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Topic: Servo problems... (Read 2676 times) previous topic - next topic

PeterH

Yes, missing curly braces is right up there with poor indentation on my list of dislikes.
I only provide help via the forum - please do not contact me for private consultancy.

rdeans

Hi all:

Thanks for your help. What kind of external 6V power source should I use - a battery? If so, how would I connect it to the servos (including grounds).

Thanks again

rdeans

zoomkat


Hi all:

Thanks for your help. What kind of external 6V power source should I use - a battery? If so, how would I connect it to the servos (including grounds).

Thanks again

rdeans


Four 1.5v batterys in series can be used.

http://arduino.cc/forum/index.php/topic,147438.msg1109300.html#msg1109300
Google forum search: Use Google Advanced Search and use Http://forum.arduino.cc/index in the "site or domain:" box.

rdeans

Hi:

I'm in Grade 10 and I don't have much experience with engineering or arduino. How would I specifically hook up the servos and arduino? For example, how would I connect the 4 x 1.5 V batteries to the servo, and how would I establish a common ground for the arduino and servos.

Thanks for your help

JimboZA

Have a look at the pic I've attached....

Three things need to happen:

Arduino still gets its power which ever way suits you, eg from its USB or barrel
Servo gets its power from those batteries, straight into its red and black
The common ground joins servo black to Arduino ground: without that the signal on the yellow from Arduino pin to servo has no "0" and so its level has no meaning.

I just showed this with breadboard, but of course you can hang this together any way that works for you.
"Could you do the egg bacon spam and sausage without the spam then? "

No PMs for help please.
DO NOT power servos from Arduino 5V: give them their own power and connect the grounds.

rdeans

thanks so much... everything's clear :D

rdeans


Hi:
I've bought this battery holder and have connected it to the servo as in zoomkat's picture.
http://www.thesource.ca/estore/product.aspx?language=en-CA&catalog=Online&category=BatteryAccessories&product=2700409

However: the servos are still not staying at the right location. Even the tilt servo is moving from the correct degree to about 180 degrees and back again. I think the problem must be in the code because the batteries seem to make no difference. I wrote a similar program to just move the servo to a position - the program worked perfectly, there were no jitters - the servos held their correct position.
Here is the "similar code"
Code: [Select]

#include <Servo.h>

/* This sample code demonstrates the normal use of a TinyGPS object.
  It requires the use of SoftwareSerial, and assumes that you have a
  4800-baud serial GPS device hooked up on pins 3(rx) and 4(tx).
*/

Servo panservo;
Servo tiltservo;


float dest_latitude =42.24707;
float dest_longitude =-83.00085;
float distance =50;
float distanceangle;
float course = 50;
float courseangle;

void setup()
{
 Serial.begin(115200);

 
 panservo.attach(9);
 tiltservo.attach(10);

}

void loop()
{

 if (distance <= 100){
 distanceangle =int(-0.6*distance + 120);
Serial.print(" distance is less");
Serial.print( distanceangle);
tiltservo.write(distanceangle);
}

else {
 distanceangle = 60;
Serial.print(" distance is greater ");
 Serial.print( distanceangle);
 tiltservo.write(distanceangle);
}


if (270 <= course && course <= 360){
 courseangle = int(-course + 450);
 Serial.print (" course is case 1 ");
 Serial.print ( courseangle);
 panservo.write(courseangle);
 
}
else if (0 <= course && course <= 90){
courseangle = int(-course + 90);
 Serial.print (" course is case 2 ");
 Serial.print ( courseangle);
  panservo.write(courseangle);
 
}
else if (90 < course && course < 180){
courseangle = 0;
 Serial.print (" course is case 3 ");
 Serial.print ( courseangle);
  panservo.write(courseangle);
   

}

else if (180 <= course && course < 270){
courseangle = 180;
 Serial.print (" course is case 4 ");
 Serial.print ( courseangle);
  panservo.write(courseangle);
 
}
}


It seems as if when one servo is working, the other one will jitter.

Here is the code:
Code: [Select]
#include <SoftwareSerial.h>
#include "TinyGPS.h"
#include <Servo.h>

/* This sample code demonstrates the normal use of a TinyGPS object.
It requires the use of SoftwareSerial, and assumes that you have a
4800-baud serial GPS device hooked up on pins 3(rx) and 4(tx).
*/

Servo panservo;
Servo tiltservo;

TinyGPS gps;
SoftwareSerial ss(3, 4);

float dest_latitude =42.24129;
float dest_longitude =-83.00351;
float distance;
float distanceangle;

void setup()
{
 Serial.begin(115200);
 ss.begin(9600);

 panservo.attach(9);
 tiltservo.attach(10);
 Serial.print("Simple TinyGPS library v. ");
 Serial.println(TinyGPS::library_version());
 Serial.println("by Mikal Hart");
 Serial.println();
}

void loop()
{
 bool newData = false;
 unsigned long chars;
 unsigned short sentences, failed;

 // For one second we parse GPS data and report some key values
 for (unsigned long start = millis(); millis() - start < 1000;)
 {
   while (ss.available())
   {
     char c = ss.read();
     // Serial.write(c); // uncomment this line if you want to see the GPS data flowing
     if (gps.encode(c)) // Did a new valid sentence come in?
       newData = true;
   }
 }

 if (newData)
 {
   float flat, flon;
   unsigned long age;
   gps.f_get_position(&flat, &flon, &age);
   Serial.print("LAT=");
   Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6);
   Serial.print(" LON=");
   Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6);
   Serial.print(" SAT=");
   Serial.print(gps.satellites() == TinyGPS::GPS_INVALID_SATELLITES ? 0 : gps.satellites());
   Serial.print(" PREC=");
   Serial.print(gps.hdop() == TinyGPS::GPS_INVALID_HDOP ? 0 : gps.hdop());
   Serial.print("Millis is");
   Serial.print(millis());
   
   
   float distance = (TinyGPS::distance_between(flat, flon, dest_latitude, dest_longitude ));
   float distanceangle;
   float course =  (TinyGPS::course_to(flat, flon, dest_latitude, dest_longitude ));
   float courseangle;
   
   if (distance <= 100){
     distanceangle =int(-0.6*distance + 120);
     Serial.print(" distance is less");
     Serial.print( distanceangle);
     tiltservo.write(distanceangle);
   }

   else {
     distanceangle = 60;
     Serial.print(" distance is greater ");
     Serial.print( distanceangle);
     tiltservo.write(distanceangle);
   }

 
   if (270 <= course && course <= 360){
     courseangle = int(-course + 450);
     Serial.print (" course is case 1 ");
     Serial.print ( courseangle);
     panservo.write(courseangle);

   }
   else if (0 <= course && course <= 90){
     courseangle = int(-course + 90);
     Serial.print (" course is case 2 ");
     Serial.print ( courseangle);
     panservo.write(courseangle);

   }
   else if (90 < course && course < 180){
     courseangle = 0;
     Serial.print (" course is case 3 ");
     Serial.print ( courseangle);
     panservo.write(courseangle);


   }

   else if (180 <= course && course < 270){
     courseangle = 180;
     Serial.print (" course is case 4 ");
     Serial.print ( courseangle);
     panservo.write(courseangle);

   }

 }
 gps.stats(&chars, &sentences, &failed);
 Serial.print(" CHARS=");
 Serial.print(chars);
 Serial.print(" SENTENCES=");
 Serial.print(sentences);
 Serial.print(" CSUM ERR=");
 Serial.println(failed);


}


Thanks for your help

rdeans

rdeans

And this is what i get in the serial monitor

And here is what I get in the Serial monitor

Code: [Select]

LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is1041 distance is greater 60.00 course is case 3 0.00 CHARS=128 SENTENCES=1 CSUM ERR=0
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is2148 distance is greater 60.00 course is case 3 0.00 CHARS=470 SENTENCES=2 CSUM ERR=1
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is3219 distance is greater 60.00 course is case 3 0.00 CHARS=976 SENTENCES=5 CSUM ERR=2
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is4229 distance is greater 60.00 course is case 3 0.00 CHARS=1254 SENTENCES=7 CSUM ERR=2
LAT=42.241939 LON=-83.009376 SAT=8 PREC=110Millis is5239 distance is greater 60.00 course is case 3 0.00 CHARS=1530 SENTENCES=9 CSUM ERR=2
LAT=42.241939 LON=-83.009376 SAT=8 PREC=110Millis is6249 distance is greater 60.00 course is case 3 0.00 CHARS=1806 SENTENCES=11 CSUM ERR=2
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is7296 distance is greater 60.00 course is case 3 0.00 CHARS=2152 SENTENCES=12 CSUM ERR=2
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is8368 distance is greater 60.00 course is case 3 0.00 CHARS=2534 SENTENCES=14 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is9378 distance is greater 60.00 course is case 3 0.00 CHARS=2812 SENTENCES=16 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is10388 distance is greater 60.00 course is case 3 0.00 CHARS=3090 SENTENCES=18 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is11398 distance is greater 60.00 course is case 3 0.00 CHARS=3368 SENTENCES=20 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is12421 distance is greater 60.00 course is case 3 0.00 CHARS=3839 SENTENCES=22 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is13431 distance is greater 60.00 course is case 3 0.00 CHARS=4130 SENTENCES=24 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is14441 distance is greater 60.00 course is case 3 0.00 CHARS=4408 SENTENCES=26 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is15451 distance is greater 60.00 course is case 3 0.00 CHARS=4686 SENTENCES=28 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is16461 distance is greater 60.00 course is case 3 0.00 CHARS=4964 SENTENCES=30 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is17471 distance is greater 60.00 course is case 3 0.00 CHARS=5448 SENTENCES=32 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is18481 distance is greater 60.00 course is case 3 0.00 CHARS=5726 SENTENCES=34 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is19491 distance is greater 60.00 course is case 3 0.00 CHARS=6004 SENTENCES=36 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is20501 distance is greater 60.00 course is case 3 0.00 CHARS=6282 SENTENCES=38 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is21511 distance is greater 60.00 course is case 3 0.00 CHARS=6560 SENTENCES=40 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is22521 distance is greater 60.00 course is case 3 0.00 CHARS=7046 SENTENCES=42 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=8 PREC=140Millis is23532 distance is greater 60.00 course is case 3 0.00 CHARS=7322 SENTENCES=44 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is24542 distance is greater 60.00 course is case 3 0.00 CHARS=7600 SENTENCES=46 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is25552 distance is greater 60.00 course is case 3 0.00 CHARS=7878 SENTENCES=48 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is26563 distance is greater 60.00 course is case 3 0.00 CHARS=8156 SENTENCES=50 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is27573 distance is greater 60.00 course is case 3 0.00 CHARS=8642 SENTENCES=52 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is28583 distance is greater 60.00 course is case 3 0.00 CHARS=8920 SENTENCES=54 CSUM ERR=3
LAT=42.241939 LON=-83.009376 SAT=9 PREC=110Millis is29594 distance is greater 60.00 course is case 3 0.00 CHARS=9198 SENTENCES=56 CSUM ERR=3


zoomkat

Quote
And here is what I get in the Serial monitor


Is it what you want or expect, or not?
Google forum search: Use Google Advanced Search and use Http://forum.arduino.cc/index in the "site or domain:" box.

rdeans

yes those are the expected results

PaulS

It's hard to pick put the wheat from the chaff in all the serial output. Do you think that the number of satellites is really making the servos move on their own?

Cut the serial output down to just the values that are relevant - the time and the angles written to each servo.

Learn what that big key along the bottom of the keyboard is for.

rdeans

Here is the new code:

Code: [Select]
#include <SoftwareSerial.h>
#include "TinyGPS.h"
#include <Servo.h>

/* This sample code demonstrates the normal use of a TinyGPS object.
It requires the use of SoftwareSerial, and assumes that you have a
4800-baud serial GPS device hooked up on pins 3(rx) and 4(tx).
*/

Servo panservo;
Servo tiltservo;

TinyGPS gps;
SoftwareSerial ss(3, 4);

float dest_latitude =42.24707;
float dest_longitude =-83.00085;
float distance;
float distanceangle;

void setup()
{
  Serial.begin(115200);
  ss.begin(9600);

  panservo.attach(9);
  tiltservo.attach(10);

}

void loop()
{
  bool newData = false;
  unsigned long chars;
  unsigned short sentences, failed;

  // For one second we parse GPS data and report some key values
  for (unsigned long start = millis(); millis() - start < 1000;)
  {
    while (ss.available())
    {
      char c = ss.read();
      // Serial.write(c); // uncomment this line if you want to see the GPS data flowing
      if (gps.encode(c)) // Did a new valid sentence come in?
        newData = true;
    }
  }

  if (newData)
  {
    float flat, flon;
    unsigned long age;
    gps.f_get_position(&flat, &flon, &age);
   

    float distance = (TinyGPS::distance_between(flat, flon, dest_latitude, dest_longitude ));
    float distanceangle;
    if (distance <= 100){
      distanceangle =int(-0.6*distance + 120);
      Serial.print(" distance is less");
      Serial.print( distanceangle);
      Serial.print ("millis is");
      Serial.print(millis());
      tiltservo.write(distanceangle);
     
    }

    else {
      distanceangle = 60;
      Serial.print(" distance is greater ");
      Serial.print( distanceangle);
      Serial.print ("millis is");
      Serial.print(millis());
      tiltservo.write(distanceangle);
    }

    float course =  (TinyGPS::course_to(flat, flon, dest_latitude, dest_longitude ));
    float courseangle;
    if (270 <= course && course <= 360){
      courseangle = int(-course + 450);
      Serial.print (" course is case 1 ");
      Serial.print ( courseangle);
      Serial.print ("millis is");
      Serial.print(millis());
      panservo.write(courseangle);

    }
    else if (0 <= course && course <= 90){
      courseangle = int(-course + 90);
      Serial.print (" course is case 2 ");
      Serial.print ( courseangle);
      Serial.print ("millis is");
      Serial.print(millis());
      panservo.write(courseangle);

    }
    else if (90 < course && course < 180){
      courseangle = 0;
      Serial.print (" course is case 3 ");
      Serial.print ( courseangle);
      Serial.print ("millis is");
      Serial.print(millis());
      panservo.write(courseangle);


    }

    else if (180 <= course && course < 270){
      courseangle = 180;
      Serial.print (" course is case 4 ");
      Serial.print ( courseangle);
      Serial.print ("millis is");
      Serial.print(millis());
      panservo.write(courseangle);

    }

  }
  gps.stats(&chars, &sentences, &failed);



}



this is the serial monitor
Code: [Select]
distance is greater 60.00 millis is 2029 course is case 2 39.00millis is 2059
distance is greater 60.00 millis is 3092 course is case 2 39.00 millis is 3122
distance is greater 60.00 millis is 4156 course is case 2 39.00 millis is 4185
distance is greater 60.00 millis is 5217 course is case 2 39.00 millis is 5248
distance is greater 60.00 millis is 6281 course is case 2 39.00 millis is 6310


thanks

PeterH

All that seems to show is that the servo is not being commanded to move.

If it's moving then either there's an external problem or the servo library is not able to control the servos accurately. The only reasons I can think of for that are memory corruption, and something disabling timeouts.

Have you checked the free memory as suggested?
I only provide help via the forum - please do not contact me for private consultancy.

MisterResistor

#28
Feb 11, 2013, 03:39 am Last Edit: Feb 11, 2013, 04:39 am by Learning Reason: 1
How about adding a "delay(5000);" in front of the panservo.write and tiltservo.write lines. Observe the behavior, and drop/raise the delay to tune the servos settle down time.

locky42

I am having an almost identical problem in using a TinyGPS with servos.  I now know where tghe problem is  but not how to fix it.  If I only do:
        servo1.attach(5)


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