Does anyone have some sample code which shows how to get the Hagisonic Stargazer to talk to the Arduino? I’m unsure how the Stargazer Monitor program is used in this process. I have the Stargazer connected to my laptop with a 9-pin connection on each end. Then I have the Arduino connected to my laptop with a USB cable. How do I get the data that’s coming in from the Stargazer Monitor program to get to the Arduino? Here is the code I have now, which controls the motors on my robot…I just need to know how to alter this code to include the Stargazer data:
[code]/****************************************************************
- Arduino MD25 example code *
- MD25 running in serial mode *
-
- by James Henderson 2012 *
*****************************************************************/
#include
// Values of 0 being sent using serial.write() have to be cast as a byte to stop them being misinterpereted as NULL
// This is a bug with arduino 1
#define CMD (byte)0x00 // MD25 command byte of 0
#define WRITESP1 0x31 // Byte writes speed to motor 1
#define TURN 0x32 // Byte writes speed to motor 2 <<<------------------------- This was added.
#define WRITEACCEL 0x33 // Byte writes a value of acceleration
#define RESETREG 0x35 // Byte resets encoders
#define SETMODE 0x34 // Byte sets mode
#define READIVS 0x2C // Byte reads motor currents and battery voltage
#define READENCS 0x25 // Byte reads both encoders
#define GET_VER 0x29
#define LCD_RX 0x02 // RX and TX pins used for LCD0303 serial port
#define LCD_TX 0x03
#define LCD03_HIDE_CUR 0x04
#define LCD03_CLEAR 0x0C
#define LCD03_SET_CUR 0x02
SoftwareSerial lcd03 = SoftwareSerial(LCD_RX, LCD_TX); // Define the serial port for the LCD03
long encValue = 0;
byte softwareRev = 0;
void setup(){
Serial.begin(38400);
lcd03.begin(9600);
Serial.write(CMD); // Set MD25 accelleration value
Serial.write(WRITEACCEL);
Serial.write(10);
delayMicroseconds(10); // Wait for this to be processed
Serial.write(CMD); // Reset the encoder registers to 0
Serial.write(RESETREG);
Serial.write(CMD); //<<< ------------------------------------------- The mode was set to 2.
Serial.write(SETMODE);
Serial.write(2);
Serial.write(CMD); // Get software version of MD25
Serial.write(GET_VER);
while(Serial.available()< 1){} // Wait for byte to become available
softwareRev = Serial.read();
lcd03.write(LCD03_CLEAR); // Clear the LCD03 screen
lcd03.write(LCD03_HIDE_CUR); // Hide the LCD03 cursor
}
void loop(){
while(encValue < 3000){ // While encoder 1 value less than 3000 move forward
Serial.write(CMD); // Set motors to drive forward at full speed
Serial.write(WRITESP1);
Serial.write(200);
Serial.write(TURN); //<<<----------------------------------------------------------------This was added.
Serial.write(50); //<<< ----------------------------------------------------------------This was added.
encValue = readEncoder();
readVolts();
}
delay(100);
while(encValue > 100){
Serial.write(CMD); // Drive motors reverse at full speed
Serial.write(WRITESP1);
Serial.write(100);
encValue = readEncoder();
readVolts();
}
delay(100);
}
long readEncoder(){ // Function to read and display the value of both encoders, returns value of first encoder
long result1 = 0;
long result2 = 0;
Serial.write(CMD);
Serial.write(READENCS);
while(Serial.available()< {} // Wait for 8 bytes, first 4 encoder 1 values second 4 encoder 2 values
result1 = Serial.read(); // First byte for encoder 1, HH.
result1 <<= 8;
result1 += Serial.read(); // Second byte for encoder 1, HL
result1 <<= 8;
result1 += Serial.read(); // Third byte for encoder 1, LH
result1 <<= 8;
result1 += Serial.read(); // Fourth byte for encoder 1, LL
result2 = Serial.read();
result2 <<= 8;
result2 += Serial.read();
result2 <<= 8;
result2 += Serial.read();
result2 <<= 8;
result2 += Serial.read();
lcd03.write(LCD03_SET_CUR); // Set the LCD03 cursor position
lcd03.write(21);
lcd03.print(“Encoder 1:”); // Displays data to the LCD03 screen
lcd03.print(result1,DEC);
lcd03.print(" "); // Print a blank space to clear any unwanted characters that are leftover on the LCD03 display
delay(5); // Delay for LCD03 to process data
lcd03.write(LCD03_SET_CUR);
lcd03.write(41);
lcd03.print(“Encoder 2:”);
lcd03.print(result2,DEC);
lcd03.print(" ");
return result1;
}
void readVolts(){ // Function reads current for both motors and battery voltage
byte batteryVolts, mot1_current, mot2_current = 0;
Serial.write(CMD);
Serial.write(READIVS); // Send byte to readbattery voltage and motor currents
while(Serial.available()< 3){} // Wait for the 3 bytes to become available then get them
batteryVolts = Serial.read();
mot1_current = Serial.read();
mot2_current = Serial.read();
lcd03.write(LCD03_SET_CUR);
lcd03.write(61);
lcd03.print(“Mot1 I:”);
lcd03.print(mot1_current,DEC);
lcd03.print(" Mot2 I:");
lcd03.print(mot2_current,DEC);
lcd03.print(" ");
delay(5);
lcd03.write(LCD03_SET_CUR);
lcd03.write(1);
lcd03.print(“Rev:”);
lcd03.print(softwareRev, DEC);
lcd03.print(" “);
lcd03.print(“Volts:”);
lcd03.print(batteryVolts/10,DEC); // Seperate whole number and descimal place of battery voltage and display
lcd03.print(”.");
lcd03.print(batteryVolts%10,DEC);
lcd03.print(" ");
}[/code]
