Thanks, very hupfull. Was able to integrate everything however now I’m getting an error that is shutting down the motor. I circumnavigated that and disabled the auto shutdown feature of the polulu to be able to run the motors for testing. The are running however are incredibly unresponsive. They are not responding according to joystick position however seem to max out at the values (i.e. if i hit the joystick forward the motor will stay full speed until i pull all the way back on the joystick). Only for Motor 0 (M0), Motor 1 (M1) working only for a few seconds, now however it is only moving at incredibly slow speeds even though the joystick is out putting the appropriate values, i pulled those motors and tested them to ensure they weren’t borken and they worked fine when connected directly to the battery so it must be somewhere in the programming. I’ve included my sketch below. I’ve exhausted my troubleshooting abilities. So please help if you can.
I’m only programming the joysticks for now, so the important stuff is at the bottom. The error must be somewhere in the setup but i do not know where and I don’t need to mapping for guitar hero controller and such. Is it okay to remove it to increase the programs speed?
Also the polulu is running in 7-bit (-127 to 127) for motors full speed reverse and forward. So the leftPos= and rightPos= convert the 0-255 to appropriate values.
[code]
/*
Optionally writes, then reads, the configuration parameters on the qik 2s9v1.
Please note that the memory used to store these parameters is only rated
for approximately 100,000 erase/write cycles, so you should avoid
repeatedly setting configuration parameters. It is intended that these
parameters will initially be configured as desired and then only changed
occasionally (they are saved in non-volatile memory, which means that
once set, these parameters will retain their values even if the unit is
powered off). For example, you can uncomment the appropriate calls to
setConfigShowResult() below and run this program once to initialize the
parameters. Then, you can load your final program on your Arduino, which
should assume that the parameters have already been set correctly.
Required connections between Arduino and qik 2s9v1:
Arduino qik 2s9v1
5V - VCC
GND - GND
Digital Pin 2 - TX
Digital Pin 3 - RX
Digital Pin 4 - RESET
*/
#include <SoftwareSerial.h>
#include <PololuQik.h>
#include <PS2X_lib.h> //for v1.6
PS2X ps2x; // create PS2 Controller Class
//right now, the library does NOT support hot pluggable controllers, meaning
//you must always either restart your Arduino after you conect the controller,
//or call config_gamepad(pins) again after connecting the controller.
int error = 0;
byte type = 0;
byte vibrate = 0;
char* param_names] = {
“Device ID”,
“PWM Parameter”,
“Shut Down Motors on Error”,
“Serial Timeout”
};
PololuQik2s9v1 qik(2, 3, 4);
void setConfigShowResult(uint8_t parameter, uint8_t value)
{
Serial.print("Setting “);
Serial.print(param_names[parameter]);
Serial.print(” to ");
Serial.print(value);
byte result = qik.setConfigurationParameter(parameter, value);
switch (result)
{
case 0:
Serial.println(": Command OK");
break;
case 1:
Serial.println(": Bad parameter");
break;
case 2:
Serial.println(": Bad value");
break;
}
}
void setup()
{
Serial.begin(115200);
//Serial.begin(57600);
Serial.println(“qik 2s9v1 dual serial motor controller”);
Serial.println();
qik.init();
// Write configuration parameters
// Uncomment and edit the line for any parameter you want to change.
//setConfigShowResult(QIK_CONFIG_DEVICE_ID, 9);
//setConfigShowResult(QIK_CONFIG_PWM_PARAMETER, 0);
setConfigShowResult(QIK_CONFIG_SHUT_DOWN_MOTORS_ON_ERROR, 0);
//setConfigShowResult(QIK_CONFIG_SERIAL_TIMEOUT, 0);
Serial.println();
// Read configuration parameters
for (int i = QIK_CONFIG_DEVICE_ID; i <= QIK_CONFIG_SERIAL_TIMEOUT; i++)
{
Serial.print(param_names*);
Serial.print(": ");
Serial.println(qik.getConfigurationParameter(i));
}
//CHANGES for v1.6 HERE!!! *PAY ATTENTION
error = ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings: GamePad(clock, command,
attention, data, Pressures?, Rumble?) check for error
if(error == 0){
Serial.println(“Found Controller, configured successful”);
Serial.println(“Try out all the buttons, X will vibrate the controller, faster as you press harder;”);
Serial.println(“holding L1 or R1 will print out the analog stick values.”);
Serial.println(“Go to http://www.billporter.info for updates and to report bugs.”);
}
else if(error == 1)
Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit http://www.billporter.info
for troubleshooting tips");
else if(error == 2)
Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit
http://www.billporter.info for troubleshooting tips");
else if(error == 3)
Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
//Serial.print(ps2x.Analog(1), HEX);
type = ps2x.readType();
switch(type) {
case 0:
Serial.println(“Unknown Controller type”);
break;
case 1:
Serial.println(“DualShock Controller Found”);
break;
case 2:
Serial.println(“GuitarHero Controller Found”);
break;
}
}
void loop(){
/* You must Read Gamepad to get new values
Read GamePad and set vibration values
ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)
if you don’t enable the rumble, use ps2x.read_gamepad(); with no values
you should call this at least once a second
*/
if(error == 1) //skip loop if no controller found
return;
if(type == 2){ //Guitar Hero Controller
ps2x.read_gamepad(); //read controller
if(ps2x.ButtonPressed(GREEN_FRET))
Serial.println("Green Fret Pressed");
if(ps2x.ButtonPressed(RED_FRET))
Serial.println("Red Fret Pressed");
if(ps2x.ButtonPressed(YELLOW_FRET))
Serial.println("Yellow Fret Pressed");
if(ps2x.ButtonPressed(BLUE_FRET))
Serial.println("Blue Fret Pressed");
if(ps2x.ButtonPressed(ORANGE_FRET))
Serial.println("Orange Fret Pressed");
if(ps2x.ButtonPressed(STAR_POWER))
Serial.println("Star Power Command");
if(ps2x.Button(UP_STRUM)) //will be TRUE as long as button is pressed
Serial.println("Up Strum");
if(ps2x.Button(DOWN_STRUM))
Serial.println("DOWN Strum");
if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed
Serial.println("Start is being held");
if(ps2x.Button(PSB_SELECT))
Serial.println("Select is being held");
if(ps2x.Button(ORANGE_FRET)) // print stick value IF TRUE
{
Serial.print("Wammy Bar Position:");
Serial.println(ps2x.Analog(WHAMMY_BAR), DEC);
}
}
else { //DualShock Controller
ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed
if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed
Serial.println("Start is being held");
if(ps2x.Button(PSB_SELECT))
Serial.println("Select is being held");
if(ps2x.Button(PSB_PAD_UP)) { //will be TRUE as long as button is pressed
Serial.print("Up held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
}
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
}
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
}
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
}
vibrate = ps2x.Analog(PSAB_BLUE); //this will set the large motor vibrate speed based on
//how hard you press the blue (X) button
if (ps2x.NewButtonState()) //will be TRUE if any button changes state (on to off, or off to on)
{
if(ps2x.Button(PSB_L3))
Serial.println("L3 pressed");
if(ps2x.Button(PSB_R3))
Serial.println("R3 pressed");
if(ps2x.Button(PSB_L2))
Serial.println("L2 pressed");
if(ps2x.Button(PSB_R2))
Serial.println("R2 pressed");
if(ps2x.Button(PSB_GREEN))
Serial.println("Triangle pressed");
}
if(ps2x.ButtonPressed(PSB_RED)) //will be TRUE if button was JUST pressed
Serial.println("Circle just pressed");
if(ps2x.ButtonReleased(PSB_PINK)) //will be TRUE if button was JUST released
Serial.println("Square just released");
if(ps2x.NewButtonState(PSB_BLUE)) //will be TRUE if button was JUST pressed OR released
Serial.println("X just changed");
if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) // print stick values if either is TRUE
{
Serial.print("Stick Values:");
Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX
Serial.print("LY,");
Serial.print(ps2x.Analog(PSS_LX), DEC);
Serial.print("LX,");
Serial.print(ps2x.Analog(PSS_RY), DEC);
Serial.print("RY,");
Serial.print(ps2x.Analog(PSS_RX), DEC);
Serial.println("RX,");
int leftPos = -ps2x.Analog(PSS_LY)+126;
int rightPos = -ps2x.Analog(PSS_RY)+126;
Serial.println(leftPos);
Serial.println(rightPos);
if(abs(leftPos) > 6)
{
qik.setM0Speed(leftPos);
}
else
qik.setM0Speed(0);
if(abs(rightPos) > 6)
{
qik.setM1Speed(rightPos);
}
else
qik.setM0Speed(0);
}
}
delay(50);
}[/code]*
