Dagu 5rover arduino code

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1

Hello i Got the dagu 5 rover and the 4wd motor controller, attached it to an arduino,  i wrote code to use it but it doesn't seem to be functional

 

volatile int rotaryCount = 0;

 

#define INTERRUPT0 0  // that is, pin 2

#define INTERRUPT1 1//pin 3

 

#define DIRECTIONA 4

#define MOTORA 5

 

#define DIRECTIONB 7

#define MOTORB 6

 

int QEM [16] = {0,-1,1,2,1,0,2,-1,-1,2,0,1,2,1,-1,0};               // Quadrature Encoder Matrix

 

 

const int Input0A = 8; 

const int Input0B = 9;

volatile long Position0 = 0;

volatile unsigned char Old0, New0;

 

const int Input1A = 10; 

const int Input1B = 11;

volatile long Position1 =0;

volatile unsigned char Old1, New1;

 

void ISR0()

{

Old0 = New0;

New0 = digitalRead (Input0A) * 2 + digitalRead (Input0B);           // Convert binary input to decimal value

Position0 += QEM [Old0 * 4 + New0];

}

void ISR1(){

Old1 = New1;

New1 = digitalRead (Input1A) * 2 + digitalRead (Input1B);           // Convert binary input to decimal value

Position1 += QEM [Old1 * 4 + New1];

}

 

void setup ()

{

  Serial.begin(9600);

pinMode(Input0A, INPUT);

pinMode(Input0B, INPUT);

pinMode(Input1A, INPUT);

pinMode(Input1B, INPUT);

attachInterrupt (INTERRUPT0, ISR0, CHANGE);   // interrupt 0 is pin 2, interrupt 1 is pin 3

attachInterrupt (INTERRUPT1, ISR1, CHANGE); 

pinMode (MOTORA, OUTPUT);

pinMode (DIRECTIONA, OUTPUT);

pinMode (MOTORB, OUTPUT);

pinMode (DIRECTIONB, OUTPUT);

Serial.println("setup DOne");

 

}  // end of setup

 

int robotDirection;

unsigned long start;

int time_to_go;

int message;

void loop ()

{

        int pos0=Position0;

int pos1=Position1;

        //Serial.println("loop");

if(Serial.available() >0)

{

message =Serial.read();

//Serial.println("new");

if(message=='f'){

robotDirection=0;

}

else if (message =='b'){

robotDirection=2;

}

else if (message =='l'){

robotDirection=1;

}

else if (message== 'r'){

robotDirection=3;

}

 

analogWrite (MOTORA, 200);

analogWrite (MOTORB, 200);

                // Serial.println("move");

switch (robotDirection)

{

case 0:

                               // Serial.println("forward");

//forward

digitalWrite (DIRECTIONA, 1); 

digitalWrite (DIRECTIONB, 1); 

break;

 

case 1: 

// turn left

digitalWrite (DIRECTIONA, 1); 

digitalWrite (DIRECTIONB, 0); 

break;

 

case 2:

//backward

digitalWrite (DIRECTIONA, 0); 

digitalWrite (DIRECTIONB, 0); 

break;

 

case 3: 

//move right

digitalWrite (DIRECTIONA, 0); 

digitalWrite (DIRECTIONB, 1); 

break;

 

} // end of switch

 

 while(true){

          /*if(Serial.available() >0){

            message =Serial.read();

            if(message=='s'){

              break;

            }

          }*/

 

          if(Position0>pos0+5000 || Position1>pos1+5000 || Position0>pos0-5000 || Position1>pos1-5000 )

            break;

 }

       // Serial.println("moveDone");

        }

 

analogWrite (MOTORA, 0);

analogWrite (MOTORB, 0);

 

}  // end of loop

 

2

What was the last thing you

What was the last thing you added to your code before it stopped working?

3

the wheels only moves in

the wheels only moves in case of forward and left, and only one motor moves, first electronics project ever, but the wiring is correct …

4

My suggestion would be to add some Serial.println calls to your

code. I would specifically look at your pos0, pos1 vars as well as maybe adding print calls to your movement calls.

I am surprised you didn’t use a switch/case on your raw serial data.

#define INTERRUPT0 0  // that is, pin 2

#define INTERRUPT1 1//pin 3

#define DIRECTIONA 4

#define MOTORA 5

#define DIRECTIONB 7

#define MOTORB 6

int QEM [16] = {0,-1,1,2,1,0,2,-1,-1,2,0,1,2,1,-1,0};               // Quadrature Encoder Matrix


const int Input0A = 8;

const int Input0B = 9;

volatile long Position0 = 0;

volatile unsigned char Old0, New0;


const int Input1A = 10;

const int Input1B = 11;

volatile long Position1 =0;

volatile unsigned char Old1, New1;


int message;


void ISR0() {

  Old0 = New0;

  New0 = digitalRead (Input0A) * 2 + digitalRead (Input0B);           // Convert binary input to decimal value

  Position0 += QEM [Old0 * 4 + New0];

}


void ISR1() {

  Old1 = New1;

  New1 = digitalRead (Input1A) * 2 + digitalRead (Input1B);           // Convert binary input to decimal value

  Position1 += QEM [Old1 * 4 + New1];

}


void setup () {

  Serial.begin(9600);

  pinMode(Input0A, INPUT);

  pinMode(Input0B, INPUT);

  pinMode(Input1A, INPUT);

  pinMode(Input1B, INPUT);

  attachInterrupt (INTERRUPT0, ISR0, CHANGE);   // interrupt 0 is pin 2, interrupt 1 is pin 3

  attachInterrupt (INTERRUPT1, ISR1, CHANGE);

  pinMode (MOTORA, OUTPUT);

  pinMode (DIRECTIONA, OUTPUT);

  pinMode (MOTORB, OUTPUT);

  pinMode (DIRECTIONB, OUTPUT);

  Serial.println(“setup DOne”);

}  // end of setup


void loop () {

  int pos0=Position0;

  int pos1=Position1;

  if(Serial.available() >0) {

    message =Serial.read();

  switch(message) {

    case ‘b’:

      digitalWrite(DIRECTIONA, 0);

      digitalWrite(DIRECTIONB, 0);

      break;

    case ‘f’:

      digitalWrite(DIRECTIONA, 1);

      digitalWrite(DIRECTIONB, 1);

      break;

    case ‘l’:

      digitalWrite(DIRECTIONA, 1);

      digitalWrite(DIRECTIONB, 0);

      break;

    case ‘r’:

      digitalWrite(DIRECTIONA, 0);

      digitalWrite(DIRECTIONB, 1);

    analogWrite (MOTORA, 200);

    analogWrite (MOTORB, 200);

  }

    while(true) {

      if ((Position0>pos0+5000) || (Position1>pos1+5000) ||

          (Position0>pos0-5000) || (Position1>pos1-5000)) {

        break;

      }

    }

  }

  analogWrite (MOTORA, 0);

  analogWrite (MOTORB, 0);

}  // end of loop