Hi,
There is a strange motor noise when running this code in the Baby Orangutan 328P with the Arduino IDE
#include <OrangutanMotors.h>
#include <PololuWheelEncoders.h>
//Right Encoder, motor2 in BabyO
#define rea 7 //IO_D7
#define reb 4 //IO_D4
int left_enc_cnt;
int left_speed = 30;
//Left Encoder, motor1 in BabyO
#define leb 9 //IO_B0 physically connected, changed to increasing count
#define lea 8 //IO_B1
int right_enc_cnt;
int right_speed = 30;
int motor_stop = 0;
void setup() {
Serial.begin(115200);
PololuWheelEncoders::init(lea, leb, rea, reb);
delay(5000);
OrangutanMotors::setSpeeds(left_speed, right_speed);
}
void loop() {
left_enc_cnt = PololuWheelEncoders::getCountsM1();
right_enc_cnt = PololuWheelEncoders::getCountsM2();
Serial.println(left_enc_cnt);
Serial.println(right_enc_cnt);
Serial.println();
delay(2000);
}
I’ve also written the same functional code in Atmel Studio 6.2 and uploaded the code to the BabyO
/* rightANDleft_motors_encodersANDspeed - an application for the Pololu Baby Orangutan B
*
* This application uses the Pololu AVR C/C++ Library. For help, see:
* -User's guide: http://www.pololu.com/docs/0J20
* -Command reference: http://www.pololu.com/docs/0J18
*
* Created: 11/3/2016 8:04:04 PM
* Author: Daniel
*/
#include <pololu/orangutan.h>
#define rea IO_D7 //LEFT MOTOR as pcb and connected to test in protoboard: set m2 speed with positive value means decreasing count of encoders and go forward
#define reb IO_D4 //After changing signals in program //then a change of signals in program would be made to have a positive value, incrementing counts and go forward
int left_enc_cnt;
int left_speed = 30;
int left_stop = 0;
#define leb IO_B1 //RIGHT motor goes faster than left motor at same speeds, but right_motor(m1_speed) value should be negative to go forward, no changes in the encoders signals
#define lea IO_B0 //was required, not in the pcb nor in the code(forward means incrementing count), if a positive right_motor(m1_speed) value is wanted the physical connections should be interchanged
int right_enc_cnt;
int right_speed = 30;
#define buffer_size 7
char send_buffer[buffer_size];
void wait_for_sending_to_finish(){ //avr_library_commands Section 10
while(!serial_send_buffer_empty()); //pololu_avr_library Section 3.h
}
void send_data(uint16_t data){
wait_for_sending_to_finish();
send_buffer[4] = data % 10 + 48; //unidades
if(data < 10){ //decenas, centenas y miles son cero
send_buffer[0] = 0 + 48;
send_buffer[1] = 0 + 48; //miles
send_buffer[2] = 0 + 48; //centenas
send_buffer[3] = 0 + 48; //decenas
}
else if(data < 100){
send_buffer[0] = 0 + 48;
send_buffer[1] = 0 + 48; //miles
send_buffer[2] = 0 + 48; //centenas
send_buffer[3] = (data / 10) % 10 + 48; //decenas
}
else if(data < 1000){
send_buffer[0] = 0 + 48;
send_buffer[1] = 0 + 48; //miles
send_buffer[2] = (data / 100) % 10 + 48; //centenas
send_buffer[3] = (data / 10) % 10 + 48; //decenas
}
else if(data < 10000){
send_buffer[0] = 0 + 48; //decenas de millar
send_buffer[1] = (data / 1000) % 10 + 48; //miles
send_buffer[2] = (data / 100) % 10 + 48; //centenas
send_buffer[3] = (data / 10) % 10 + 48; //decenas
}
else if(data < 100000){
send_buffer[0] = (data / 10000) % 10 + 48; //decenas de millar
send_buffer[1] = (data / 1000) % 10 + 48; //millar
send_buffer[2] = (data / 100) % 10 + 48; //centenas
send_buffer[3] = (data / 10) % 10 + 48; //decenas
}
else{
}
send_buffer[5] = 10; //Salto de linea
send_buffer[6] = 13; //Retorno de carro
serial_send(send_buffer, buffer_size);
}
int main(){
serial_set_baud_rate(115200); //Default baud rate comm in HC-05 after configuration
encoders_init(lea, leb, rea, reb);
delay_ms(5000);
set_motors(left_speed, right_speed);
while(1){
left_enc_cnt = encoders_get_counts_m1();
right_enc_cnt = encoders_get_counts_m2();
send_data(left_enc_cnt);
send_data(right_enc_cnt);
delay(1000);
left_enc_cnt = encoders_get_counts_m1();
right_enc_cnt = encoders_get_counts_m2();
send_data(left_enc_cnt);
send_data(right_enc_cnt);
send_data(0);
delay_ms(1000);
}
}
Atmel Studio Program Normal Noise
and the noise of the motors was the normal noise that hears commonly from them.
Here is a picture of the conections
Anyone has an idea, of what could be causing this noise?
Thanks in advance.