Arduino A-Star Programing

Dear: Allan

You said to element 14 that you are not getting how to use a rotary encoder but what are you not getting? You are not very specific.

From: Noah

I am trying to write a program for the arduino a-star to accept analog input from a pot with 0 to 5 volt output, go threw the arduino a-star and come out of it with packet serial to the roboclaw in encoder feedback mode like a servo.

Dear: Allan

Apparently in the datasheet they did have something you should know about. Here is the code I modified. Good Luck.

//Basic Micro RoboClaw RC Mode. Control RoboClaw

//with servo pulses from a microcontroller.

//Mode settings: Mode 2 with Option 4.

#include <Servo.h>

Servo myservo1; // create servo object to control a RoboClaw channel

Servo myservo2; // create servo object to control a RoboClaw channel

int pos = 0; // variable to store the servo position

void setup()

{

myservo1.attach(5); // attaches the RC signal on pin 5 to the servo object

myservo2.attach(6); // attaches the RC signal on pin 6 to the servo object

}

void loop()

{

for(pos = 0; pos < 180; pos += 1)  // goes from 0 degrees to 180 degrees

  {                                  // in steps of 1 degree

    myservo1.write(pos);              // tell servo to go to position in variable 'pos'

    delay(15);                       // waits 15ms for the servo to reach the position

  }

  for(pos = 180; pos>=1; pos-=1)     // goes from 180 degrees to 0 degrees

  {                               

    myservo1.write(pos);              // tell servo to go to position in variable 'pos'

    delay(15);         

  }

  delay(1000);

  for(pos = 0; pos < 180; pos += 1)  // goes from 0 degrees to 180 degrees

  {                                  // in steps of 1 degree

    myservo2.write(pos);              // tell servo to go to position in variable 'pos'

    delay(15);                       // waits 15ms for the servo to reach the position

  }

  for(pos = 180; pos>=1; pos-=1)     // goes from 180 degrees to 0 degrees

  {                               

    myservo2.write(pos);              // tell servo to go to position in variable 'pos'

    delay(15);         

  }

  delay(1000);

}

From: Noah

Dear: Allan

Ignore my last comment. I forgot you asked how to use your encoder not your servos so here is the code I found in your datasheet.

//Basic Micro RoboClaw Packet Serial Mode.

//Switch settings: SW3=ON, SW4=ON, SW5=ON

#include “BMSerial.h”

#include “RoboClaw.h”

#define address 0x80

#define Kp 0x00010000

#define Ki 0x00008000

#define Kd 0x00004000

#define qpps 44000

BMSerial terminal(0,1);

RoboClaw roboclaw(5,6);

void setup() {

terminal.begin(38400); roboclaw.begin(38400);

roboclaw.SetM1Constants(address,Kd,Kp,Ki,qpps); roboclaw.SetM2Constants(address,Kd,Kp,Ki,qpps);

}

void loop() {

uint8_t status;

bool valid;

uint32_t enc1= roboclaw.ReadEncM1(address, &status, &valid);

if(valid){

terminal.print(“Encoder1:”); terminal.print(enc1,HEX); terminal.print(“ “); terminal.print(status,HEX); terminal.print(“ “);

}

uint32_t enc2 = roboclaw.ReadEncM2(address, &status, &valid);

if(valid){

terminal.print(“Encoder2:”); terminal.print(enc2,HEX); terminal.print(“ “); terminal.print(status,HEX); terminal.print(“ “);

}

uint32_t speed1 = roboclaw.ReadSpeedM1(address, &status, &valid);

if(valid){

terminal.print(“Speed1:”); terminal.print(speed1,HEX); terminal.print(“ “);

}

uint32_t speed2 = roboclaw.ReadSpeedM2(address, &status, &valid);

if(valid){

terminal.print(“Speed2:”); terminal.print(speed2,HEX); terminal.print(“ “);

}

terminal.println();

delay(100);

}

From: Noah

Dear: Allan

Ignore my last comment. I forgot you asked how to use your encoder not your servos so here is the code I found in your datasheet.

//Basic Micro RoboClaw Packet Serial Mode.

//Switch settings: SW3=ON, SW4=ON, SW5=ON

#include “BMSerial.h”

#include “RoboClaw.h”

#define address 0x80

#define Kp 0x00010000

#define Ki 0x00008000

#define Kd 0x00004000

#define qpps 44000

BMSerial terminal(0,1);

RoboClaw roboclaw(5,6);

void setup() {

terminal.begin(38400); roboclaw.begin(38400);

roboclaw.SetM1Constants(address,Kd,Kp,Ki,qpps); roboclaw.SetM2Constants(address,Kd,Kp,Ki,qpps);

}

void loop() {

uint8_t status;

bool valid;

uint32_t enc1= roboclaw.ReadEncM1(address, &status, &valid);

if(valid){

terminal.print(“Encoder1:”); terminal.print(enc1,HEX); terminal.print(“ “); terminal.print(status,HEX); terminal.print(“ “);

}

uint32_t enc2 = roboclaw.ReadEncM2(address, &status, &valid);

if(valid){

terminal.print(“Encoder2:”); terminal.print(enc2,HEX); terminal.print(“ “); terminal.print(status,HEX); terminal.print(“ “);

}

uint32_t speed1 = roboclaw.ReadSpeedM1(address, &status, &valid);

if(valid){

terminal.print(“Speed1:”); terminal.print(speed1,HEX); terminal.print(“ “);

}

uint32_t speed2 = roboclaw.ReadSpeedM2(address, &status, &valid);

if(valid){

terminal.print(“Speed2:”); terminal.print(speed2,HEX); terminal.print(“ “);

}

terminal.println();

delay(100);

}

From: Noah

is line 9( RoboClaw roboclaw(5,6);) for PWM input on pins 5 and 6?

I am getting an error in this line  terminal.print(“Encoder1:”); terminal.print(enc1,HEX); terminal.print(“ “); terminal.print(status,HEX); terminal.print(“ “);

And I think the error says,    stray "(" in program

Dear: Allan

Sorry it took me so long to respond to your post I was running into a problem with my computer. No pins EN1 and EN2 are your pin inputs and outputs to your encoder. EN1 which stands for encoder 1 is your pins for your first encoder. Pins EN2 which stands for encoder two is your second encoder. Good luck.

From: Noah

Look to this for help.

is this what you mean    terminal.print(“En1:”); terminal.print(enc1,HEX); terminal.print(“ “); terminal.print(status,HEX); terminal.print(“ “);

Give this code a shot I am pretty sure it will work

//Basic Micro RoboClaw Packet Serial Mode.

//Switch settings: SW3=ON, SW4=ON, SW5=ON

#include “BMSerial.h”

#include “RoboClaw.h”

#define address 0x80

#define Kp 0x00010000

#define Ki 0x00008000

#define Kd 0x00004000

#define qpps 44000

BMSerial terminal(0,1);

RoboClaw roboclaw(5,6);

void setup() {

terminal.begin(38400); roboclaw.begin(38400);

roboclaw.SetM1Constants(address,Kd,Kp,Ki,qpps); roboclaw.SetM2Constants(address,Kd,Kp,Ki,qpps);

}

void loop() {

uint8_t status;

bool valid;

uint32_t enc1= roboclaw.ReadEncM1(address, &status, &valid);

valid = terminal.print("Encoder1:") && terminal.print(encl,HEX) && terminal.print(" ") && terminal.print(status,HEX) && terminal.print(" ");

uint32_t enc2 = roboclaw.ReadEncM2(address, &status, &valid);

valid = terminal.print("Encoder2:") && terminal.print(enc2,HEX) && terminal.print(" ") && terminal.print(status,HEX) && terminal.print(" ");

uint32_t speed1 = roboclaw.ReadSpeedM1(address, &status, &valid);

valid = terminal.print("Speed1:") && terminal.print(speed1,HEX) && terminal.print(" ");

uint32_t speed2 = roboclaw.ReadSpeedM2(address, &status, &valid);

valid = terminal.print("Speed2:") && terminal.print(speed2,HEX) && terminal.print(" ");

terminal.println();

delay(100);

}

From: Noah

do I write this to the roboclaw or to the a-star or both?

I am pretty sure you send it to the robo claw but what is the difference?

Dear: Allan

It is neither this code is supposed to work with arduino uno. But you could probably make it compatible with the board and in that case I wish you good luck!!!

From: Noah

Thank you I will try to make it work.

Allan Manuel