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Python to Raspberry Pi to Arduino to Motors...

wallarug

I have a software question based robotics question.

 

 

I know very little about Ardunio and the coding for it.  I have written some of the code that I require but I am now stuck at the Arduino Sketch.  There is two motors, a left and right motor which their speeds are defined as "a" and "b" respectivly.  All I know is that I have to use the analogWrite() command to get this to work with values between 0 and 255.  I have converted all values to work with this (ie. values between 0 - 255).

 

This is what I have so far:

 

 

[code]

/*

* Robot Motor Controller script with PWM speed control

*/

//---------------------- Motors

int motorL[] = {6, 7}

int motorR[] = {8, 9}

int ledPin = 13;

 

 

 

 

if y > 0:

  digitalWrite(motorL[0], HIGH);

  digitalWrite(motorL[1], LOW);

  digitalWrite(motorR[0], HIGH);

  digitalWrite(motorR[1], LOW);

  analogWrite(9, motor_a);

  analogWrite(6, motor_b);

 

 

if y < 0:

  digitalWrite(motorL[0], LOW);

  digitalWrite(motorL[1], HIGH);

  digitalWrite(motorR[0], LOW);

  digitalWrite(motorR[1], HIGH);

  analogWrite(9, motor_a);

  analogWrite(6, motor_b);

 

 

[/code]

 

 

Can someone please fix any Syntex errors and other errors that may be present in my code please.  I would really like this project to work as it is the most complicated I have tried with the Raspberry Pi.

 

 

What I need this to do is:

     - decide whether the motor is going forwards or backwards

     - (Based on the above) set the pins for that direction

     - Interpit the values that are given to it from the TCP server.

     - loop back continuly until the program is terminaled.

 

 

 

 

Any help will be appreciated.

 

 

For anyone who wants to know how the motors are controlled read on...

I will be controlling the robot by using a joystick on a remote computer using the pygame module.  The code for the below is below:

import pygame

[code]Removed By Request[/code]

 

 

So far, I have a TCP server and client working but I have not incorporated it in this script yet. 

 

 

I only want help on the Arduino Sketch.  The Joystick control and TCP are working nicely but the Arduino code is not working (as seen above).

 

 

Any help would be appreciated.

Parents

  • Hello Fergus,

    Will probably be worth asking this in the Arduino forum ? Although if Simon Monk pops in here (I have seen him in this forum a few times) he would probably be able to help, he is the authour of quite a few Arduino books.

    Steve

  • in reply to GreenYamo

    This is the updated sketch:

    [code]

     

    /*

    * Robot Motor Controller script with PWM speed control

    */

    //---------------------- Motors

    int motorL[] = {6, 7};

    int motorR[] = {8, 9};

    int ledPin = 13;

     

     

    void setup() {

    Serial.begin(9600);

    int i;

    for(i =0; i > 0; i < 0){

    pinMode(motorL[i], OUTPUT);

    pinMode(motorR[i], OUTPUT);

    pinMode(ledPin, OUTPUT);

    }

     

     

    }

     

     

    void loop() {

     

     

    drive_forward();

    if y > 0:

              digitalWrite(motorL[0], HIGH);

              digitalWrite(motorL[1], LOW);

              digitalWrite(motorR[0], HIGH);

              digitalWrite(motorR[1], LOW);

              analogWrite(9, motor_a);

              analogWrite(6, motor_b);

     

     

    drive_backwards();

    if y < 0:

              digitalWrite(motorL[0], LOW);

              digitalWrite(motorL[1], HIGH);

              digitalWrite(motorR[0], LOW);

              digitalWrite(motorR[1], HIGH);

              analogWrite(9, motor_a);

              analogWrite(6, motor_b);

     

    }

  • in reply to wallarug

    I'm not sure what type of motors you're using, perhaps servos, looking at your code? You might want to look at Adafruit's page for some helpful tips http://www.ladyada.net/make/mshield/use.html

  • in reply to GeorgeIoak

    They are DC motors.  I CANNOT use AF library becasue I don't have their shield.

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