Probleempje met programma arduino

Discussie in 'Modelbouwsoftware' gestart door Armira, 7 mei 2020.

  1. Armira

    Armira

    Lid geworden:
    17 feb 2018
    Berichten:
    162
    Locatie:
    Papendrecht
    Heb probleem met mijn code.
    De code tot nu toe werkt prima,echter als ik een kanaal van mijn receiver wil toevoegen werkt deze niet en stopt de serieel monitor er ook mee heb een H bridge met 2motoren een servo en een 8kanaals relais module deze werken allemaal zowel met RC als via de telefoon met Bluetooth
    Daar ik een carson 14kanaals zender /ontvanger heb en nu maar 5kanalen heb aangesloten gaat alles goed declareer ik echter channel[6]=pinIn(10,HIGH,50000); werkt deze niet ook de serieel monitor geeft niets meer aan voor de rest blijft alles wel werken
    Wat doe ik verkeerd wie weet raad??
    Code:
    
    const int SERIAL_BUFFER_SIZE = 8;
    char serialBuffer[SERIAL_BUFFER_SIZE];
     #include <Servo.h>
    boolean newData = false;
    const byte numChars = 32;
    char receivedChars[numChars];   // an array to store the received data
    
    //servo
    const int servo1 = 32;  // Pin for the first servo
    int servoVal;  
    Servo myservo1;           // create servo object to control a servo
     void Motor_1();
     void bluethooth();
     void  recvWithEndMarker();
     void   showNewData();
    
     //l298n -------------
    // Motor A
     int enA =2;
    int in1 = 52;
    int in2 = 50;
     // Motor B
     int enB = 3;
    int in3 = 51;
    int in4 = 53;
    //Motor Speed Values - Start at zero
    int MotorSpeed1 = 0;
    int MotorSpeed2 = 0;
     //rc kanalen---------
    double channel[2];
    const int pwmPIN[]={4,5,6,7,8,9,10,11,12,13,44}; // an array to identify the PWM input pins (the array can be any length)
    int RC_inputs = 0;
    int i;
     int  buttonState =0;
     int lastbuttonState = 0;
     int x = 0;
    
     
    void setup(){
    
     myservo1.attach(servo1);  // attaches the servo
     for(i=22;i<30;i++)
    {
      pinMode(i, OUTPUT);//relay pins
      digitalWrite(i, HIGH);
    
      for(i=30;i<40;i++)
       pinMode(i, OUTPUT);//relay pins
        digitalWrite(i, LOW);
    
    }
    
      // Set all the motor control pins to outputs
     
     pinMode(enA, OUTPUT);
      pinMode(enB, OUTPUT);
      pinMode(in1, OUTPUT);
      pinMode(in2, OUTPUT);
      pinMode(in3, OUTPUT);
      pinMode(in4, OUTPUT);
        int motorA=0;
      int motorB = 0;
      // Start with motors disabled and direction forward
       // Motor A
        digitalWrite(enA, LOW);
      digitalWrite(in1, HIGH);
      digitalWrite(in2, LOW);
       // Motor B
       digitalWrite(enB, LOW);
      digitalWrite(in3, HIGH);
      digitalWrite(in4, LOW);
      Serial.begin(9600);
    
    }
    void loop() {
    
    channel[0]=pulseIn(7, HIGH,50000);//ch2 ln298 rechter joystick x as
    channel[1]=pulseIn(8, HIGH,50000);//ch4 ln298 rechter joystick y as
    channel[3]=pulseIn(6, HIGH,50000);//ch8 ln298
    channel[4]=pulseIn(4, HIGH,50000);//ch 14 relais1 en relais 2
    channel[5]=pulseIn(5, HIGH,50000);//ch 13 2xrelais
    channel[6]=pulseIn(10, HIGH,50000);//ch 13 2xrelais
    
    
    
    
    
       // failsave voor als het rc signaal wegvalt stopt het script
       //failsave
    
    int sIn = 4;
    
    unsigned long dur;
    unsigned long failsafeVal = 1900;
    int debounce = 1; //seconds//amount of time to regain rc signal from the time its lost
    unsigned long lastDisconnection = 0;
    unsigned long previousMillis = 0;
    int RCstatus = 0;
    int prevStatus = 0;
    unsigned long currentMillis = millis();
     
      dur = pulseIn(sIn, HIGH, 500000);
    
      //falls to acceptable range
      if (dur >= 950 && dur <= 2000)
      {
        //check if it regains signal
        if (prevStatus == 2 && (currentMillis - lastDisconnection) < (debounce * 1000))
       
          dur = failsafeVal;
     
       
        Motor_1();
      } else {
    
        bluethooth();
        }
    }
     void Motor_1(){
    //y as biede motoren syncroon voor achteruit x as alleen linker of rechter motor met roerservo-----------
    
      if (channel[3] >1500){
     
      if (channel[0] < 1400)
      {
     // Set Motor A backward
      digitalWrite(in1, LOW);
        digitalWrite(in2, HIGH);
     
        // Set Motor B backward
     
        digitalWrite(in3, LOW);
        digitalWrite(in4, HIGH);
     
        MotorSpeed1 = map(channel[0], 1400, 1020, 0, 255);
        MotorSpeed2 = map(channel[0], 1400,1020, 0,255);
     }
      else if (channel[0] > 1500)
      {
        // This is Forward
     
        // Set Motor A forward
        digitalWrite(in1, HIGH);
       digitalWrite(in2, LOW);
    
           // Set Motor B forward
     
        digitalWrite(in3, HIGH);
        digitalWrite(in4, LOW);
     
        //Determine Motor Speeds
        MotorSpeed1 = map(channel[0],1480, 1930, 0, 255);
        MotorSpeed2 = map(channel[0],1480, 1930, 0, 255);
    
      }
      else
      {
        // This is Stopped
     
        MotorSpeed1 = 0;
        MotorSpeed2 = 0;
      }
     
      // Now do the steering
      if (channel[1] < 1400)
      {
       
        // Move Left
    
        i = map(channel[1], 1400, 1020, 0, 255);
           
        MotorSpeed1 = MotorSpeed1 - i;
        MotorSpeed2 = MotorSpeed2 + i;
    
       if (MotorSpeed1 < 0)MotorSpeed1 = 0;
        if (MotorSpeed2 > 255)MotorSpeed2 = 255;
     
      }
      else if (channel[1] > 1550)
      {
        // Move Right
       
        i= map(channel[1], 1508, 1930, 0, 255);
    
        MotorSpeed1 = MotorSpeed1 + i;
        MotorSpeed2 = MotorSpeed2 -i;
    
        // Don't exceed range of 0-255 for motor speeds
     
        if (MotorSpeed1 < 0)MotorSpeed1 = 0;
        if (MotorSpeed2 > 255)MotorSpeed2 = 255;
      }
    
    
    
      }
      //alleen syncroon draaien met roerservo -------yas motoren x as roerservo---------------
     
       if ( channel[3]>1400 && channel[3]<1600){
          if (channel[0] < 1400)
      {
       // Set Motor A backward
      digitalWrite(in1, LOW);
        digitalWrite(in2, HIGH);
     
        // Set Motor B backward
     
        digitalWrite(in3, LOW);
        digitalWrite(in4, HIGH);
    
        MotorSpeed1 = map(channel[0], 1400, 1010, 0, 255);
        MotorSpeed2 = map(channel[0], 1400,1010, 0,255);
     
      }
      else if (channel[0] > 1500)
      {
        // This is Forward
     
        // Set Motor A forward
        digitalWrite(in1, HIGH);
       digitalWrite(in2, LOW);
    
           // Set Motor B forward
     
        digitalWrite(in3, HIGH);
        digitalWrite(in4, LOW);
     
        //Determine Motor Speeds
     
        MotorSpeed1 = map(channel[0],1500, 1930, 0, 255);
        MotorSpeed2 = map(channel[0],1500, 1930, 0, 255);
      }
          else
      {
        // This is Stopped
     
        MotorSpeed1 = 0;
        MotorSpeed2 = 0;
      }
       }
        if ( channel[3]<1400){
        if  (channel[1]>1500){
       
     
       //Motor A achteruit
      digitalWrite(in1, LOW);
        digitalWrite(in2, HIGH);
     
        // Set Motor B vooruit
        digitalWrite(in3, HIGH);
        digitalWrite(in4, LOW);
       
        MotorSpeed1 = map(channel[1],1500, 1930, 0, 255);
        MotorSpeed2 = map(channel[1],1500, 1930, 0, 255);
      }
     
       
      else if ( channel[3]<1400){
      if ( channel[1]<1500){
    
          digitalWrite(in1, HIGH);
        digitalWrite(in2, LOW);
     
        // Set Motor B backward
        digitalWrite(in3, LOW);
        digitalWrite(in4, HIGH);
       
       MotorSpeed1 = map(channel[1], 1400, 1020, 0, 255);
        MotorSpeed2 = map(channel[1], 1400,1020, 0,255);
      }
      }else {
        // This is Stopped
     
        MotorSpeed1 = 0;
        MotorSpeed2 = 0;
      }
      }
    
    
      if (MotorSpeed1 < 30)MotorSpeed1 = 0;    // Adjust to prevent "buzzing" at very low speed
      if (MotorSpeed2 < 30)MotorSpeed2 = 0;
     
      analogWrite(enA, MotorSpeed1); // Set the motor speeds
      analogWrite(enB, MotorSpeed2);
    
    
    // servo roer
    
    
    // servo roer
    if (channel[1]>1490){//sturen bij syncroon draaien
    
       servoVal= map(channel[1], 1485, 1915,90,0);  // sturen met beide motoren knop middenstand
    }else if (channel[1]<1450){
       servoVal= map(channel[1], 1480,1020, 90, 180);
    }else if (channel[1]>1400 && channel[1]<1550){
      servoVal = 90;
    }
     myservo1.write(servoVal);  
    
     delay(5);
    
    
    
    
    if(channel[4]>1600 ){         //dekverl 1 pulse kan. 4
    buttonState =digitalRead (22);
      if (buttonState ==HIGH){
      digitalWrite (22, LOW);
    
    }  else if(channel[4]>1600 ){
      digitalWrite (22, HIGH);
    }
    delay(300);
    }
    if(channel[4]<1200 && channel[4]>800 ){  //dekverl 2
    buttonState =digitalRead (33);
      if (buttonState ==HIGH){
      digitalWrite (33, LOW);
    
     
    }  else if(channel[4]<1200 && channel[4]>800){
      digitalWrite (33, HIGH);
    }
    
    delay(300);
    }
    Serial.println (channel[4]);
    if(channel[5]>1600 ){         //dekverl 1 pulse kan. 4
    buttonState =digitalRead (31);
      if (buttonState ==HIGH){
      digitalWrite (31, LOW);
     
    }  else if(channel[5]>1600 ){
      digitalWrite (31, HIGH);
    }
    
    delay(300);
    }
    if(channel[5]<1200 && channel[5]>800 ){  //dekverl 2
    buttonState =digitalRead (35);
      if (buttonState ==HIGH){
      digitalWrite (35, LOW);
    
    }  else if(channel[5]<1200 && channel[5]>800){
      digitalWrite (35, HIGH);
    }
      Serial.println (channel[5]);
    delay(300);
    }
    
    
     }
    
    
     
      void bluethooth(){
    
     static byte ndx = 0;
     char startmarker;
        char endMarker = '>';
        char rc;
     
        while (Serial.available() > 0 && newData == false) {
            rc = Serial.read();
    
            if (rc != endMarker) {
                receivedChars[ndx] = rc;
                ndx++;
                if (ndx >= numChars) {
                    ndx = numChars - 1;
                }
            } else {
                receivedChars[ndx] = '\0'; // terminate the string
                ndx = 0;
                newData = true;
            }
       
    
    
    
      int motorA;
      int motorB ;
    
      // Set all the motor control pins to outputs
     
     pinMode(enA, OUTPUT);
      pinMode(enB, OUTPUT);
      pinMode(in1, OUTPUT);
      pinMode(in2, OUTPUT);
      pinMode(in3, OUTPUT);
      pinMode(in4, OUTPUT);
     
      // Start with motors disabled and direction forward
       // Motor A
        digitalWrite(enA, LOW);
      digitalWrite(in1, HIGH);
      digitalWrite(in2, LOW);
       // Motor B
       digitalWrite(enB, LOW);
      digitalWrite(in3, HIGH);
      digitalWrite(in4, LOW);
    
     
      int angle=0;
        if (newData == true) {
         char input=receivedChars;
            Serial.print(receivedChars);
            Serial.print("-");
         
            int Blt = atol(receivedChars);
            Serial.println(Blt);
           // if startmarker=C
      switch (Blt) {  
        case 1:                // Dekverlichting 1
    digitalWrite(30, HIGH);
          break;
        case 2:
    digitalWrite(30,LOW);
    
          break;
        case 3:                //Dekverlichting2
      digitalWrite(31,HIGH);
          break;
        case 4: //
    digitalWrite(31,LOW);
          break;
          case 5:             //Stuurhutlicht
    digitalWrite(34, HIGH);
    
          break;
        case 6:
    digitalWrite(34,LOW);
    
          break;
        case 7:               //schijnwerpers
      digitalWrite(35,HIGH);
          break;
        case 8: //
    digitalWrite(35,LOW);
          break;
     case 9:              //navigatielichten
    digitalWrite(36, HIGH);
          break;
     case 10:
    digitalWrite(36,LOW);
          break;
     case 11:          //sleeplichten
      digitalWrite(22,HIGH);
          break;
      case 12:
        digitalWrite(22,LOW);
          break;
          case 13:        //radars
         digitalWrite(28, LOW);
        break;
      case 14:
         digitalWrite(28,HIGH);
         break;
     case 15:
        digitalWrite(29,LOW);
          break;
        case 16: //
       digitalWrite(29,HIGH);
          break;
    
     
     
     case 109:            //Stuur BB
       servoVal = 178;
       myservo1.write(servoVal);  
       break;
     case 110:
       servoVal = 90;
       myservo1.write(servoVal);
       break;
     case 111:               //Stuur SB
       servoVal = 0;
       myservo1.write(servoVal);
       break;
     case 112:
      servoVal = 90;
       myservo1.write(servoVal);  
       break;
       
     case 100:    ///motor A vooruit
         motorA=2;
         break;
     case 102:    ///motor A stop
         motorA = 0;
        break;
      case 113:    ///motor A stopknop
         motorA = 0;
        break;
     case 105: // // set motorA achteruit
        motorA= 1;  
       break;
     case 106: //// zet motorA stop
        motorA = 0;
        break;
     case 107: //: // // set motorB achteruit
        motorB = 1;    
        break;
     case 108: //// zet motorB stop
        motorB = 0;
        break;
      case 114: //// zet motorB stopknop
        motorB = 0;
        break;
     case 103: //// set motorB voouit
        motorB =2;  
        break;
    case 104: //// zet motorB stop
        motorB = 0;
      break;
      }
      if (motorA == 1 &&  Blt==406){
     // Set Motor A backward
    
      digitalWrite(in1, LOW);
        digitalWrite(in2, HIGH);
           MotorSpeed1 = 40; ;
       
             Serial.print("A achteruit");
     }else if (motorA == 2 && Blt == 404){
        // Set Motor A forward
        Serial.print(" A vooruit");
     
        digitalWrite(in1, HIGH);
       digitalWrite(in2, LOW);
       MotorSpeed1 = 40;
    
     }else if (motorA == 0){
      Serial.print(" A stop");
        MotorSpeed1 = 0;
     
     }
    
     
     if (motorB == 1 &&Blt ==408){        
    // Set Motor B backward
       
             Serial.print("B achteruit");
        digitalWrite(enB, LOW);
        digitalWrite(in3, LOW);
        digitalWrite(in4, HIGH);
     
        MotorSpeed2 = 40;
       
     }else  if (motorB == 2 &&Blt==410){  
           // Set Motor B forward
    
            Serial.print(" B vooruit");
    
        digitalWrite(in3, HIGH);
        digitalWrite(in4, LOW);
     
        MotorSpeed2 =40;
      }else if(motorB == 0){
         Serial.print(" b stop");
    
        MotorSpeed2 = 0;
     }
    
     if (Blt > 1000&& Blt < 1255) {
      if ( motorA== 1 || motorA == 2){
    
      MotorSpeed1= map (Blt,1000,1255,30,255);
     }
     
     }
     if ( Blt>2000 && Blt< 2255 ){
     if ( motorB == 1 || motorB== 2){
      MotorSpeed2 = map (Blt,2000,2255,30,255);  
     }
     }
    
     if ( Blt> 3000&& Blt< 3255 ){
     if ( motorB == 1 && motorA== 1|| motorB== 2 && motorA==2 || motorA==1 && motorB == 2 || motorA==2 && motorB ==1){
        MotorSpeed1 = map (Blt,3000,3255,30,255);  
      MotorSpeed2 = map (Blt,3000,3255,30,255);  
     }
     }
    
    
     
     Serial.print("-A=");
     Serial.print(motorA);
       Serial.print("-B=");
         Serial.print(motorB);
       Serial.print("-ms1_");  
     Serial.print (MotorSpeed1);
        Serial.print("-ms2_");
          Serial.println (MotorSpeed2);
     
      analogWrite(enA, MotorSpeed1); // Set the motor speeds
      analogWrite(enB, MotorSpeed2);
    
    
    
       
        }
     
      newData = false;  
      }
    
      }
    
    
    
     
      
     
    Laatst bewerkt: 7 mei 2020
  2. Boris100

    Boris100

    Lid geworden:
    17 mei 2012
    Berichten:
    722
    Locatie:
    Nederland

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