255, X and Y)
Serial.print("The joystick's Y axis is at ");
Serial.print(nchuk.joyY());
Serial.print(" and X axis is at ");
Serial.print(nchuk.joyX());
// Read an accelerometer and print values (0-1023, X, Y, and Z)
Serial.print(" - The accelerometer's X-axis is at ");
Serial.println(nchuk.accelX());
}
rel_marche = true;
last_marche = false;
}
}
// ########################## nunchuk ##########################
void show_dot()
{
int old_cursorX, old_cursorY;
char text[22];
if (nchuk.update()) {
display.setCursor(0, 20);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("X : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 4), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(nchuk.joyX());
display.setCursor(0, 50);
display.setTextSize(1); // Draw 1X-scale text
display.setTextColor(SSD1306_WHITE);
display.print("Y : ");
old_cursorX = display.getCursorX();
old_cursorY = display.getCursorY();
display.fillRect(old_cursorX, old_cursorY, (6 * 4), 8, SSD1306_BLACK); // erase previous display
display.setCursor(old_cursorX, old_cursorY);
display.print(nchuk.joyY());
int y_d = int(41 + (44*(nchuk.joyY()-128))/256);
int x_d = int(80 + (44*(nchuk.joyX()-128))/256);
if (Serial) {
sprintf (text,"y_d : %d | x_d : %d", y_d , x_d );
Serial.println(text);
void speed_control(void) {
if (run_mode){
if (!digitalRead(BTN_PLUS)){
if (last_plus){
consigne_speed = consigne_speed + 5;
if (consigne_speed > MAX_SPEED) {
consigne_speed = MAX_SPEED ;
}
} else {
last_plus = true;
}
} else {
last_plus = false;
}
if (!digitalRead(BTN_MOINS)){
if (last_moins){
consigne_speed = consigne_speed - 5;
if (consigne_speed < 0 ) {
consigne_speed = 0 ;
}
} else {
last_moins = true;
}
display.drawPixel(x_d,y_d,SSD1306_WHITE);
}
else {
nchuk.connect();
} else {
last_moins = false;
}
}
}
// ########################## LOOP ##########################
unsigned long iTimeSend = 0;
int iTestMax = SPEED_MAX_TEST;
int iTest = 0;
int16_t old_cursorX;
int16_t old_cursorY;
void loop(void)
{
@ -368,24 +322,47 @@ void loop(void)
// Check for new received data
Receive();
if (iTimeSend > timeNow)
return;
iTimeSend = timeNow + TIME_SEND;
// Nunchuk_display();
Nunchuk_control();
/*
// Send commands
if (iTimeSend > timeNow)
return;
iTimeSend = timeNow + TIME_SEND;
Send(0, cmd2);
if (Serial) {
if (run_mode != last_run) {
last_run = run_mode;
if (run_mode){
Serial.println("Run");
} else {
Serial.println("Stop");
}
}
}
if (run_mode){
if ( actual_speed != consigne_speed){
if ( actual_speed < consigne_speed){
actual_speed ++ ;
} else {
actual_speed --;
}
}
}
Send(0,actual_speed);
if ( actual_speed != accel_speed){
accel_speed = actual_speed;
if (Serial) Serial.println(actual_speed);
// Calculate test command signal
}
run_control();
btn_control --;
if (btn_control == 0){
btn_control =10;
speed_control();
}
if (motor_test_direction == 1) cmd2 += 1;
else cmd2 -= 1;
if (abs(cmd2) > SPEED_MAX_TEST) motor_test_direction = -motor_test_direction;
*/
// Nunchuk_control();
// Blink the LED
digitalWrite(LED_BUILTIN, (timeNow % 2000) < 1000);
}

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