I am Northeat from Switzerland and new in this forum, a friendly hello to all.
Since two weeks I am working with programming and robotics. Now I come across a problem which I cannot solve alone.
I have a Hexapot which can be controlled very well with a PS2 controller. Now I want to have some of the functions of PS2 on my mobile phone and control the robot over the internet. With Blynk, it’s relatively easy. I made everything work even if I didn’t understand everything. The robot has different MoveModes, which are controlled by a left and right joystick. The arguments are passed like this - SendData(CMD_REG_WALK, WALK_F, WALK_S, ROTATE2, 0); - the left joystick passes WALK_F and WALK_S and the right joystick passes ROTATE2 - if I move a joystick I always have to pass all arguments to it and I think that somehow works but I think there is a smarter way to solve it. Now I tried with switch case to be able to choose between the different MoveModes and this also works. But if I move the robot forwards (joystick left) it won’t stop running.
Can someone help me to understand what I have to do differently?
- nodeMCU
- newest Blynk liblary
- Hexapot with custom board
- The sample show the basic movements w/o the hexapod library
- Send data from the User-Board to Locomotion-Controller
******************************************************************************/
// Arduino or NodeMCU (select one)
//#define ARDUINO
#define NODEMCU
// UART
#define SERIAL_CMD_BAUD 38400 // Locomotion-Controller to User-Board
#define CMD_SYNC0 33 // Sync byte 1
#define CMD_SYNC1 42 // Sync byte 2
#define CMD_TERM_BYTE 255 // Termination byte
// CMD REGISTER [WRITE-VALUES]
#define CMD_REG_TRANSLATE 35
#define CMD_REG_WALK 40
#define CMD_REG_ROTATE 45
int MOVEMODE = 1;
int BODY_HIGHT;
int SPEED = 100;
int ROTATE;
int ROTATE2;
int WALK_F;
int WALK_S;
int x;
int y;
int z;
int f;
// Software Serial (Locomotion-Controler <--> User-Board)
SoftwareSerial SERIAL_CMD(RXD_U, TXD_U); // RX, TX Arduino UNO
/******************************************************************************
UART SEND- and READ-COMMANDS
******************************************************************************/
void SendData(byte _cmd, byte _data1, byte _data2, byte _data3, byte _data4)
{
// calc CRC
byte _crc = CMD_SYNC0 ^ CMD_SYNC1 ^ _cmd ^ _data1 ^ _data2 ^ _data3 ^ _data4;
// send bytes
SERIAL_CMD.write(CMD_SYNC0);
SERIAL_CMD.write(CMD_SYNC1);
SERIAL_CMD.write(_crc);
SERIAL_CMD.write(_cmd);
SERIAL_CMD.write(_data1);
SERIAL_CMD.write(_data2);
SERIAL_CMD.write(_data3);
SERIAL_CMD.write(_data4);
SERIAL_CMD.write(CMD_TERM_BYTE);
}
//V1 and V2 work, but i think this is not a good solution //WALK Joystick forward sideward
/*BLYNK_WRITE(V1)
{
int x = param[0].asInt();
int y = param[1].asInt();
WALK_F = x;
WALK_S = y;
if (MOVEMODE == 1){
SendData(CMD_REG_WALK, WALK_F, WALK_S, ROTATE2, 0);}
else
{
SendData(CMD_REG_ROTATE, WALK_F, WALK_S, ROTATE2, ROTATE);}
}
//WALK rotate parameter
BLYNK_WRITE(V4)
{
int z = param[0].asInt();
int f = param[1].asInt();
ROTATE = f;
ROTATE2 = z;
if (ROTATE_SWITCH_STATE == 0){
SendData(CMD_REG_WALK, WALK_F, WALK_S, ROTATE2, 0);}
else {
SendData(CMD_REG_ROTATE, WALK_F, WALK_S, ROTATE2, ROTATE);}
}*/
//MOVE SELECTOR
BLYNK_WRITE(V7) {
switch (param.asInt()) {
case 1: { //WALKMODE
MOVEMODE = 1;
break;
}
case 2: { //TRANSLATEMODE
MOVEMODE = 2;
break;
}
case 3: { //ROTATEMODE
MOVEMODE = 3;
break;
}
case 4: { //SINGLEMODE
MOVEMODE = 4;
break;
}}
}
//LEFT JOYSTICK
BLYNK_WRITE(V1){
switch(MOVEMODE) {
case 1: { //WALKMODE
int x = param[0].asInt();
int y = param[1].asInt();
WALK_F = x;
WALK_S = y;
SendData(CMD_REG_WALK, WALK_F, WALK_S, ROTATE2, 0);
break;
}
case 2: { //TRANSLATEMODE
SendData(CMD_REG_TRANSLATE, WALK_F, WALK_S, ROTATE2, ROTATE);
break;
}
case 3: { //ROTATEMODE
SendData(CMD_REG_ROTATE, WALK_F, WALK_S, ROTATE2, ROTATE);
break;
}
case 4: { //SINGLELEGMODE
SendData(SINGLELEGMODE, WALK_F, WALK_S, ROTATE2, ROTATE);
break;
}
}
}
//RIGHT JOYSTICK
BLYNK_WRITE(V4){
switch(MOVEMODE) {
case 1: { //WALKMODE
int z = param[0].asInt();
int f = param[1].asInt();
ROTATE = f;
ROTATE2 = z;
SendData(CMD_REG_WALK, WALK_F, WALK_S, ROTATE2, 0);
break;
}
case 2: { //TRANSLATEMODE
SendData(CMD_REG_TRANSLATE, WALK_F, WALK_S, ROTATE2, ROTATE);
break;
}
case 3: { //ROTATEMODE
SendData(CMD_REG_ROTATE, WALK_F, WALK_S, ROTATE2, ROTATE);
break;
}
case 4: { //SINGLELEGMODE
SendData(SINGLELEGMODE, WALK_F, WALK_S, ROTATE2, ROTATE);
break;
}
}
}
