The goal is to create a rectangle in Processing that increases the speed up to max at the top of the y coordinate max reverse speed at the bottom of the y coordinate. The servo fimata aspect works fine as the servo swings from 180 to 0 degrees based on the position of the mouse within the rectangle.
Right now the dc motor goes in the correct direction based upon if the mouse is above or below the middle of the rectangle but it jumps and is not consistent.
The use for this is for a phone controlled rover due in three weeks. I’m freaking out this is my ME senior design project. I think something is wrong with my arduino sketch.
Thanks,
Lucas
// Send numeric data to Arduino through Firmata library using a reserved pin.
// The data received on the reserved pin is handled as needed
// In this example, the mouse position is sent to the Arduino and controls the brightness of an RGB LED
import processing.serial.*;
import cc.arduino.*;
int input1 = 5;
int input2 = 6;
Arduino arduino; // Setup an arduino object to communicate with Firmata firmware
// variables for the sampling
long time;
int servoDelay = 2;
// variables for the servo position
int xPos;
int yPos;
int changePosX,changePosY;
// sets a maximum change of 5 degrees
int deltaMax = 5;
void setup()
{
size(180, 800);
//println(Serial.list());
// Using Firmata library
arduino = new Arduino(this, Arduino.list()[0], 57600);
// initializes variables
time = millis();
xPos = mouseX;
yPos = mouseY;
}
/*void userevent() {
if (key=='1') {
arduino.analogWrite(input1, 1);
changePosX = xPos;
changePosY = yPos;
println("forward");
} else if (key=='2') {
arduino.analogWrite(input1, 0);
changePosX = 180-xPos;
changePosY = 180-yPos;
println("backward");
}
}*/
void draw() {
// local variables for the change in servo positions
//int changePosX, changePosY;
// print(millis() +","+(time +servoDelay)+"---");
// timer check statement to make the servo update at a lower frequency
if (millis() > (time + servoDelay)) {
// constrains the servo angle change to +/- deltaMax
changePosX = constrain((mouseX-xPos), -deltaMax, deltaMax);
changePosY = constrain((mouseY-yPos), -deltaMax, deltaMax);
println(changePosX+","+changePosY);
// sets the new motor positions
xPos += changePosX;
yPos += changePosY;
//resets timer
time = millis();
}
//Writes to Arduino pins for it to intercept and transfer to servo motion
arduino.analogWrite(input1, yPos);
delay(2);
arduino.analogWrite(input2, xPos);
delay(2);
println(xPos+","+yPos);
}
The arduino code is
#include <Wire.h>
//#include <Adafruit_MotorShield.h>
//#include "utility/Adafruit_PWMServoDriver.h"
#include <Servo.h>
#include <Firmata.h>
#include "DualVNH5019MotorShield.h"
//Adafruit_MotorShield AFMS = Adafruit_MotorShield();
//Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
Servo servo1;
DualVNH5019MotorShield md; //Servo servo2;
int input1 = 5;
int input2 = 6;
void stopIfFault()
{
if (md.getM1Fault())
{
Serial.println("M1 fault");
while (1);
}
}
void setup() {
Serial.begin(9600);
Serial.println("Dual VNH5019 Motor Shield");
md.init();
servo1.attach(9);
// servo2.attach(10);
// myMotor->setSpeed(0);
// myMotor->run(FORWARD);
// turn on motor
// myMotor->run(RELEASE);
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); // Call this function when analog writes are received
Firmata.begin(57600);
}
void analogWriteCallback(byte pin, int value)
{
// If data is sent to reserved pin, execute code
if (pin == input1) {
if ( value > 410 || value < 390) {
md.setM1Speed((400 - value)); //speed max is 400
stopIfFault();
}
else {
md.setM1Speed(0);
stopIfFault();
}
}
else if (pin == input2) {
servo1.write(value);
}
}
void loop() {
while (Firmata.available()) { // Handles Firmata serial input
Firmata.processInput();
}
}