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Micro_RC_Receiver.ino
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Micro_RC_Receiver.ino
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// 4 Channel "Micro RC" Receiver with 4 standard RC Servo Outputs
// ATMEL Mega 328P TQFP 32 soldered directly to the board, 8MHz external resonator,
// 2.4GHz NRF24L01 SMD radio module, TB6612FNG dual dc motor driver
// An MPU-6050 gyro / accelerometer can be used for MRSC stability control or self balancing robots
// SBUS output on pin TXO
// See: https://www.youtube.com/playlist?list=PLGO5EJJClJBCjIvu8frS7LrEU3H2Yz_so
// * * * * N O T E ! The vehicle specific configurations are stored in "vehicleConfig.h" * * * *
const float codeVersion = 3.9; // Software revision (see https://github.com/TheDIYGuy999/Micro_RC_Receiver/blob/master/README.md)
//
// =======================================================================================================
// BUILD OPTIONS (comment out unneeded options)
// =======================================================================================================
//
//#define DEBUG // if not commented out, Serial.print() is active! For debugging only!!
//
// =======================================================================================================
// INCLUDE LIRBARIES
// =======================================================================================================
//
// Libraries
#include <Wire.h> // I2C library (for the MPU-6050 gyro /accelerometer)
#include <RF24.h> // Installed via Sketch > Include Library > Manage Libraries > Type "RF24" (use V1.3.3!)
#include <printf.h>
#include <Servo.h>
#include <statusLED.h> // https://github.com/TheDIYGuy999/statusLED
#include <TB6612FNG.h> // https://github.com/TheDIYGuy999/TB6612FNG ***NOTE*** V1.2 required!! <<<-----
#include <PWMFrequency.h> // https://github.com/TheDIYGuy999/PWMFrequency
#include <PID_v1.h> // https://github.com/br3ttb/Arduino-PID-Library/
#include "SBUS.h" // https://github.com/TheDIYGuy999/SBUS
// Tabs (header files in sketch directory)
#include "readVCC.h"
#include "vehicleConfig.h"
#include "steeringCurves.h"
#include "tone.h"
#include "balancing.h"
#include "helper.h"
#include "pgmRead64.h" // Read 64 bit blocks from PROGMEM
//
// =======================================================================================================
// PIN ASSIGNMENTS & GLOBAL VARIABLES
// =======================================================================================================
//
// Radio channels (126 channels are supported)
byte chPointer = 0; // Channel 1 (the first entry of the array) is active by default
const byte NRFchannel[] {
1, 2
};
// the ID number of the used "radio pipe" must match with the selected ID on the transmitter!
// 20 ID's are available @ the moment
const uint64_t pipeIn[] PROGMEM = {
0xE9E8F0F0B1LL, 0xE9E8F0F0B2LL, 0xE9E8F0F0B3LL, 0xE9E8F0F0B4LL, 0xE9E8F0F0B5LL,
0xE9E8F0F0B6LL, 0xE9E8F0F0B7LL, 0xE9E8F0F0B8LL, 0xE9E8F0F0B9LL, 0xE9E8F0F0B0LL,
0xE9E8F0F0C1LL, 0xE9E8F0F0C2LL, 0xE9E8F0F0C3LL, 0xE9E8F0F0C4LL, 0xE9E8F0F0C5LL,
0xE9E8F0F0C6LL, 0xE9E8F0F0C7LL, 0xE9E8F0F0C8LL, 0xE9E8F0F0C9LL, 0xE9E8F0F0C0LL
};
const int maxVehicleNumber = (sizeof(pipeIn) / (sizeof(uint64_t)));
// Hardware configuration: Set up nRF24L01 radio on hardware SPI bus & pins 8 (CE) & 7 (CSN)
RF24 radio(8, 7);
// The size of this struct should not exceed 32 bytes
struct RcData {
byte axis1; // Aileron (Steering for car)
byte axis2; // Elevator
byte axis3; // Throttle
byte axis4; // Rudder
boolean mode1 = false; // Mode1 (toggle speed limitation)
boolean mode2 = false; // Mode2 (toggle acc. / dec. limitation)
boolean momentary1 = false; // Momentary push button
byte pot1; // Potentiometer
};
RcData data;
// This struct defines data, which are embedded inside the ACK payload
struct ackPayload {
float vcc; // vehicle vcc voltage
float batteryVoltage; // vehicle battery voltage
boolean batteryOk = true; // the vehicle battery voltage is OK!
byte channel = 1; // the channel number
};
ackPayload payload;
// Battery voltage detection pin
#define BATTERY_DETECT_PIN A7 // The 20k (to battery) & 10k (to GND) battery detection voltage divider is connected to pin A7
// Create Servo objects
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
// Special functions
#define DIGITAL_OUT_1 1 // 1 = TXO Pin
// Headlight off delay
unsigned long millisLightOff = 0;
// Indicators
boolean left;
boolean right;
boolean hazard;
// Motors
boolean isDriving; // is the vehicle driving?
// Motor objects
TB6612FNG Motor1;
TB6612FNG Motor2;
// Status LED objects
statusLED tailLight(false); // "false" = output not inverted
statusLED headLight(false);
statusLED indicatorL(false);
statusLED indicatorR(false);
statusLED beaconLights(false);
// Engine sound
boolean engineOn = false;
// Serial commands to light and sound controller
boolean serialCommands;
// SBUS object
#ifdef SBUS_SERIAL
#ifndef DEBUG
SBUS x8r(Serial);
#endif
#endif
// ESC variables for tracked and half tracked mode
int lEsc;
int rEsc;
//
// =======================================================================================================
// RADIO SETUP
// =======================================================================================================
//
void setupRadio() {
radio.begin();
radio.setChannel(NRFchannel[chPointer]);
// Set Power Amplifier (PA) level to one of four levels: RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH and RF24_PA_MAX
radio.setPALevel(RF24_PA_HIGH); // HIGH
radio.setDataRate(RF24_250KBPS);
//radio.setAutoAck(pipeIn[vehicleNumber - 1], true); // Ensure autoACK is enabled
radio.setAutoAck(pgm_read_64(&pipeIn, vehicleNumber - 1), true); // Ensure autoACK is enabled
radio.enableAckPayload();
radio.enableDynamicPayloads();
radio.setRetries(5, 5); // 5x250us delay (blocking!!), max. 5 retries
//radio.setCRCLength(RF24_CRC_8); // Use 8-bit CRC for performance
#ifdef DEBUG
radio.printDetails();
delay(3000);
#endif
//radio.openReadingPipe(1, pipeIn[vehicleNumber - 1]);
radio.openReadingPipe(1, pgm_read_64(&pipeIn, vehicleNumber - 1));
radio.startListening();
}
//
// =======================================================================================================
// MOTOR DRIVER SETUP
// =======================================================================================================
//
void setupMotors() {
// TB6612FNG H-Bridge pins
// ---- IMPORTANT ---- The pin assignment depends on your board revision and is switched here to match!
const byte motor1_in1 = 4;
const byte motor1_in2 = 9;
const byte motor1_pwm = 6;
byte motor2_in1;
const byte motor2_in2 = 2;
byte motor2_pwm;
// Switchable pins:
if (boardVersion >= 1.3) { // Board version >= 1.3:
motor2_in1 = 5; // 5
motor2_pwm = 3; // 3
}
else { // Board Version < 1.3:
motor2_in1 = 3; // 3
motor2_pwm = 5; // 5
}
// SYNTAX: IN1, IN2, PWM, min. input value, max. input value, neutral position width
// invert rotation direction true or false
Motor1.begin(motor1_in1, motor1_in2, motor1_pwm, 0, 100, 4, false); // Drive motor
Motor2.begin(motor2_in1, motor2_in2, motor2_pwm, 0, 100, 4, false); // Steering motor (Drive in "HP" version)
// Motor PWM frequency prescalers (Requires the PWMFrequency.h library)
// Differential steering vehicles: locked to 984Hz, to make sure, that both motors use 984Hz.
if (vehicleType == 1 || vehicleType == 2 || vehicleType == 6) pwmPrescaler2 = 32;
// ----------- IMPORTANT!! --------------
// Motor 1 always runs @ 984Hz PWM frequency and can't be changed, because timers 0 an 1 are in use for other things!
// Motor 2 (pin 3) can be changed to the following PWM frequencies: 32 = 984Hz, 8 = 3936Hz, 1 = 31488Hz
setPWMPrescaler(3, pwmPrescaler2); // pin 3 is hardcoded, because we can't change all others anyway
}
//
// =======================================================================================================
// MAIN ARDUINO SETUP (1x during startup)
// =======================================================================================================
//
void setup() {
// All axes to neutral position
data.axis1 = 50;
data.axis2 = 50;
data.axis3 = 50;
data.axis4 = 50;
data.pot1 = 50; // Added in v3.32
data.mode1 = true;
data.mode2 = true;
data.momentary1 = false;
#ifdef DEBUG
Serial.begin(115200);
printf_begin();
serialCommands = false;
delay(3000);
#endif
#ifndef DEBUG
// If TXO pin or RXI pin is used for other things, disable Serial
if (TXO_momentary1 || TXO_toggle1 || headLights) {
Serial.end(); // make sure, serial is off!
UCSR0B = 0b00000000;
serialCommands = false;
}
else { // Otherwise use it for serial commands to the light and sound controller
#ifdef SBUS_SERIAL
x8r.begin(); // begin the SBUS communication
#else
Serial.begin(115200); // begin the standart serial communication
#endif
serialCommands = true;
}
#endif
R2D2_tell();
// LED setup
if (vehicleType == 4 || vehicleType == 5 ) indicators = false; // Indicators use the same pins as the MPU-6050, so they can't be used in vehicleType 4 or 5!
if (tailLights) tailLight.begin(A1); // A1 = Servo 2 Pin
if (headLights) headLight.begin(0); // 0 = RXI Pin
if (indicators) {
indicatorL.begin(A4); // A4 = SDA Pin
indicatorR.begin(A5); // A5 = SCL Pin
}
if (beacons) beaconLights.begin(A3); // A3 = Servo 4 Pin
// Radio setup
setupRadio();
// Servo pins
servo1.attach(A0);
if (!tailLights) servo2.attach(A1);
if (!engineSound && !toneOut) servo3.attach(A2);
if (!beacons) servo4.attach(A3);
// Special functions
if (TXO_momentary1 || TXO_toggle1) pinMode(DIGITAL_OUT_1, OUTPUT);
// Motor driver setup
setupMotors();
if (vehicleType == 4 || vehicleType == 5) { // Only for self balancing vehicles and cars with MRSC
// MPU 6050 accelerometer / gyro setup
setupMpu6050();
// PID controller setup
setupPid();
}
}
//
// =======================================================================================================
// LED
// =======================================================================================================
//
// Brake light subfunction for ESC vehicles
boolean escBrakeActive() {
static byte driveState;
boolean brake;
switch (driveState) { // 0 = neutral, 1 = forward, 2 = reverse, 3 = brake
case 0: // neutral
if (data.axis3 > 55) driveState = 1; // forward
if (data.axis3 < 45) driveState = 2; // reverse
brake = false;
break;
case 1: // forward
if (data.axis3 < 45) driveState = 3; // brake
brake = false;
break;
case 2: // reverse
if (data.axis3 > 55) driveState = 1; // forward
brake = false;
break;
case 3: // brake
if (data.axis3 > 45) driveState = 2; // go to reverse, if above neutral
brake = true;
break;
}
return brake;
}
void led() {
// Lights are switching off 10s after the vehicle did stop
if (millis() - millisLightOff >= 10000) {
headLight.off(); // Headlight off
tailLight.off(); // Taillight off
beaconLights.off(); // Beacons off
}
else {
if (!escBrakeLights && (!HP && Motor1.brakeActive() || HP && Motor2.brakeActive() )) { // if braking detected from TB6612FNG motor driver
tailLight.on(); // Brake light (full brightness)
}
else if (escBrakeLights && escBrakeActive() ) { // or braking detected from ESC
tailLight.on(); // Brake light (full brightness)
}
else {
tailLight.flash(10, 14, 0, 0); // Taillight: 10 on / 14 off = about 40% brightness (soft PWM)
}
beaconLights.flash(50, 650, 0, 0); // Simulate rotating beacon lights with short flashes
headLight.on(); // Headlight on
}
// Indicator lights ----
if (indicators) {
// Set and reset by lever
if (data.axis4 < 5) left = true;
if (data.axis4 > 55) left = false;
if (data.axis4 > 95) right = true;
if (data.axis4 < 45) right = false;
// Reset by steering
static int steeringOld;
if (data.axis1 > steeringOld + 10) {
left = false;
steeringOld = data.axis1;
}
if (data.axis1 < steeringOld - 10) {
right = false;
steeringOld = data.axis1;
}
// Lights
if (left) { // Left indicator
right = false;
indicatorL.flash(375, 375, 0, 0);
indicatorR.off();
}
if (right) { // Right indicator
left = false;
indicatorR.flash(375, 375, 0, 0);
indicatorL.off();
}
if (hazard) { // Hazard lights
if (left) {
left = false;
indicatorL.off();
}
if (right) {
right = false;
indicatorR.off();
}
indicatorL.flash(375, 375, 0, 0);
indicatorR.flash(375, 375, 0, 0);
}
if (!hazard && !left && !right) {
indicatorL.off();
indicatorR.off();
}
}
}
//
// =======================================================================================================
// READ RADIO DATA
// =======================================================================================================
//
void readRadio() {
static unsigned long lastRecvTime = 0;
byte pipeNo;
if (radio.available(&pipeNo)) {
radio.writeAckPayload(pipeNo, &payload, sizeof(struct ackPayload) ); // prepare the ACK payload
radio.read(&data, sizeof(struct RcData)); // read the radia data and send out the ACK payload
hazard = false;
lastRecvTime = millis();
#ifdef DEBUG
Serial.print(data.axis1);
Serial.print("\t");
Serial.print(data.axis2);
Serial.print("\t");
Serial.print(data.axis3);
Serial.print("\t");
Serial.print(data.axis4);
Serial.println("\t");
#endif
}
// Switch channel
if (millis() - lastRecvTime > 500) {
chPointer ++;
if (chPointer >= sizeof((*NRFchannel) / sizeof(byte))) chPointer = 0;
radio.setChannel(NRFchannel[chPointer]);
payload.channel = NRFchannel[chPointer];
}
if (millis() - lastRecvTime > 1000) { // set all analog values to their middle position, if no RC signal is received during 1s!
data.axis1 = 50; // Aileron (Steering for car)
data.axis2 = 50; // Elevator
data.axis3 = 50; // Throttle
data.axis4 = 50; // Rudder
hazard = true; // Enable hazard lights
payload.batteryOk = true; // Clear low battery alert (allows to re-enable the vehicle, if you switch off the transmitter)
#ifdef DEBUG
Serial.println("No Radio Available - Check Transmitter!");
#endif
}
if (millis() - lastRecvTime > 2000) {
setupRadio(); // re-initialize radio
lastRecvTime = millis();
}
}
//
// =======================================================================================================
// WRITE SERVO POSITIONS
// =======================================================================================================
//
void writeServos() {
// Servo 1 --------------------------------
// Aileron or Steering
if (vehicleType != 5) { // If not car with MSRC stabilty control
#ifndef STEERING_3_POINT_CAL
servo1.write(map(data.axis1, 100, 0, lim1L, lim1R) ); // 45 - 135°
#else
if (data.axis1 < 50) servo1.write(map(data.axis1, 50, 0, lim1C, lim1R) );
else if (data.axis1 > 50) servo1.write(map(data.axis1, 100, 50, lim1L, lim1C) );
else servo1.write (lim1C);
#endif
}
// Servo 2 --------------------------------
// Elevator or shifting gearbox actuator
#ifdef TWO_SPEED_GEARBOX // Shifting gearbox mode, controlled by "Mode 1" button
if (!tailLights ) {
if (data.axis3 < 45 || data.axis3 > 55) { // Don't change gear while WPL transmission is standing still!
if (data.mode1)servo2.write(lim2L);
else servo2.write(lim2R);
}
}
#else
#ifdef THREE_SPEED_GEARBOX // Shifting gearbox mode, controlled by 3 position switch
if (!tailLights) {
if (data.axis2 < 10)servo2.write(lim2R);
else if (data.axis2 > 90)servo2.write(lim2L);
else servo2.write(lim2C);
}
#else // Servo controlled by joystick CH2
if (vehicleType != 1 && vehicleType != 2 && vehicleType != 6) {
if (!tailLights) servo2.write(map(data.axis2, 100, 0, lim2L, lim2R) ); // 45 - 135°
}
else { // Tracked or half tracked or differential thrust mode
servo2.write(map(lEsc, 100, 0, lim2L, lim2R) ); // 45 - 135°
}
#endif
#endif
// Servo 3 (ESC) --------------------------------
// Throttle (for ESC control, if you don't use the internal TB6612FNG motor driver)
#if defined ESC_MICROSECONDS
uint16_t servo3Microseconds = 1500;
static uint16_t servo3Microseconds2 = 1500;
static long previousThrottleRampMillis;
if (millis() - previousThrottleRampMillis >= 1) {
previousThrottleRampMillis = millis();
servo3Microseconds = map(data.axis3, 100, 0, 2000, 1000);
servo3Microseconds = reMap(curveExponentialThrottle, servo3Microseconds);
if (servo3Microseconds2 < servo3Microseconds) servo3Microseconds2 ++;
if (servo3Microseconds2 > servo3Microseconds) servo3Microseconds2 --;
servo3.writeMicroseconds(servo3Microseconds2);
}
#else
if (vehicleType != 1 && vehicleType != 2 && vehicleType != 6) {
if (data.mode1) { // limited speed!
servo3.write(map(data.axis3, 100, 0, lim3Llow, lim3Rlow ) ); // less than +/- 45°
}
else { // full speed!
servo3.write(map(data.axis3, 100, 0, lim3L, lim3R) ); // 45 - 135°
}
}
else { // Tracked or half tracked or differential thrust mode
servo3.write(map(rEsc, 100, 0, lim3L, lim3R) ); // 45 - 135°
}
#endif
// Axis 2 on the joystick switches engine sound on servo channel 3 on and off!
if (engineSound) {
if (data.axis2 > 80) {
servo3.attach(A2); // Enable servo 3 pulse
}
if (data. axis2 < 20) {
servo3.detach(); // Disable servo 3 pulse = engine off signal for "TheDIYGuy999" engine simulator!
}
}
// Servo 4 --------------------------------
// Rudder or trailer unlock actuator
#ifdef TRACTOR_TRAILER_UNLOCK // Tractor trailer unlocking, controlled by "Momentary 1" ("Back / Pulse") button
if (!beacons && !potentiometer1) {
if (data.momentary1)servo4.write(lim4L);
else servo4.write(lim4R);
}
#else // Servo controlled by joystick CH4
if (!potentiometer1) { // Servo 4 controlled by CH4
if (!beacons) servo4.write(map(data.axis4, 100, 0, lim4L, lim4R) ); // 45 - 135°
}
else { // Servo 4 controlled by transmitter potentiometer knob
if (!beacons) servo4.write(map(data.pot1, 0, 100, 45, 135) ); // 45 - 135°
}
#endif
}
//
// =======================================================================================================
// DRIVE MOTORS CAR (for cars, one motor for driving, one for steering)
// =======================================================================================================
//
void driveMotorsCar() {
int maxPWM;
byte maxAcceleration;
// Speed limitation (max. is 255)
if (data.mode1) {
maxPWM = maxPWMlimited; // Limited
} else {
maxPWM = maxPWMfull; // Full
}
if (!payload.batteryOk && liPo) data.axis3 = 50; // Stop the vehicle, if the battery is empty!
// Acceleration & deceleration limitation (ms per 1 step input signal change)
if (data.mode2) {
maxAcceleration = maxAccelerationLimited; // Limited
} else {
maxAcceleration = maxAccelerationFull; // Full
}
// ***************** Note! The ramptime is intended to protect the gearbox! *******************
// SYNTAX: Input value, max PWM, ramptime in ms per 1 PWM increment
// false = brake in neutral position inactive
if (!HP) { // Two channel version: ----
if (Motor1.drive(data.axis3, minPWM, maxPWM, maxAcceleration, true) ) { // The drive motor (function returns true, if not in neutral)
millisLightOff = millis(); // Reset the headlight delay timer, if the vehicle is driving!
}
if (vehicleType != 5) { // If not car with MSRC stabilty control
Motor2.drive(data.axis1, 0, steeringTorque, 0, false); // The steering motor (if the original steering motor is reused instead of a servo)
}
}
else { // High Power "HP" version. Motor 2 is the driving motor, no motor 1: ----
if (Motor2.drive(data.axis3, minPWM, maxPWM, maxAcceleration, true) ) { // The drive motor (function returns true, if not in neutral)
millisLightOff = millis(); // Reset the headlight delay timer, if the vehicle is driving!
}
}
}
//
// =======================================================================================================
// DRIVE MOTORS FORKLIFT (for forklifts, one motor for driving, one for lifting)
// =======================================================================================================
//
void driveMotorsForklift() {
int maxPWM;
byte maxAcceleration;
// Speed limitation (max. is 255)
if (data.mode1) {
maxPWM = maxPWMlimited; // Limited
} else {
maxPWM = maxPWMfull; // Full
}
if (!payload.batteryOk && liPo) data.axis3 = 50; // Stop the vehicle, if the battery is empty!
// Acceleration & deceleration limitation (ms per 1 step input signal change)
if (data.mode2) {
maxAcceleration = maxAccelerationLimited; // Limited
} else {
maxAcceleration = maxAccelerationFull; // Full
}
// ***************** Note! The ramptime is intended to protect the gearbox! *******************
// SYNTAX: Input value, max PWM, ramptime in ms per 1 PWM increment
// false = brake in neutral position inactive
#if not defined VEHICLE_TYPE_3_WITH_ESC // Motor driver 1 used for driving motor, no ESC
if (Motor1.drive(data.axis3, minPWM, maxPWM, maxAcceleration, true) ) { // The drive motor (function returns true, if not in neutral)
millisLightOff = millis(); // Reset the headlight delay timer, if the vehicle is driving!
}
#else // Motor driver 1 can be used for other stuff, if vehicle has dedicated ESC
Motor1.drive(data.axis4, 0, steeringTorque, 0, false); // additional motor
#endif
Motor2.drive(data.axis2, 0, steeringTorque, 0, false); // The fork lifting motor (the steering is driven by servo 1)
}
//
// =======================================================================================================
// "STEERING" MOTOR DRIVING FUNCTION (throttle & steering overlay for caterpillar vehicles)
// =======================================================================================================
//
void driveMotorsSteering() {
int pwm[2];
// The steering overlay
int steeringFactorLeft;
int steeringFactorRight;
int steeringFactorLeft2;
int steeringFactorRight2;
// The input signal range
const int servoMin = 5;
const int servoMax = 95;
const int servoNeutralMin = 48;
const int servoNeutralMax = 52;
// Compute steering overlay:
// The steering signal is channel 1 = data.axis1
// 100% = wheel spins with 100% of the requested speed forward
// -100% = wheel spins with 100% of the requested speed backward
if (data.axis1 <= servoNeutralMin) {
steeringFactorLeft = map(data.axis1, servoMin, servoNeutralMin, 0, 100);
steeringFactorLeft = constrain(steeringFactorLeft, 0, 100);
}
else {
steeringFactorLeft = 100;
}
if (data.axis1 >= servoNeutralMax) {
steeringFactorRight = map(data.axis1, servoMax, servoNeutralMax, 0, 100);
steeringFactorRight = constrain(steeringFactorRight, 0, 100);
}
else {
steeringFactorRight = 100;
}
// Nonlinear steering overlay correction
if (vehicleType == 6) {
steeringFactorLeft2 = reMap(curveThrust, steeringFactorLeft); // Differential thrust mode
steeringFactorRight2 = reMap(curveThrust, steeringFactorRight);
data.axis3 = constrain(data.axis3, 50, 100); // reverse locked!
}
if (vehicleType == 2) {
steeringFactorLeft2 = reMap(curveFull, steeringFactorLeft); // Caterpillar mode
steeringFactorRight2 = reMap(curveFull, steeringFactorRight);
}
if (vehicleType == 1) {
steeringFactorLeft2 = reMap(curveSemi, steeringFactorLeft); // Semi caterpillar mode
steeringFactorRight2 = reMap(curveSemi, steeringFactorRight);
}
// Drive caterpillar motors
// The throttle signal (for both caterpillars) is channel 3 = data.axis3
// -100 to 100%
pwm[0] = map(data.axis3, servoMin, servoMax, 100, -100) * steeringFactorRight2 / 100;
pwm[1] = map(data.axis3, servoMin, servoMax, 100, -100) * steeringFactorLeft2 / 100;
pwm[0] = map(pwm[0], 100, -100, 100, 0); // convert -100 to 100% to 0-100 for motor control
pwm[1] = map(pwm[1], 100, -100, 100, 0);
if (!payload.batteryOk && liPo) { // Both motors off, if LiPo battery is empty!
pwm[0] = 0;
pwm[1] = 0;
}
lEsc = pwm[1]; // Output for dual ESC
rEsc = pwm[0];
Motor1.drive(pwm[0], 0, 255, 0, false); // left caterpillar, 0ms ramp!
Motor2.drive(pwm[1], 0, 255, 0, false); // right caterpillar
if (pwm[0] < 40 || pwm[0] > 60 || pwm[1] < 40 || pwm[1] > 60) {
millisLightOff = millis(); // Reset the headlight delay timer, if the vehicle is driving!
}
}
//
// =======================================================================================================
// "BALANCING" MOTOR DRIVING FUNCTION (for self balancing robot)
// =======================================================================================================
//
void driveMotorsBalancing() {
// The steering overlay is in degrees per second, controlled by the MPU 6050 yaw rate and yoystick axis 1
int steering = ((data.axis1 - 50) / 7) - yaw_rate; // -50 to 50 / 8 = 7°/s - yaw_rate
steering = constrain(steering, -7, 7);
int speed = angleOutput + 50;
// Calculate averaged motor power (speed) for speed controller feedback
static unsigned long lastSpeed;
if (millis() - lastSpeed >= 8) { // 8ms
speedAveraged = (speedAveraged * 3.0 + angleOutput) / 4.0; // 1:4 (1:8)
}
speed = constrain(speed, 7, 93); // same range as in setupPID() + 50 offset from above!
if (angleMeasured > -20.0 && angleMeasured < 20.0) { // Only drive motors, if robot stands upright
Motor1.drive(speed - steering, minPWM, maxPWMfull, 0, false); // left caterpillar, 0ms ramp! 50 = neutral!
Motor2.drive(speed + steering, minPWM, maxPWMfull, 0, false); // right caterpillar
}
else { // keep motors off
Motor1.drive(50, minPWM, maxPWMfull, 0, false); // left caterpillar, 0ms ramp!
Motor2.drive(50, minPWM, maxPWMfull, 0, false); // right caterpillar
}
}
//
// =======================================================================================================
// BALANCING CALCULATIONS
// =======================================================================================================
//
void balancing() {
// Read sensor data
readMpu6050Data();
angleMeasured = angle_pitch - tiltCalibration;
// Read speed pot with 0.2s fader
static unsigned long lastPot;
if (millis() - lastPot >= 40) { // 40ms
lastPot = millis();
speedPot = (speedPot * 4 + data.axis3) / 5; // 1:5
}
// PID Parameters (Test)
double speedKp = 0.9, speedKi = 0.03, speedKd = 0.0;
double angleKp = data.pot1 / 8.0, angleKi = 25.0, angleKd = 0.12; // /You need to connect a potentiometer to the transmitter analog input A6
// PID Parameters (Working)
//double speedKp = 0.9, speedKi = 0.03, speedKd = 0.0;
//double angleKp = data.pot1 / 8.0, angleKi = 25.0, angleKd = 0.12; // You need to connect a potentiometer to the transmitter analog input A6
// Speed PID controller (important to protect the robot from falling over at full motor rpm!)
speedTarget = ((float)speedPot - 50.0) / 1.51; // (100 - 50) / 1.51 = Range of about +/- 33 (same as in setupPid() !)
speedMeasured = speedAveraged * 1.3; //angleOutput; // 43 / 33 = 1.3
speedPid.SetTunings(speedKp, speedKi, speedKd);
speedPid.Compute();
// Angle PID controller
angleTarget = speedOutput / -8.25; // 33.0 (from above) / 8.25 = Range of about +/- 4.0° tilt angle
// angleTarget = (speedPot - 50) / -12.5; // 50 / 12.5 = Range of about +/- 4.0° tilt angle
anglePid.SetTunings(angleKp, angleKi, angleKd);
anglePid.Compute();
// Send the calculated values to the motors
driveMotorsBalancing();
// Display PID variables on the transmitter OLED (for debugging only, comment out the corresponding variables in checkBattery() in this case)
//loopDuration(); // compute the loop time
//payload.vcc = loopTime;
//payload.vcc = angleMeasured;
//payload.vcc = speedTarget;
//payload.batteryVoltage = speedOutput;
//payload.batteryVoltage = speedMeasured;
}
//
// =======================================================================================================
// MRSC (MICRO RC STABILITY CONTROL) CALCULATIONS
// =======================================================================================================
// For cars with stability control (steering overlay depending on gyro yaw rate)
void mrsc() {
// Read sensor data
readMpu6050Data();
// If the MRSC gain is a fixed value, read it!
#ifdef MRSC_FIXED
data.pot1 = mrscGain;
#endif
// Compute steering compensation overlay
int turnRateSetPoint = data.axis1 - 50; // turnRateSetPoint = steering angle (0 to 100) - 50 = -50 to 50
int turnRateMeasured = yaw_rate * abs(data.axis3 - 50); // degrees/s * speed
int steeringAngle = turnRateSetPoint + (turnRateMeasured * data.pot1 / 100); // Compensation depending on the pot value
steeringAngle = constrain (steeringAngle, -50, 50); // range = -50 to 50
// Control steering servo (MRSC mode only)
servo1.write(map(steeringAngle, 50, -50, lim1L, lim1R) ); // 45 - 135°
// Control motor 2 (steering, not on "High Power" board type)
if (!HP) {
Motor2.drive((steeringAngle + 50), 0, steeringTorque, 0, false); // The steering motor (if the original steering motor is reused instead of a servo)
}
// Control motors
driveMotorsCar();
}
//
// =======================================================================================================
// WRITE DIGITAL OUTPUTS (SPECIAL FUNCTIONS)
// =======================================================================================================
//
void digitalOutputs() {
static boolean wasPressed;
if (TXO_momentary1) { // only, if momentary function is enabled in vehicle configuration
if (data.momentary1) {
digitalWrite(DIGITAL_OUT_1, HIGH);
R2D2_tell();
}
else digitalWrite(DIGITAL_OUT_1, LOW);
}
if (TXO_toggle1) { // only, if toggle function is enabled in vehicle configuration
if (data.momentary1 && !wasPressed) {
digitalWrite(DIGITAL_OUT_1, !digitalRead(DIGITAL_OUT_1));
wasPressed = true;
}
if (!data.momentary1) wasPressed = false;
}
}
//
// =======================================================================================================
// CHECK RX BATTERY & VCC VOLTAGES
// =======================================================================================================
//
boolean battSense;
void checkBattery() {
if (boardVersion < 1.2) battSense = false;
else battSense = true;
// switch between load and no load contition
if (millis() - millisLightOff >= 1000) { // one s after the vehicle did stop
isDriving = false; // no load
}
else {
isDriving = true; // under load
}
// Every 1000 ms, take measurements
static unsigned long lastTrigger;
if (millis() - lastTrigger >= 1000) {
lastTrigger = millis();
// Read both averaged voltages
payload.batteryVoltage = batteryAverage();
payload.vcc = vccAverage();
if (battSense) { // Observe battery voltage
if (payload.batteryVoltage <= cutoffVoltage) payload.batteryOk = false;
}
else { // Observe vcc voltage
if (payload.vcc <= cutoffVoltage) payload.batteryOk = false;
}
}
}
// Voltage read & averaging subfunctions -----------------------------------------
// vcc ----
float vccAverage() {
static int raw[6];
if (raw[0] == 0) {
for (int i = 0; i <= 5; i++) {
raw[i] = readVcc(); // Init array
}
}
raw[5] = raw[4];
raw[4] = raw[3];
raw[3] = raw[2];
raw[2] = raw[1];
raw[1] = raw[0];
raw[0] = readVcc();
float average = (raw[0] + raw[1] + raw[2] + raw[3] + raw[4] + raw[5]) / 6000.0;
return average;
}
// battery ----
float batteryAverage() {
static int raw[6];
if (!battSense) return 0;
if (raw[0] == 0) {
for (int i = 0; i <= 5; i++) {
raw[i] = analogRead(BATTERY_DETECT_PIN); // Init array
}
}
raw[5] = raw[4];
raw[4] = raw[3];
raw[3] = raw[2];
raw[2] = raw[1];
raw[1] = raw[0];
if (isDriving && HP) raw[0] = (analogRead(BATTERY_DETECT_PIN) + 31); // add 0.3V while driving (HP version only): 1023 steps * 0.3V / 9.9V = 31
else raw[0] = analogRead(BATTERY_DETECT_PIN); // else take the real voltage (compensates voltage drop while driving)
float average = (raw[0] + raw[1] + raw[2] + raw[3] + raw[4] + raw[5]) / 619.999; // 1023steps / 9.9V * 6 = 619.999
return average;
}
//
// =======================================================================================================
// SBUS COMMANDS TO LIGHT- & SOUND CONTROLLER (if not DEBUG, not TXO_momentary1, not TXO_toggle1, not headLights)
// =======================================================================================================
//
void sendSbusCommands() {
static unsigned long lastSbusTime;
uint16_t channels[16]; // 0 - 15
// See: https://github.com/TheDIYGuy999/Rc_Engine_Sound_ESP32
if (serialCommands) { // only, if we are in serial command mode
if (millis() - lastSbusTime > 14) { // Send the data every 14ms
lastSbusTime = millis();
// Fill SBUS packet with our channels
// Proportional channels
channels[0] = map(data.axis1, 0, 100, 172, 1811);
if (vehicleType != 1 && vehicleType != 2 && vehicleType != 6) { // Not tracked or half tracked or differential thrust mode
channels[1] = map(data.axis2, 0, 100, 172, 1811);
channels[2] = map(data.axis3, 0, 100, 172, 1811);
}
else { // tracked or half tracked or differential thrust mode