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Post by ltnahcs on Jul 9, 2014 18:45:12 GMT
Hi,
Please can you show me the arduino code of the tractor and controller?
ltnahcs
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Post by RC Tractor Guy on Jul 9, 2014 20:50:37 GMT
Hi I've updated the Fendt page with its code you can find that here www.rctractors.net/rc-fendt-936It isn't perfect, there are lots of descriptive parts missing and miss labelled stuff. It is what is on my tractor so it was thrown together to get it working. When I get time I'll make a generic code and put that on the site so that all the tractors have basically the same code. |
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Post by ltnahcs on Jul 11, 2014 17:30:26 GMT
Thank you for the quick answer. Is it also possible to show me the code for the controller? I only want this codes because i think there is a problem with my serial communication.
ltnahcs
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Post by RC Tractor Guy on Jul 11, 2014 22:03:44 GMT
Oh sorry I meant to say there was controller code on the blog here. It should work but any problem let me know |
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Post by ltnahcs on Jul 12, 2014 20:55:30 GMT
ok. thanks. i didn't know, that i can send a whole byte with serial
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tomek
New Member
Posts: 24 
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Post by tomek on Mar 11, 2015 6:13:38 GMT
Hi, I was looking at both controller and tractor code and for me one thing is missing. There is no failsafe for communication lost. I think it is possible to do in two ways.
1. Forward/backward command is being send for example every 100ms more or less and if tractor will not receive any command for about 300ms it will stop
2. One extra command called live bit every for example 100ms. If tractor will not receive that for about 300-500ms it will stop.
The times are completly not tested, so those may be different, but I mean more like an idea at this moment.
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Post by RC Tractor Guy on Mar 11, 2015 11:24:24 GMT
That's a good idea I need to update the tractor code so I can add that feature in. I also need to add a feature to measure the battery voltage and stop the tractor when the battery is too low to protect the battery from overly discharging. I switched to the NRF24 module recently so the code has changed a bit and I've only implemented driving functions so far, no LED control so needs some work.
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Post by RC Tractor Guy on May 17, 2015 22:20:53 GMT
Here is an update on the Massey code, seems to be working fairly reliably. I haven't looked through the comments so there is probably mistakes in the descriptions.
Here is the cab code
/*
RC Massey 8680 Tractor Cab Code Version 1.0
This code was written by Oisin O'Conchubhair for the website www.rctractors.net
This is the generic code used to control homemade RC Tractors.
The code is intended to be used with an Arduino Pro Mini
Pin Assignment
D0 Serial RX
D1 Serial TX
D2 Right Indicator
D3 Front Work Lights
D4 Right Beacon
D5 Rear Work Lights
D6
D7 Left Beacon
D8 NRF24 CE
D9 Left Indicator
D10 NRF24 CSN
D11 NRF24 MOSI
D12 NRF24 MISO
D13 NRF24 SCK
A0 Head Lights
A1
A2 Not assigned
A3 Not assigned
A4 Not assigned
A5 Not assigned
*/
// This section describes the vehicle
byte ID1 = 0x4D; // Enter a four byte ID for the vehicle
byte ID2 = 0x38; // for example F936 for the Fendt 936 model
byte ID3 = 0x36; // would be ID1 = 0x46; ID2 = 0x39; ID3 = 0x33; ID4 = 0x36
byte ID4 = 0x38; // because asci character F is 46 in hexidecimal and so on
// Variables used in the program
int Active = 0; // Variable to determine if the tractor is in active
int left_ind = 0; // Variable indicating if the left indicator is currently on or off
int right_ind = 0; // Variable indicating if the right indicator is currently on or off
int Ind_Timer = 0; // Variable used to record the length of time the indicator is on for
int Ind_Timer2 = 0; // Variable used to record the beacon is on for
int beac_on = 0; // Variable indicating if the right indicator is currently on or off
int beac_timer = 0; // Variable used to record the length of time the indicator is on for
int ind_active = 0; // Variable set to show that indicator code should be running
int beacon_active = 0; // Variable set to show that indicator code should be running
int spots_on = 0; // Variable to idicate if the large spot lights are on
int Last_Data_Timer = 0;
int Beacon_Option=2;
int Beacon_Timer=0;
byte dat1 = 0x00; // Stores received byte
byte dat2 = 0x00; // Stores received byte
byte dat3 = 0x00; // Stores received byte
byte dat4 = 0x00; // Stores received byte
byte dat5 = 0x00; // Stores received byte
byte dat6 = 0x00; // Stores received byte
byte command_val = 0; // Stores the command value
byte Data_Val_1 = 0; // Stores the data value
byte Data_Val_2 = 0; // Stores the data value
byte Data_Val_3 = 0; // Stores the data value
byte Data_Val_4 = 0; // Stores the data value
byte Data_Val_5 = 0; // Stores the data value
byte Data_Val_6 = 0; // Stores the data value
byte Data_Val_7 = 0; // Stores the data value
byte Data_Val_8 = 0; // Stores the data value
byte Data_Val_9 = 0; // Stores the data value
byte Data_Val_10 = 0; // Stores the data value
byte Data_Val_11 = 0; // Stores the data value
byte Data_Val_12 = 0; // Stores the data value
byte Old_Data_Val_1 = 0; // Stores the data value
byte Old_Data_Val_2 = 0; // Stores the data value
byte Old_Data_Val_3 = 0; // Stores the data value
byte Old_Data_Val_4 = 0; // Stores the data value
byte Old_Data_Val_5 = 0; // Stores the data value
byte Old_Data_Val_6 = 0; // Stores the data value
byte Old_Data_Val_7 = 0; // Stores the data value
byte Old_Data_Val_8 = 0; // Stores the data value
int data = 0; // Variable to indicate serial data is available
#include <SPI.h>
#include <RH_NRF24.h>
RH_NRF24 nrf24; // Create NRF24 object
void setup()
{
Serial.begin(9600);
pinMode(2, OUTPUT); // Right indicator
pinMode(3, OUTPUT); // Front Work lights
pinMode(4, OUTPUT); // Right Beacon
pinMode(5, OUTPUT); // Rear Work Lights
pinMode(7, OUTPUT); // Left Beacon
pinMode(9, OUTPUT); // Left indicator
pinMode(A0, OUTPUT); // Head Lights
nrf24.init(); // Initiailize NRF24 radio module
nrf24.setChannel(1); // Defaults after init are 2.402 GHz (channel 2), 2Mbps, 0dBm
nrf24.setRF(RH_NRF24::DataRate2Mbps, RH_NRF24::TransmitPower0dBm);
}
void loop()
{
Data_Check();
Data_Loss_Check();
if(Active==1){
Update_Motors();
LED_Control();
Beacon_Control();
}
Ind_Control();
}
void Data_Check(){
if (nrf24.available())
{
// Should be a message for us now
uint8_t buf[16];
uint8_t len = sizeof(buf);
if (nrf24.recv(buf, &len))
{
// We recieved a string of ten bytes, four ID, one command and six data values but they may not be for this tractor
if (buf[0] == ID1 && buf[1] == ID2 && buf[2] == ID3 && buf[3] == ID4){ // Confirm that the correct vehicle ID has been recieved
Data_Val_1 = buf[4]; // Store the controller left joystick x value
Data_Val_2 = buf[5]; // Store the controller left joystick y value
Data_Val_3 = buf[6]; // Store the controller left pot value
Data_Val_4 = buf[7]; // Store the controller right joystick x value
Data_Val_5 = buf[8]; // Store the controller right joystick y value
Data_Val_6 = buf[9]; // Store the controller right pot value
Data_Val_7 = buf[10]; // Store the head lights state
Data_Val_8 = buf[11]; // Store the work lights state
Data_Val_9 = buf[12]; // Store the indicator state
Data_Val_10 = buf[13]; // Store the new data value
Data_Val_11 = buf[14]; // Store the new data value
Data_Val_12 = buf[15]; // Store the new data value
Last_Data_Timer = 10;
Active = 1;
}
}
}
}
void Update_Motors(){
if(Data_Val_1!=Old_Data_Val_1){
Serial.write(0x0A); // \n
Serial.write(0x01); // \n
Serial.write(Data_Val_1); // \n
Old_Data_Val_1=Data_Val_1;
}
if(Data_Val_2!=Old_Data_Val_2){
Serial.write(0x0A); // \n
Serial.write(0x02); // \n
Serial.write(Data_Val_2); // \n
Old_Data_Val_2=Data_Val_2;
}
if(Data_Val_3!=Old_Data_Val_3){
Serial.write(0x0A); // \n
Serial.write(0x03); // \n
Serial.write(Data_Val_3); // \n
Old_Data_Val_3=Data_Val_3;
}
if(Data_Val_4!=Old_Data_Val_4){
Serial.write(0x0A); // \n
Serial.write(0x04); // \n
Serial.write(Data_Val_4); // \n
Old_Data_Val_4=Data_Val_4;
}
if(Data_Val_5!=Old_Data_Val_5){
Serial.write(0x0A); // \n
Serial.write(0x05); // \n
Serial.write(Data_Val_5); // \n
Old_Data_Val_5=Data_Val_5;
}
if(Data_Val_6!=Old_Data_Val_6){
Serial.write(0x0A); // \n
Serial.write(0x06); // \n
Serial.write(Data_Val_6); // \n
Old_Data_Val_6=Data_Val_6;
}
}
void LED_Control(){
if(Data_Val_8!=Old_Data_Val_8){
if(Data_Val_8 == 1){ // Work Lights
digitalWrite(3, HIGH); // turn it on
digitalWrite(5, HIGH); // turn it on
Serial.write(0x0A); // \n
Serial.write(0x08); // \n
Serial.write(0x01); // \n
}
else{
digitalWrite(3, LOW); // turn it on
digitalWrite(5, LOW); // turn it on
Serial.write(0x0A); // \n
Serial.write(0x08); // \n
Serial.write(0x00); // \n
}
Old_Data_Val_8=Data_Val_8;
}
if(Data_Val_7!=Old_Data_Val_7){
if(Data_Val_7 == 1){
analogWrite(A0, 127);
Serial.write(0x0A); // \n
Serial.write(0x07); // \n
Serial.write(0x01); // \n
}
else if(Data_Val_7 == 2){
analogWrite(A0, 255);
Serial.write(0x0A); // \n
Serial.write(0x07); // \n
Serial.write(0x02); // \n
}
else{
analogWrite(A0, 0);
Serial.write(0x0A); // \n
Serial.write(0x07); // \n
Serial.write(0x00); // \n
}
Old_Data_Val_7=Data_Val_7;
}
}
void Ind_Control(){
Ind_Timer = Ind_Timer+1;
if (Ind_Timer == 6000 && Ind_Timer2 == 1){ // If the desired on time is reached
if (Data_Val_9 == 1){
ind_left();
}
else if(Data_Val_9 == 2){
ind_right();
}
else if(Data_Val_9 == 3){
ind_hazard();
}
else{
ind_off();
}
Ind_Timer = 0;
Ind_Timer2 = 0;
//}
}
else if (Ind_Timer == 6000 && Ind_Timer2 != 1){ // If the desired on time is reached
Ind_Timer = 0; // Clear ind_timer
Ind_Timer2 = Ind_Timer2+1; // Incrememt ind_timer2
}
}
// Indicator control functions
void ind_left(){
if (left_ind == 0){ // If left indicator is off
digitalWrite(2, HIGH); // turn it on
Serial.write(0x0A); // \n
Serial.write(0x09); // \n
Serial.write(0x02); // \n
left_ind = 1;
}
else{ // If left indicator is on
ind_off();
}
}
void ind_right(){
if (right_ind == 0){ // If right indicator is off
digitalWrite(9, HIGH); // turn it on
Serial.write(0x0A); // \n
Serial.write(0x09); // \n
Serial.write(0x01); // \n
right_ind = 1;
}
else{ // If right indicator is on
ind_off();
}
}
void ind_hazard(){
if (left_ind == 0){ // If hazards are off
digitalWrite(2, HIGH); // turn them on
digitalWrite(9, HIGH);
Serial.write(0x0A); // \n
Serial.write(0x09); // \n
Serial.write(0x03); // \n
left_ind = 1;
}
else{ // If hazards are on
ind_off();
}
}
void ind_off(){
digitalWrite(2, LOW); // turn them off
digitalWrite(9, LOW);
Serial.write(0x0A); // \n
Serial.write(0x09); // \n
Serial.write(0x00); // \n
left_ind = 0;
right_ind = 0;
}
void Beacon_Control(){
if(Beacon_Option==1){
Beacon_Timer++;
if (Beacon_Timer == 40){
digitalWrite(4, LOW);
digitalWrite(7, HIGH);
}
else if (Beacon_Timer == 80){
digitalWrite(4, HIGH);
digitalWrite(7, LOW);
Beacon_Timer = 0;
}
}
else if(Beacon_Option==2){
Beacon_Timer++;
if (Beacon_Timer == 20){
digitalWrite(4, HIGH);
}
if (Beacon_Timer == 30){
digitalWrite(4, LOW);
}
if (Beacon_Timer == 40){
digitalWrite(4, HIGH);
}
if (Beacon_Timer == 50){
digitalWrite(4, LOW);
}
if (Beacon_Timer == 70){
digitalWrite(7, HIGH);
}
if (Beacon_Timer == 80){
digitalWrite(7, LOW);
}
if (Beacon_Timer == 90){
digitalWrite(7, HIGH);
}
if (Beacon_Timer == 100){
digitalWrite(7, LOW);
Beacon_Timer = 0;
}
}
else{
digitalWrite(4, LOW);
digitalWrite(7, LOW);
}
}
void Data_Loss_Check(){
if(Last_Data_Timer != 0){
Last_Data_Timer = Last_Data_Timer - 1;
}
if(Last_Data_Timer == 0 && Active == 1){
Active = 0;
Data_Val_9 == 3;
//Beacon_Option=0;
LED_Control();
Beacon_Control();
}
}
Tractor Body Code
/*
RC Massey 8680 Tractor Body Code Version 1.0
This code was written by Oisin O'Conchubhair for the website www.rctractors.net
This is the generic code used to control homemade RC Tractors.
The code is intended to be used with an Arduino Pro Mini
Pin Assignment
D0 Serial RX
D1 Serial TX
D2 Left Indicator
D3 Head Lights
D4 Right Indicator
D5 Drive Motor Speed Control
D6 Brake Lights
D7 Drive Motor Direction Control 1
D8 Drive Motor Direction Control 2
D9 Three-Point Linkage Servo Signal
D10 Steering Servo Signal
D11 Accessory Servo Signal
D12 Accessory Serial TX Signal
D13 Spot Lights
A0 Beacon 1
A1 Beacon 2
A2 Not assigned
A3 Not assigned
A4 Not assigned
A5 Not assigned
*/
// This section describes the vehicle
byte ID1 = 0x4D; // Enter a four byte ID for the vehicle
byte ID2 = 0x38; // for example F936 for the Fendt 936 model
byte ID3 = 0x36; // would be ID1 = 0x46; ID2 = 0x39; ID3 = 0x33; ID4 = 0x36
byte ID4 = 0x38; // because asci character F is 46 in hexidecimal and so on
byte steering_center = 0x52; // Every model is different so once we have biult the model
byte steering_min = 0x20; // we test for the limits of the steering. Servo values must
byte steering_max = 0xA0; // not exceed 0xB4 as this is 180 degrees, max servo rotation
byte drive_center = 128; // The drive is generally going to be the same for all models
byte drive_max = 255; // but you can change these values if you need to
byte drive_min = 0;
byte link_center = 0x5A; // The link values depend your use. If used to control one of
byte link_min = 0x40; // the three-point links, adjust the values. If used for an
byte link_max = 0x80; // accessory, dont change values and use like external servo
byte external_center = 0x5A; // Set a center value for the extra servos, 5A is 90 in Hex
byte ex_ser_val = 30;
// Variables used in the program
int left_ind = 0; // Variable indicating if the left indicator is currently on or off
int right_ind = 0; // Variable indicating if the right indicator is currently on or off
int ind_timer = 0; // Variable used to record the length of time the indicator is on for
int ind_timer2 = 0; // Variable used to record the beacon is on for
int beac_on = 0; // Variable indicating if the right indicator is currently on or off
int beac_timer = 0; // Variable used to record the length of time the indicator is on for
int ind_active = 0; // Variable set to show that indicator code should be running
int beacon_active = 0; // Variable set to show that indicator code should be running
int dips_on = 0; // Variable to idicate if the dipped headlights are on
int heads_on = 0; // Variable to idicate if the full beams are on
int spots_on = 0; // Variable to idicate if the large spot lights are on
int move1 = 125; // Variable used to determine the motor direction
int move2 = 125;
byte command_val = 0x00; // Stores the command value
byte data_val = 0x00; // Stores the data value
byte servo_val = 0x00; // Variable used to ensure data_val is between servo limits
byte drive_val = 0x00;
byte dat1 = 0x00; // Stores received byte
byte dat2 = 0x00; // Stores received byte
byte dat3 = 0x00; // Stores received byte
byte dat4 = 0x00; // Stores received byte
byte dat5 = 0x00; // Stores received byte
byte dat6 = 0x00; // Stores received byte
byte steering_val = 0x00;
int link_ser_val = 127;
// Battery Voltage Measurement Code
//long readVcc() {
// long result;
// // Read 1.1V reference against AVcc
// ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1);
// delay(2); // Wait for Vref to settle
// ADCSRA |= _BV(ADSC); // Convert
// while (bit_is_set(ADCSRA,ADSC));
// result = ADCL;
// result |= ADCH<<8;
// result = 1125300L / result; // Back-calculate AVcc in mV
// return result;
//}
#include <Servo.h> // Include the library for controlling servos
#include <SendOnlySoftwareSerial.h> // Include the library for creating additional serial ports
SendOnlySoftwareSerial ExternalSerial(12); // Set pin 2 as RX and 7 as TX for the software serial port
Servo steering_servo; // Create servo object to control the steering servo
Servo link_servo; // Create servo object to control the link servo
int data = 0; // Variable to indicate serial data is available
void setup()
{
Serial.begin(9600); // Initialize main serial communication
ExternalSerial.begin(9600); // Initialize additional serial communication
// Set pins as outputs
pinMode(2, OUTPUT); // Left indicator
pinMode(3, OUTPUT); // Head lights
pinMode(4, OUTPUT); // Right indicator
pinMode(5, OUTPUT); // Drive motor 1 PWM control pin
pinMode(6, OUTPUT); // Drive motor 2 PWM control pin
pinMode(7, OUTPUT); // Drive motor 1 direction control 1
pinMode(8, OUTPUT); // Drive motor 1 direction control 2
pinMode(10, OUTPUT); // Brake Lights
pinMode(13, OUTPUT); // Spot Lights
pinMode(A0, OUTPUT); // Drive motor 2 direction control 1
pinMode(A1, OUTPUT); // Drive motor 2 direction control 2
pinMode(A2, OUTPUT); // Not assigned
pinMode(A3, OUTPUT); // Not assigned
pinMode(A4, OUTPUT); // Not assigned
pinMode(A5, OUTPUT); // Not assigned
// Set servo pins
link_servo.attach(9); // attaches the servo on pin 9 to the link servo object
steering_servo.attach(10); // attaches the servo on pin 10 to the steering servo object
// Initialise the servos
link_servo.write(link_center); // sets the initial link servo position
}
// Main loop, this constantly repeats
void loop() {
if (Serial.available()) { // Check if serial data is available
dat1=Serial.read(); // If yes then read it
if (dat1 == 0x0A){ // Check for 0A indicating the start of a command string
data++; // If 0A recieved then make data = 1
while (data == 1){ // While data = 1 wait for the first command byte
if (Serial.available()) {
command_val=Serial.read(); // Once receieved store it in dat1
data++; // Increment data variable
}
}
while (data == 2){ // While data = 2 wait for the second command byte
if (Serial.available()) {
data_val=Serial.read(); // Once receieved store it in dat2
data = 0; // When the final byte is recieved we exit these loops
}
}
}
}
switch (command_val){ // Perform an action based on the recieved command
case 0x00:
{ // No command exit command selection
break;
}
case 0x01: // Left Joystick X
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x02: // Left Joystick Y
{
drive_val = data_val;//drive_min, drive_max); // scale the data value for use with the motor
update_motor();
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x03: // Left Pot
{ // We will scale this value with the controller so it works for different implements
link_servo.write(data_val); // Set the servo position according to the scaled value
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x04: // Right Joystick X
{
servo_val = map(data_val, 0x00, 0xFF, steering_min, steering_max); // Scale data_val to between steering_min and steering_max
steering_servo.write(servo_val); // Set the servo position according to the scaled value
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x05: // Right Joystick Y
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x06: // Right Pot
{
if(data_val > 0xCC){// && ex_ser_val<255)
ExternalSerial.write(0x09);
}
else if(data_val < 0x40){// && ex_ser_val>0)
ExternalSerial.write(0x08);
}
else{
ExternalSerial.write(0x0A);
}
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x07: // Head lights
{
if (data_val == 1)
{
analogWrite(3, 127);
analogWrite(6, 125);
ExternalSerial.write(0x05); // Output serial command to the implement
}
else if (data_val == 2)
{
analogWrite(3, 255);
analogWrite(6, 125);
ExternalSerial.write(0x05); // Output serial command to the implement
}
else
{
analogWrite(3, 0);
analogWrite(6, 0);
ExternalSerial.write(0x07); // Output serial command to the implement
}
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x08: // Left indicator
{
if (data_val == 1){ // If off turn on
digitalWrite(13, HIGH);
ExternalSerial.write(0x01); // Output serial command to the implement
}
else{
digitalWrite(13, LOW);
ExternalSerial.write(0x04); // Output serial command to the implement
}
}
case 0x09:
{
if (data_val == 1){ // If off turn on
digitalWrite(2, HIGH);
digitalWrite(4, LOW);
ExternalSerial.write(0x01); // Output serial command to the implement
}
else if(data_val == 2){
digitalWrite(2, LOW);
digitalWrite(4, HIGH);
ExternalSerial.write(0x02); // Output serial command to the implement
}
else if(data_val == 3){
digitalWrite(2, HIGH);
digitalWrite(4, HIGH);
ExternalSerial.write(0x03); // Output serial command to the implement
}
else{
digitalWrite(2, LOW);
digitalWrite(4, LOW);
ExternalSerial.write(0x04); // Output serial command to the implement
}
}
case 0x0B: // Not Implemented
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x0C: // Link servo
{
if (dips_on == 0) // If dips are off turn on
{
analogWrite(3, 125); // Set headlight pwm to 50%
analogWrite(6, 125); // Set taillight pwm to 50%
dips_on = 1;
}
else // Or if dips are on turn off
{
analogWrite(3, 0); // Set headlight pwm to 50%
analogWrite(10, 0); // Set taillight pwm to 50%
dips_on = 0;
heads_on = 0;
}
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x0D: // Not Implemented
{
if (heads_on == 0)
{
analogWrite(3, 255); // Set headlight pwm to 100%
analogWrite(10, 125); // Set taillight pwm to 50%
heads_on = 1;
}
else
{
analogWrite(3, 0); // Set headlight pwm to 100%
analogWrite(10, 0); // Set taillight pwm to 50%
dips_on = 0;
heads_on = 0;
}
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x0E: // Not Implemented
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x0F: // Not Implemented
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
}
}
void update_motor(){
if (drive_val < 120){ // These if functions leave a buffer zone of 15 bits above and below the drive center value
move1 = map(drive_val, 120, 0, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
digitalWrite(8, HIGH); // Set the direction with pins 7 and 8
digitalWrite(7, LOW);
}
else if (drive_val > 135){
move1 = map(drive_val, 135, 255, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
digitalWrite(7, HIGH); // Set the direction with pins 7 and 8
digitalWrite(8, LOW);
}
else{
move1=0;
analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
digitalWrite(8, LOW); // Set the direction with pins 7 and 8
digitalWrite(7, LOW);
}
}
void Battery_Check(){
//Batt_Vol = readVcc();
//if(Batt_Vol<3600){
//shutdown
//}
}
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Post by 1066lucky1 on Jul 5, 2015 17:52:21 GMT
Hi try to verify the code but it came up with an error, which i have put with this message hope you cane help as i am new to code so at this time i can not see the error.
Thanks Steven.
sketch_jun18a _ rc. inc;37:22; fatel error: RH _ NRF24, h: no such file or directory.
compilation terminated.
Error compiling.
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Post by RC Tractor Guy on Jul 8, 2015 8:20:54 GMT
sketch_jun18a _ rc. inc;37:22; fatel error: RH _ NRF24, h: no such file or directory. compilation terminated. Error compiling. Hi, did you install the RH_NRF24 library? I think that's whats wrong. I've switched to the RF24 library now and I'll have code for that up soon hopefully. |
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Post by RC Tractor Guy on Jul 8, 2015 21:41:08 GMT
Here is an update on the Massey code, first the cab code:
/*
RC Massey 8680 Tractor Cab Code Version 2.0
This code was written by Oisin O'Conchubhair for the website www.rctractors.net
This is the generic code used to control homemade RC Tractors.
The code is intended to be used with an Arduino Pro Mini
Pin Assignment
D0 Serial RX
D1 Serial TX
D2 Right Indicator
D3 Front Work Lights
D4 Right Beacon
D5 Rear Work Lights
D6
D7 Left Beacon
D8 NRF24 CE
D9 Left Indicator
D10 NRF24 CSN
D11 NRF24 MOSI
D12 NRF24 MISO
D13 NRF24 SCK
A0 Head Lights
A1
A2 Not assigned
A3 Not assigned
A4 Not assigned
A5 Not assigned
*/
// This section describes the vehicle
byte ID1 = 0x4D; // Enter a four byte ID for the vehicle
byte ID2 = 0x38; // for example F936 for the Fendt 936 model
byte ID3 = 0x36; // would be ID1 = 0x46; ID2 = 0x39; ID3 = 0x33; ID4 = 0x36
byte ID4 = 0x38; // because asci character F is 46 in hexidecimal and so on
// Variables used in the program
int Active = 0; // Variable to determine if the tractor is in active
int left_ind = 0; // Variable indicating if the left indicator is currently on or off
int right_ind = 0; // Variable indicating if the right indicator is currently on or off
int Ind_Timer = 0; // Variable used to record the length of time the indicator is on for
int Ind_Timer2 = 0; // Variable used to record the beacon is on for
int beac_on = 0; // Variable indicating if the right indicator is currently on or off
int beac_timer = 0; // Variable used to record the length of time the indicator is on for
int ind_active = 0; // Variable set to show that indicator code should be running
int beacon_active = 0; // Variable set to show that indicator code should be running
int spots_on = 0; // Variable to idicate if the large spot lights are on
int Last_Data_Timer = 0;
int Beacon_Option=2;
int Beacon_Timer=0;
byte dat1 = 0x00; // Stores received byte
byte dat2 = 0x00; // Stores received byte
byte dat3 = 0x00; // Stores received byte
byte dat4 = 0x00; // Stores received byte
byte dat5 = 0x00; // Stores received byte
byte dat6 = 0x00; // Stores received byte
byte command_val = 0; // Stores the command value
byte Data_Val_1 = 0; // Stores the data value
byte Data_Val_2 = 0; // Stores the data value
byte Data_Val_3 = 0; // Stores the data value
byte Data_Val_4 = 0; // Stores the data value
byte Data_Val_5 = 0; // Stores the data value
byte Data_Val_6 = 0; // Stores the data value
byte Data_Val_7 = 0; // Stores the data value
byte Data_Val_8 = 0; // Stores the data value
byte Data_Val_9 = 0; // Stores the data value
byte Data_Val_10 = 0; // Stores the data value
byte Data_Val_11 = 0; // Stores the data value
byte Data_Val_12 = 0; // Stores the data value
byte Old_Data_Val_1 = 0; // Stores the data value
byte Old_Data_Val_2 = 0; // Stores the data value
byte Old_Data_Val_3 = 0; // Stores the data value
byte Old_Data_Val_4 = 0; // Stores the data value
byte Old_Data_Val_5 = 0; // Stores the data value
byte Old_Data_Val_6 = 0; // Stores the data value
byte Old_Data_Val_7 = 0; // Stores the data value
byte Old_Data_Val_8 = 0; // Stores the data value
int data = 0; // Variable to indicate serial data is available
uint8_t buf[16];
#include <SPI.h>
#include "RF24.h"
RF24 radio(8,10);
// Controller Address
const uint64_t Controller_1 = 0xE8E8F0F0E1LL;
const uint64_t Controller_2 = 0xE8E8F0F0E2LL;
void setup()
{
Serial.begin(9600);
pinMode(2, OUTPUT); // Right indicator
pinMode(3, OUTPUT); // Front Work lights
pinMode(4, OUTPUT); // Right Beacon
pinMode(5, OUTPUT); // Rear Work Lights
pinMode(7, OUTPUT); // Left Beacon
pinMode(9, OUTPUT); // Left indicator
pinMode(A0, OUTPUT); // Head Lights
radio.begin(); // Initialize the NRF24 Radio Module
radio.openReadingPipe(1,Controller_1); // Set Address of Controller 1
radio.openReadingPipe(2,Controller_2); // Set Address of Controller 2
radio.startListening(); // Start listening for commands from the controllers
}
void loop()
{
Data_Check();
Data_Loss_Check();
if(Active==1){
Update_Motors();
LED_Control();
Beacon_Control();
}
Ind_Control();
}
void Data_Check(){
if (radio.available())radio.read(buf, 16);{
// We recieved a string of ten bytes, four ID, one command and six data values but they may not be for this tractor
if (buf[0] == ID1 && buf[1] == ID2 && buf[2] == ID3 && buf[3] == ID4){ // Confirm that the correct vehicle ID has been recieved
Data_Val_1 = buf[4]; // Store the controller left joystick x value
Data_Val_2 = buf[5]; // Store the controller left joystick y value
Data_Val_3 = buf[6]; // Store the controller left pot value
Data_Val_4 = buf[7]; // Store the controller right joystick x value
Data_Val_5 = buf[8]; // Store the controller right joystick y value
Data_Val_6 = buf[9]; // Store the controller right pot value
Data_Val_7 = buf[10]; // Store the head lights state
Data_Val_8 = buf[11]; // Store the work lights state
Data_Val_9 = buf[12]; // Store the indicator state
Data_Val_10 = buf[13]; // Store the new data value
Data_Val_11 = buf[14]; // Store the new data value
Data_Val_12 = buf[15]; // Store the new data value
Last_Data_Timer = 10;
Active = 1;
}
}
}
void Update_Motors(){
if(Data_Val_1!=Old_Data_Val_1){
Serial.write(0x0A); // \n
Serial.write(0x01); // \n
Serial.write(Data_Val_1); // \n
Old_Data_Val_1=Data_Val_1;
}
if(Data_Val_2!=Old_Data_Val_2){
Serial.write(0x0A); // \n
Serial.write(0x02); // \n
Serial.write(Data_Val_2); // \n
Old_Data_Val_2=Data_Val_2;
}
if(Data_Val_3!=Old_Data_Val_3){
Serial.write(0x0A); // \n
Serial.write(0x03); // \n
Serial.write(Data_Val_3); // \n
Old_Data_Val_3=Data_Val_3;
}
if(Data_Val_4!=Old_Data_Val_4){
Serial.write(0x0A); // \n
Serial.write(0x04); // \n
Serial.write(Data_Val_4); // \n
Old_Data_Val_4=Data_Val_4;
}
if(Data_Val_5!=Old_Data_Val_5){
Serial.write(0x0A); // \n
Serial.write(0x05); // \n
Serial.write(Data_Val_5); // \n
Old_Data_Val_5=Data_Val_5;
}
if(Data_Val_6!=Old_Data_Val_6){
Serial.write(0x0A); // \n
Serial.write(0x06); // \n
Serial.write(Data_Val_6); // \n
Old_Data_Val_6=Data_Val_6;
}
}
void LED_Control(){
if(Data_Val_8!=Old_Data_Val_8){
if(Data_Val_8 == 1){ // Work Lights
digitalWrite(3, HIGH); // turn it on
digitalWrite(5, HIGH); // turn it on
Serial.write(0x0A); // \n
Serial.write(0x08); // \n
Serial.write(0x01); // \n
}
else{
digitalWrite(3, LOW); // turn it on
digitalWrite(5, LOW); // turn it on
Serial.write(0x0A); // \n
Serial.write(0x08); // \n
Serial.write(0x00); // \n
}
Old_Data_Val_8=Data_Val_8;
}
if(Data_Val_7!=Old_Data_Val_7){
if(Data_Val_7 == 1){
analogWrite(A0, 127);
Serial.write(0x0A); // \n
Serial.write(0x07); // \n
Serial.write(0x01); // \n
}
else if(Data_Val_7 == 2){
analogWrite(A0, 255);
Serial.write(0x0A); // \n
Serial.write(0x07); // \n
Serial.write(0x02); // \n
}
else{
analogWrite(A0, 0);
Serial.write(0x0A); // \n
Serial.write(0x07); // \n
Serial.write(0x00); // \n
}
Old_Data_Val_7=Data_Val_7;
}
}
void Ind_Control(){
Ind_Timer = Ind_Timer+1;
if (Ind_Timer == 6000 && Ind_Timer2 == 1){ // If the desired on time is reached
if (Data_Val_9 == 1){
ind_left();
}
else if(Data_Val_9 == 2){
ind_right();
}
else if(Data_Val_9 == 3){
ind_hazard();
}
else{
ind_off();
}
Ind_Timer = 0;
Ind_Timer2 = 0;
//}
}
else if (Ind_Timer == 6000 && Ind_Timer2 != 1){ // If the desired on time is reached
Ind_Timer = 0; // Clear ind_timer
Ind_Timer2 = Ind_Timer2+1; // Incrememt ind_timer2
}
}
// Indicator control functions
void ind_left(){
if (left_ind == 0){ // If left indicator is off
digitalWrite(2, HIGH); // turn it on
Serial.write(0x0A); // \n
Serial.write(0x09); // \n
Serial.write(0x02); // \n
left_ind = 1;
}
else{ // If left indicator is on
ind_off();
}
}
void ind_right(){
if (right_ind == 0){ // If right indicator is off
digitalWrite(9, HIGH); // turn it on
Serial.write(0x0A); // \n
Serial.write(0x09); // \n
Serial.write(0x01); // \n
right_ind = 1;
}
else{ // If right indicator is on
ind_off();
}
}
void ind_hazard(){
if (left_ind == 0){ // If hazards are off
digitalWrite(2, HIGH); // turn them on
digitalWrite(9, HIGH);
Serial.write(0x0A); // \n
Serial.write(0x09); // \n
Serial.write(0x03); // \n
left_ind = 1;
}
else{ // If hazards are on
ind_off();
}
}
void ind_off(){
digitalWrite(2, LOW); // turn them off
digitalWrite(9, LOW);
Serial.write(0x0A); // \n
Serial.write(0x09); // \n
Serial.write(0x00); // \n
left_ind = 0;
right_ind = 0;
}
void Beacon_Control(){
if(Beacon_Option==1){
Beacon_Timer++;
if (Beacon_Timer == 40){
digitalWrite(4, LOW);
digitalWrite(7, HIGH);
}
else if (Beacon_Timer == 80){
digitalWrite(4, HIGH);
digitalWrite(7, LOW);
Beacon_Timer = 0;
}
}
else if(Beacon_Option==2){
Beacon_Timer++;
if (Beacon_Timer == 20){
digitalWrite(4, HIGH);
}
if (Beacon_Timer == 30){
digitalWrite(4, LOW);
}
if (Beacon_Timer == 40){
digitalWrite(4, HIGH);
}
if (Beacon_Timer == 50){
digitalWrite(4, LOW);
}
if (Beacon_Timer == 70){
digitalWrite(7, HIGH);
}
if (Beacon_Timer == 80){
digitalWrite(7, LOW);
}
if (Beacon_Timer == 90){
digitalWrite(7, HIGH);
}
if (Beacon_Timer == 100){
digitalWrite(7, LOW);
Beacon_Timer = 0;
}
}
else{
digitalWrite(4, LOW);
digitalWrite(7, LOW);
}
}
void Data_Loss_Check(){
if(Last_Data_Timer != 0){
Last_Data_Timer = Last_Data_Timer - 1;
}
if(Last_Data_Timer == 0 && Active == 1){
Active = 0;
Data_Val_9 == 3;
//Beacon_Option=0;
LED_Control();
Beacon_Control();
}
}
and now the body code:
/*
RC Massey 8680 Tractor Body Code Version 2.0
This code was written by Oisin O'Conchubhair for the website www.rctractors.net
This is the generic code used to control homemade RC Tractors.
The code is intended to be used with an Arduino Pro Mini
Pin Assignment
D0 Serial RX
D1 Serial TX
D2 Left Indicator
D3 Head Lights
D4 Right Indicator
D5 Drive Motor Speed Control
D6 Brake Lights
D7 Drive Motor Direction Control 1
D8 Drive Motor Direction Control 2
D9 Three-Point Linkage Servo Signal
D10 Steering Servo Signal
D11 Accessory Servo Signal
D12 Accessory Serial TX Signal
D13 Spot Lights
A0 Beacon 1
A1 Beacon 2
A2 Not assigned
A3 Not assigned
A4 Not assigned
A5 Not assigned
*/
// This section describes the vehicle
byte ID1 = 0x4D; // Enter a four byte ID for the vehicle
byte ID2 = 0x38; // for example F936 for the Fendt 936 model
byte ID3 = 0x36; // would be ID1 = 0x46; ID2 = 0x39; ID3 = 0x33; ID4 = 0x36
byte ID4 = 0x38; // because asci character F is 46 in hexidecimal and so on
byte steering_center = 0x52; // Every model is different so once we have biult the model
byte steering_min = 0x05; // we test for the limits of the steering. Servo values must
byte steering_max = 0x95; // not exceed 0xB4 as this is 180 degrees, max servo rotation
byte drive_center = 128; // The drive is generally going to be the same for all models
byte drive_max = 255; // but you can change these values if you need to
byte drive_min = 0;
byte link_center = 0x5A; // The link values depend your use. If used to control one of
byte link_min = 0x40; // the three-point links, adjust the values. If used for an
byte link_max = 0x80; // accessory, dont change values and use like external servo
byte external_center = 0x5A; // Set a center value for the extra servos, 5A is 90 in Hex
byte ex_ser_val = 30;
// Variables used in the program
int left_ind = 0; // Variable indicating if the left indicator is currently on or off
int right_ind = 0; // Variable indicating if the right indicator is currently on or off
int ind_timer = 0; // Variable used to record the length of time the indicator is on for
int ind_timer2 = 0; // Variable used to record the beacon is on for
int beac_on = 0; // Variable indicating if the right indicator is currently on or off
int beac_timer = 0; // Variable used to record the length of time the indicator is on for
int ind_active = 0; // Variable set to show that indicator code should be running
int beacon_active = 0; // Variable set to show that indicator code should be running
int dips_on = 0; // Variable to idicate if the dipped headlights are on
int heads_on = 0; // Variable to idicate if the full beams are on
int spots_on = 0; // Variable to idicate if the large spot lights are on
int move1 = 125; // Variable used to determine the motor direction
int move2 = 125;
byte command_val = 0x00; // Stores the command value
byte data_val = 0x00; // Stores the data value
byte servo_val = 0x00; // Variable used to ensure data_val is between servo limits
byte drive_val = 0x00;
byte dat1 = 0x00; // Stores received byte
byte dat2 = 0x00; // Stores received byte
byte dat3 = 0x00; // Stores received byte
byte dat4 = 0x00; // Stores received byte
byte dat5 = 0x00; // Stores received byte
byte dat6 = 0x00; // Stores received byte
byte steering_val = 0x00;
int link_ser_val = 127;
// Battery Voltage Measurement Code
//long readVcc() {
// long result;
// // Read 1.1V reference against AVcc
// ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1);
// delay(2); // Wait for Vref to settle
// ADCSRA |= _BV(ADSC); // Convert
// while (bit_is_set(ADCSRA,ADSC));
// result = ADCL;
// result |= ADCH<<8;
// result = 1125300L / result; // Back-calculate AVcc in mV
// return result;
//}
#include <Servo.h> // Include the library for controlling servos
#include <SendOnlySoftwareSerial.h> // Include the library for creating additional serial ports
SendOnlySoftwareSerial ExternalSerial(12); // Set pin 2 as RX and 7 as TX for the software serial port
Servo steering_servo; // Create servo object to control the steering servo
Servo link_servo; // Create servo object to control the link servo
int data = 0; // Variable to indicate serial data is available
void setup()
{
Serial.begin(9600); // Initialize main serial communication
ExternalSerial.begin(9600); // Initialize additional serial communication
// Set pins as outputs
pinMode(2, OUTPUT); // Left indicator
pinMode(3, OUTPUT); // Head lights
pinMode(4, OUTPUT); // Right indicator
pinMode(5, OUTPUT); // Drive motor 1 PWM control pin
pinMode(6, OUTPUT); // Drive motor 2 PWM control pin
pinMode(7, OUTPUT); // Drive motor 1 direction control 1
pinMode(8, OUTPUT); // Drive motor 1 direction control 2
pinMode(10, OUTPUT); // Brake Lights
pinMode(13, OUTPUT); // Spot Lights
pinMode(A0, OUTPUT); // Drive motor 2 direction control 1
pinMode(A1, OUTPUT); // Drive motor 2 direction control 2
pinMode(A2, OUTPUT); // Not assigned
pinMode(A3, OUTPUT); // Not assigned
pinMode(A4, OUTPUT); // Not assigned
pinMode(A5, OUTPUT); // Not assigned
// Set servo pins
link_servo.attach(9); // attaches the servo on pin 9 to the link servo object
steering_servo.attach(10); // attaches the servo on pin 10 to the steering servo object
// Initialise the servos
link_servo.write(link_center); // sets the initial link servo position
}
// Main loop, this constantly repeats
void loop() {
if (Serial.available()) { // Check if serial data is available
dat1=Serial.read(); // If yes then read it
if (dat1 == 0x0A){ // Check for 0A indicating the start of a command string
data++; // If 0A recieved then make data = 1
while (data == 1){ // While data = 1 wait for the first command byte
if (Serial.available()) {
command_val=Serial.read(); // Once receieved store it in dat1
data++; // Increment data variable
}
}
while (data == 2){ // While data = 2 wait for the second command byte
if (Serial.available()) {
data_val=Serial.read(); // Once receieved store it in dat2
data = 0; // When the final byte is recieved we exit these loops
}
}
}
}
switch (command_val){ // Perform an action based on the recieved command
case 0x00:
{ // No command exit command selection
break;
}
case 0x01: // Left Joystick X
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x02: // Left Joystick Y
{
drive_val = data_val;//drive_min, drive_max); // scale the data value for use with the motor
update_motor();
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x03: // Left Pot
{ // We will scale this value with the controller so it works for different implements
link_servo.write(data_val); // Set the servo position according to the scaled value
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x04: // Right Joystick X
{
servo_val = map(data_val, 0x00, 0xFF, steering_min, steering_max); // Scale data_val to between steering_min and steering_max
steering_servo.write(servo_val); // Set the servo position according to the scaled value
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x05: // Right Joystick Y
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x06: // Right Pot
{
if(data_val > 0xCC){// && ex_ser_val<255)
ExternalSerial.write(0x09);
}
else if(data_val < 0x40){// && ex_ser_val>0)
ExternalSerial.write(0x08);
}
else{
ExternalSerial.write(0x0A);
}
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x07: // Head lights
{
if (data_val == 1)
{
analogWrite(3, 127);
analogWrite(6, 125);
ExternalSerial.write(0x05); // Output serial command to the implement
}
else if (data_val == 2)
{
analogWrite(3, 255);
analogWrite(6, 125);
ExternalSerial.write(0x05); // Output serial command to the implement
}
else
{
analogWrite(3, 0);
analogWrite(6, 0);
ExternalSerial.write(0x07); // Output serial command to the implement
}
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x08: // Left indicator
{
if (data_val == 1){ // If off turn on
digitalWrite(13, HIGH);
ExternalSerial.write(0x01); // Output serial command to the implement
}
else{
digitalWrite(13, LOW);
ExternalSerial.write(0x04); // Output serial command to the implement
}
}
case 0x09:
{
if (data_val == 1){ // If off turn on
digitalWrite(2, HIGH);
digitalWrite(4, LOW);
ExternalSerial.write(0x01); // Output serial command to the implement
}
else if(data_val == 2){
digitalWrite(2, LOW);
digitalWrite(4, HIGH);
ExternalSerial.write(0x02); // Output serial command to the implement
}
else if(data_val == 3){
digitalWrite(2, HIGH);
digitalWrite(4, HIGH);
ExternalSerial.write(0x03); // Output serial command to the implement
}
else{
digitalWrite(2, LOW);
digitalWrite(4, LOW);
ExternalSerial.write(0x04); // Output serial command to the implement
}
}
case 0x0B: // Not Implemented
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x0C: // Link servo
{
if (dips_on == 0) // If dips are off turn on
{
analogWrite(3, 125); // Set headlight pwm to 50%
analogWrite(6, 125); // Set taillight pwm to 50%
dips_on = 1;
}
else // Or if dips are on turn off
{
analogWrite(3, 0); // Set headlight pwm to 50%
analogWrite(10, 0); // Set taillight pwm to 50%
dips_on = 0;
heads_on = 0;
}
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x0D: // Not Implemented
{
if (heads_on == 0)
{
analogWrite(3, 255); // Set headlight pwm to 100%
analogWrite(10, 125); // Set taillight pwm to 50%
heads_on = 1;
}
else
{
analogWrite(3, 0); // Set headlight pwm to 100%
analogWrite(10, 0); // Set taillight pwm to 50%
dips_on = 0;
heads_on = 0;
}
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x0E: // Not Implemented
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
case 0x0F: // Not Implemented
{
command_val = 0x00; // Clear command and data values
data_val = 0x00;
break;
}
}
}
void update_motor(){
if (drive_val < 120){ // These if functions leave a buffer zone of 15 bits above and below the drive center value
move1 = map(drive_val, 120, 0, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
digitalWrite(8, HIGH); // Set the direction with pins 7 and 8
digitalWrite(7, LOW);
}
else if (drive_val > 135){
move1 = map(drive_val, 135, 255, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
digitalWrite(7, HIGH); // Set the direction with pins 7 and 8
digitalWrite(8, LOW);
}
else{
move1=0;
analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
digitalWrite(8, LOW); // Set the direction with pins 7 and 8
digitalWrite(7, LOW);
}
}
void Battery_Check(){
//Batt_Vol = readVcc();
//if(Batt_Vol<3600){
//shutdown
//}
}
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Post by DenWag on Feb 14, 2020 5:41:37 GMT
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