Pretty big day for me today. Here’s a video:
I’m pretty proud of this one, the only problem of this is that the l298N get’s too hot, you can see in the pictures that I’ve installed a makeshift heatsink but it still get’s really hot:
I also installed the 5v@3a regulator I mentioned in the last post, here are some pictures:
Here’s the vehicle code:
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//Serial Handshake declaration #include // we'll need this for subString #define MAX_STRING_LEN 20 // like 3 lines above, change as needed. const char EOPmarker = '.'; //This is the end of packet marker char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming. //SoftwareSerial declaration #include SoftwareSerial xbee_serial(8, 9); //Shift Register Pins declaration int SER_Pin = 10; //pin 14 on the 75HC595 int RCLK_Pin = 11; //pin 12 on the 75HC595 int SRCLK_Pin = 12; //pin 11 on the 75HC595 #define number_of_74hc595s 1 //How many of the shift registers - change this #define numOfRegisterPins number_of_74hc595s * 8 //do not touch boolean registers[numOfRegisterPins]; //Servo declarations #include Servo left_servo; Servo rght_servo; //Misc Pin declaration //inputs int pot = 1; int debug_switch1 = 4; //outputs int fade_LED = 13; int x_LED = 5; int y_LED = 6; //int debug_switch1_LED = 12; //Misc Integer declarations int brightness = 0; // how bright the LED is int fadeAmount = 20; // how many points to fade the LED by int x_upperTrigger = 600; int x_lowerTrigger = 400; int y_upperTrigger = 600; int y_lowerTrigger = 400; void setup(){ Serial.begin(9600); xbee_serial.begin(9600); pinMode(SER_Pin, OUTPUT); pinMode(RCLK_Pin, OUTPUT); pinMode(SRCLK_Pin, OUTPUT); pinMode(0, INPUT); clearRegisters(); writeRegisters(); pinMode(pot, INPUT); pinMode(debug_switch1, INPUT); pinMode(x_LED, OUTPUT); pinMode(y_LED, OUTPUT); pinMode(fade_LED, OUTPUT); xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0. } void loop(){ if (xbee_serial.available() > 0) { static int bufpos = 0; char inchar = xbee_serial.read(); if (inchar != EOPmarker) { serialbuf[bufpos] = inchar; bufpos++; } else { serialbuf[bufpos] = 0; //restart the buff bufpos = 0; //restart the position of the buff handshake(); debug_handshake(); setRegisterPin(1, HIGH); writeRegisters(); } } } void handshake(){ //input, recived from controller // led1val,ledval2,fade_LEDvalue. //analogWrite(x_LED, map(atoi(subStr(serialbuf, "," , 1)),0,1023,0,255)); //analogWrite(y_LED, map(atoi(subStr(serialbuf, "," , 2)),0,1023,0,255)); analogWrite(fade_LED, atoi(subStr(serialbuf, "," , 3))); brightness = brightness + fadeAmount; // reverse the direction of the fading at the ends of the fade: if (brightness == 0 || brightness == 255) { fadeAmount = -fadeAmount ; } if (atoi(subStr(serialbuf, "," , 1)) > x_upperTrigger ){ analogWrite(x_LED, map(atoi(subStr(serialbuf, "," , 1)),512,1023,0,255)); setRegisterPin(2, HIGH); setRegisterPin(3, LOW); writeRegisters(); } if (atoi(subStr(serialbuf, "," , 1)) < x_lowerTrigger ){ analogWrite(x_LED, map(atoi(subStr(serialbuf, "," , 1)),512,0,0,255)); setRegisterPin(2, LOW); setRegisterPin(3, HIGH); writeRegisters(); } if (atoi(subStr(serialbuf, "," , 1)) > x_lowerTrigger && atoi(subStr(serialbuf, "," , 1)) < x_upperTrigger){ setRegisterPin(2, LOW); setRegisterPin(3, LOW); writeRegisters(); } if (atoi(subStr(serialbuf, "," , 2)) > y_upperTrigger ){ analogWrite(y_LED, map(atoi(subStr(serialbuf, "," , 2)),512,1023,0,255)); setRegisterPin(4, HIGH); setRegisterPin(5, LOW); writeRegisters(); } if (atoi(subStr(serialbuf, "," , 2)) < y_lowerTrigger ){ analogWrite(y_LED, map(atoi(subStr(serialbuf, "," , 2)),512,0,0,255)); setRegisterPin(4, LOW); setRegisterPin(5, HIGH); writeRegisters(); } if (atoi(subStr(serialbuf, "," , 2)) > y_lowerTrigger && atoi(subStr(serialbuf, "," , 2)) < y_upperTrigger){ setRegisterPin(4, LOW); setRegisterPin(5, LOW); writeRegisters(); } //output, sent to controller //ledpot1,fade_LEDval. xbee_serial.print(analogRead(pot)); xbee_serial.print(","); xbee_serial.print(brightness); //This second byte is for the purpose of the program, it is not being used. xbee_serial.print("."); //EOP marker delay(10); } void debug_handshake(){ //input, recived from controller Serial.print("VEHICLE DEBUG: "); Serial.print("INPUTS|"); Serial.print(" x_LED: "); Serial.print(map(atoi(subStr(serialbuf, "," , 1)),0,1023,0,255)); Serial.print(" y_LED: "); Serial.print(map(atoi(subStr(serialbuf, "," , 2)),0,1023,0,255)); Serial.print(" in fade_LED: "); Serial.print(atoi(subStr(serialbuf, "," , 3))); //output, sent to controller Serial.print(" OUTPUTS|"); Serial.print(" Pot 1: "); Serial.print(analogRead(pot)); Serial.print(" out fade_LED: "); Serial.print(brightness); Serial.println(""); } char* subStr (char* input_string, char *separator, int segment_number) { char *act, *sub, *ptr; static char copy[MAX_STRING_LEN]; int i; strcpy(copy, input_string); for (i = 1, act = copy; i <= segment_number; i++, act = NULL) { sub = strtok_r(act, separator, &ptr); if (sub == NULL) break; } return sub; } void clearRegisters(){ for(int i = numOfRegisterPins - 1; i >= 0; i--){ registers[i] = LOW; } } void writeRegisters(){ digitalWrite(RCLK_Pin, LOW); for(int i = numOfRegisterPins - 1; i >= 0; i--){ digitalWrite(SRCLK_Pin, LOW); int val = registers[i]; digitalWrite(SER_Pin, val); digitalWrite(SRCLK_Pin, HIGH); } digitalWrite(RCLK_Pin, HIGH); } //set an individual pin HIGH or LOW void setRegisterPin(int index, int value){ registers[index] = value; } |
Here’s the controller code:
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//Serial Handshake declaration #include // we'll need this for subString #define MAX_STRING_LEN 20 // like 3 lines above, change as needed. const char EOPmarker = '.'; //This is the end of packet marker char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming. //SoftwareSerial declaration #include SoftwareSerial xbee_serial(2, 3); //Mux control pins declarations int s0 = 8; int s1 = 9; int s2 = 10; int s3 = 11; int SIG_pin = 0; //Shift Register Pins declaration int SER_Pin = 5; //pin 14 on the 75HC595 int RCLK_Pin = 6; //pin 12 on the 75HC595 int SRCLK_Pin = 7; //pin 11 on the 75HC595 #define number_of_74hc595s 1 //How many of the shift registers - change this #define numOfRegisterPins number_of_74hc595s * 8 //do not touch boolean registers[numOfRegisterPins]; //Servo declarations int left_servo_val; int rght_servo_val; //Misc Pin declaration //inputs int debug_switch1 = 4; //outputs int pot_LED = 5; int fade_LED = 6; int debug_switch1_LED = 2; //Misc Integer Declarations int joystick_x; int joystick_y; int brightness = 0; // how bright the LED is int fadeAmount = 20; // how many points to fade the LED by void setup(){ Serial.begin(9600); xbee_serial.begin(9600); //mux setup pinMode(s0, OUTPUT); pinMode(s1, OUTPUT); pinMode(s2, OUTPUT); pinMode(s3, OUTPUT); digitalWrite(s0, LOW); digitalWrite(s1, LOW); digitalWrite(s2, LOW); digitalWrite(s3, LOW); //shift register setup pinMode(SER_Pin, OUTPUT); pinMode(RCLK_Pin, OUTPUT); pinMode(SRCLK_Pin, OUTPUT); pinMode(0, INPUT); clearRegisters(); writeRegisters(); //Misc Pin Declarations pinMode(pot_LED, OUTPUT); xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0. } void loop(){ if (xbee_serial.available() > 0) { static int bufpos = 0; char inchar = xbee_serial.read(); if (inchar != EOPmarker) { serialbuf[bufpos] = inchar; bufpos++; } else { serialbuf[bufpos] = 0; //restart the buff bufpos = 0; //restart the position of the buff handshake(); } } } void handshake(){ //input, recived from vehicle //led1. analogWrite(pot_LED, map(atoi(subStr(serialbuf, "," , 1)),0,1023,0,255)); analogWrite(fade_LED, atoi(subStr(serialbuf, "," , 2))); brightness = brightness + fadeAmount; // reverse the direction of the fading at the ends of the fade: if (brightness == 0 || brightness == 255) { fadeAmount = -fadeAmount ; } //output, sent to vehicle //joystick1_ledval,joystick2_ledval,fade_LED. analogRemap(); xbee_serial.print(joystick_x); // Value that it sends over the serial xbee_serial.print(","); xbee_serial.print(joystick_y); //This second byte is for the purpose of the program, it is not being used. xbee_serial.print(","); xbee_serial.print(brightness); xbee_serial.print("."); //EOP marker delay(10); } void debug_handshake(){ } void analogRemap(){ joystick_x = readMux(15); joystick_y = readMux(14); } char* subStr (char* input_string, char *separator, int segment_number) { char *act, *sub, *ptr; static char copy[MAX_STRING_LEN]; int i; strcpy(copy, input_string); for (i = 1, act = copy; i <= segment_number; i++, act = NULL) { sub = strtok_r(act, separator, &ptr); if (sub == NULL) break; } return sub; } int readMux(int channel){ int controlPin[] = {s0, s1, s2, s3}; int muxChannel[16][4]={ {0,0,0,0}, //channel 0 {1,0,0,0}, //channel 1 {0,1,0,0}, //channel 2 {1,1,0,0}, //channel 3 {0,0,1,0}, //channel 4 {1,0,1,0}, //channel 5 {0,1,1,0}, //channel 6 {1,1,1,0}, //channel 7 {0,0,0,1}, //channel 8 {1,0,0,1}, //channel 9 {0,1,0,1}, //channel 10 {1,1,0,1}, //channel 11 {0,0,1,1}, //channel 12 {1,0,1,1}, //channel 13 {0,1,1,1}, //channel 14 {1,1,1,1} //channel 15 }; //loop through the 4 sig for(int i = 0; i < 4; i ++){ digitalWrite(controlPin[i], muxChannel[channel][i]); } //read the value at the SIG pin int val = analogRead(SIG_pin); //return the value return val; } void clearRegisters(){ for(int i = numOfRegisterPins - 1; i >= 0; i--){ registers[i] = LOW; } } void writeRegisters(){ digitalWrite(RCLK_Pin, LOW); for(int i = numOfRegisterPins - 1; i >= 0; i--){ digitalWrite(SRCLK_Pin, LOW); int val = registers[i]; digitalWrite(SER_Pin, val); digitalWrite(SRCLK_Pin, HIGH); } digitalWrite(RCLK_Pin, HIGH); } //set an individual pin HIGH or LOW void setRegisterPin(int index, int value){ registers[index] = value; } |
I’m verrry proud of the progress thus far. As for next steps, I need to lock down the vehicle circuit into a soldered perf-board, and I need to come up with a better power solution for the controller. Thanks for reading!