Android controlled RC tank with on-board Video

[kas]

This tank is controlled by any Android device (phone, tablet), via BlueTooth.
The real time video is conveyed via Wi-Fi.
For additional info regarding the Android controller, please refer to the Joystick Bluetooth Commander pages




See it in action: >> video <<

Quick tips:
Tank is built upon a Dagu Rover 5 base and can be operated in total darkness (IR led's)
Arduino is connected to a Dagu quad driver board
There is an on-board mini router ($9.68 shipped) to establish a direct WiFi connection with the tablet
The 3 white platforms are CNC'ed plywood plates, assembled with M3 Brass Standoff Spacers
The 7.2V 4300mAh Ni-MH Battery directly feeds motors and Arduino board, an addditional 5V step down module is in charge of the router and the IP camera

This is Total BT Commander App:


Should you need additional info's, let me know  
Please keep specific BlueTooth App discussion in the dedicated thread

[tolisn63]

Hi Kas
Do you have the link to the mini router that you used?

[kas]

Hi tolisn63

Here it is:

available here

Again, using this device is not mandatory,
It is useful if you plan to drive your bot outside, far from your home router.
Connect to the IP camera by Ethernet or Wi-Fi,
cable connection should insure minimal lag  

[tolisn63]

Hi Kas

Can you post your arduino sketch that you use for you RC tank and also a quick diagram of how everything is connected ?

[kas]

This is AndroRov V3.2
Code is based upon AndroTest V1.3.ino

Code: [Select]

#define VERSION     "Arduino AndroRov_Video V3.0_text - Rover 5  @kas2014"

#include <PID_v1.h>

// V3.2: 16/05/2014 code cleaning, as posted
// V3.1: 30/04/2014 new algorithm for differential control, CurrentOverload >> send message
// V3.0_int: 16/04/2014 send text values
// V2.5_int: 21/03/2014 send integer values  Stable version - Archive -
// V2.4: 21/03/2014: code cleaning
// V2.3: 16/03/2014: PID lib Beauregards
// V2.2: 13/03/2014: >> TODO: implement Integral
// V2.1: 07/03/2014: dead man procedure
// V2.0: 04/03/2014: Current overload
// V1.9: battery voltage + motors current aquisition + PID tuning
// V1.8: OddBot control replaced with PID control
// V1.7: pulse filtering (moving average)
// V1.6: OddBot control right Motor
// V1.5: new loop() design OddBot control right Motor
// V1.4: Codage/config joystick
// V1.3: removed SoftwareSerial
// V1.2: Pb communication error  >> TODO remove SoftwareSerial
// V1.1: 4 data byte implemented
// V1.0: 6 buttons implemented

/*  -----------------------
For Dagu Rover 5   https://www.sparkfun.com/products/10336
and Dagu Driver Board  https://www.sparkfun.com/products/11593
   
Motors output shaft max RPM: 110 (120 no load)
333 pulses/rev output shaft
gearbox 86.8:1 ratio
motor shaft: 9548RPM (10416)  159RPS(174)
1600ms/pulse @ full speed

Motor 1 (Left)                   Motor 3 (Right)
DIR1        5                    DIR3        8
PWM1        6                    PWM3        9
Encoder     2                    Encoder     3
AMP1        A1                   AMP3        A0
   ------------------------*/

// Arduino pin#0 to TX BlueTooth module, Arduino pin#1 to RX BlueTooth module

#define    DIR_L          5                             // Left motor forward/backward pin
#define    DIR_R          8                             // Right motor forward/backward pin
#define    PWM_L          6                             // Left motor PWM pin
#define    PWM_R          9                             // Right motor PWM pin
#define    encod_L        2                             // Left motor encoder
#define    encod_R        3                             // Right motor encoder                          
#define    Vpin           A0                            // battery monitoring analog pin
#define    Apin_R         A1                            // motor current monitoring analog pin
#define    Apin_L         A2                            // motor current monitoring analog pin
#define    bipPin         10                            // buzzer
#define    ledPin         13                            // on board LED

#define    STX            0x01
#define    ETX            0x00
#define    FW             true                          
#define    BW             false                          
#define   GUARD_GAIN      20
#define   MASK            B11111111                     // low bit mask
#define   NUMREADINGS     100                           // smoothing, buffer size

float Kp =  2;                                          // PID Proportional control Gain
float Ki =  2;                                          // PID Integral control Gain
float Kd =  1;                                          // PID Derivative control Gain

int i=0;
byte cmd[6] = {0, 0, 0, 0, 0, 0};                       // bytes received
byte buttonStatus = 0;                                  // first Byte sent to Android device
boolean setButtonFeedback = false;                      // momentary buttons feedback to Android device
long mainLoopInterval = 5000;                           // Main loop timing (microseconds)
long sendInterval = 500;                                // interval between Buttons status transmission (milliseconds)
long checkOverloadInterval = 500;                       // interval between motors overload checks (milliseconds)
long checkLowBatInterval = 2000;                        // interval between low battery checks (milliseconds)
long deadManInterval = 1100;                            // interval between low battery checks (milliseconds)
unsigned long mtime;                                    // main loop timing
volatile unsigned long pulse_L = 100000;                // width of left and right encoder pulses in uS
volatile unsigned long pulse_R = 100000;                // width of left and right encoder pulses in uS
volatile unsigned long time_L = 0;                      // remembers time of left  encoders last state change in uS
volatile unsigned long time_R = 0;                      // remembers time of right encoders last state change in uS
double pwm_L, pwm_R;                                    // left and right motor PWMs generated from the processor
unsigned long pulseAvg_L, pulseAvg_R;                   // smoothed encoder data
unsigned long actual = 0;                               // temporary calculation of actual left and right motor speeds in uS between encoder pulses
double speedRequired_L = 0, speedRequired_R = 0;        // joystick requested speed (-100 =100)
double speedActual_L = 0, speedActual_R = 0;            // encoder measured motors speed
unsigned long readings_L[NUMREADINGS];                  // data buffer for pulse readings - Left motor
unsigned long readings_R[NUMREADINGS];                  // data buffer for pulse readings - Right motor
boolean enc_R = false, enc_L = false;                   // flags for new encoder interrupts
int voltage = 0;                                        // battery voltage in mV X10
int current_L = 0, current_R = 0;                       // motor current in mA
int currentLimit = 1500;                                // motor Amp limit (mA)
int voltLimit = 7000;                                   // low battery limit (mV)
boolean overLoad = false;                               // motors over load status
boolean underVolt = false;                              // low battery level status
boolean deadManEnabled = true;                          // stop Rover if BT com is lost
boolean deadManTimeout = false;                         // dead man flag
String displayStatus = "xxxx";                          // message to Android device
 
PID PID_L(&speedActual_L, &pwm_L, &speedRequired_L,Kp,Ki,Kd, DIRECT);
PID PID_R(&speedActual_R, &pwm_R, &speedRequired_R,Kp,Ki,Kd, DIRECT);

void setup()  {
 Serial.begin(57600);
 pinMode(DIR_L, OUTPUT);    
 pinMode(DIR_R, OUTPUT);    
 pinMode(PWM_L, OUTPUT);    
 pinMode(PWM_R, OUTPUT);    
 pinMode(ledPin, OUTPUT);    
 pinMode(bipPin, OUTPUT);    
 pinMode(encod_L, INPUT);                               // Left motor
 pinMode(encod_R, INPUT);                               // Right motor
 digitalWrite(encod_L, HIGH);                           // turn on pullup resistor
 digitalWrite(encod_R, HIGH);                           // turn on pullup resistor
 attachInterrupt(0, rencoder_L, CHANGE);
 attachInterrupt(1, rencoder_R, CHANGE);
 Motor_L((FW), abs(0));
 Motor_R((FW), abs(0));
 for(int i=0; i<NUMREADINGS; i++)   readings_R[i] = 0;  // initialize readings to 0
 PID_L.SetMode(AUTOMATIC);
 PID_R.SetMode(AUTOMATIC);
 PID_L.SetSampleTime(10);
 PID_R.SetSampleTime(10);
 setButtonFeedback = true;
 sendBlueToothData(true);                               // Send data to smartphone

 bip(bipPin, 10, 2);                                    // ready
}

void loop() {
 if(micros()- mtime >mainLoopInterval)  {         // 5000              // Call motor control function every 5mS
   mtime=micros();                                                     // reset motor timer
   int byteNumber = getBlueToothData();                                // Get joystick and button data from smartphone
   if(byteNumber == 2)          getButtonState(cmd[1]);                // Process button data
   else if(byteNumber == 5)     getJoystickState(cmd);                 // Process joystick data
   else if(byteNumber >= 0)     bip(bipPin, 10, 2);                    // Communication error
   if(enc_L)  {                                                        // interrupt Left motor
     enc_L = false;
     pulseAvg_L = digitalSmooth_L(pulse_L);                            // filter pulse data
   }
   if(enc_R)  {                                                        // interrupt Right motor
     enc_R = false;
     pulseAvg_R = digitalSmooth_R(pulse_R);                            // filter pulse data
   }

   ** The message exceeds the maximum allowed length (9500 characters) **

        Download attached file



Make sure to download Beauregards PID library V1.01, and install it in your "libraries" directory

Arduino is connected to a Dagu quad driver board
You can also get, on eBay, a dual L298N based controller at a much cheaper price

[tolisn63]

I have this motor controller
https://www.dimensionengineering.com/products/sabertooth2x5

do you think that it can be connected and used with your sketch ?

Do you have a rough connection diagram of your parts (motor controller, motors, arduino )?

[kas]

How will you control your Sabertooth board ?
- Analog
- R/C
- Serial

Are your DC motors fitted with encoders ?

[tolisn63]

I think the best way to control the sabertooth would be with R/C.
The motors do not have encoders fitted.

[kas]

I think the best way to control the sabertooth would be with R/C.
The motors do not have encoders fitted

OK, let's forget PID's and start back from Joystick bluetooth Commander demo sketch

Code: [Select]

#define VERSION     "AndroTest V1.3A - @kas2014\ndemo for V4.X  (6 button version)"


// V1.3A Sabertooth version
// Demo setup: motor only, no buttons

// Arduino pin#2 to TX BlueTooth module
// Arduino pin#3 to RX BlueTooth module
// make sure your BT board is set @57600 bps
// better remove SoftSerial for PWM based projects

// For Mega 2560:
// remove   #include "SoftwareSerial.h", SoftwareSerial mySerial(2,3);
// search/replace  mySerial  >> Serial1
// pin#18 to RX bluetooth module, pin#19 to TX bluetooth module

#include "SoftwareSerial.h"

#include <Servo.h>                // Sabertooth  XXX
Servo motor_R;                    // Sabertooth  XXX
Servo motor_L;                    // Sabertooth  XXX
#define    PWM_R         5        // Sabertooth  XXX  PWM output
#define    PWM_L         6        // Sabertooth  XXX  PWM output

#define    STX          0x01
#define    ETX          0x00
#define    ledPin       13
#define    SLOW         1000                           // Datafields refresh rate (ms)
#define    FAST         250                            // Datafields refresh rate (ms)

boolean DEBUG = false;

SoftwareSerial mySerial(2,3);                           // BlueTooth module: pin#2=TX pin#3=RX
int i=0;
byte cmd[6] = {0, 0, 0, 0, 0, 0};                       // bytes received
//byte buttonStatus = 0;                                  // first Byte sent to Android device
//long previousMillis = 0;                                // will store last time Buttons status was updated
//boolean setButtonFeedback = false;                      // momentary buttons feedback to Android device
//long sendInterval = SLOW;                               // interval between Buttons status transmission (milliseconds)
//String displayStatus = "xxxx";                          // message to Android device

void setup()  {
 Serial.begin(57600);
 mySerial.begin(57600);                                // 57600 = max value for softserial
 pinMode(ledPin, OUTPUT);    
 Serial.println(VERSION);
 motor_R.attach(PWM_R);             // Sabertooth  XXX
 motor_R.attach(PWM_L);             // Sabertooth  XXX
}

void loop() {
 if(mySerial.available())  {                            // data received from smartphone
   delay(5);
   cmd[0] =  mySerial.read();  
   if(cmd[0] == STX)  {  
     i=1;      
     while(mySerial.available())  {
       cmd[i] = mySerial.read();
       if(cmd[i] == ETX)  {
         if(i==2 && cmd[1]>48)                    break;    // Button data
         if(i==5 && cmd[1]<3 && cmd[3]<3)         break;    // Joystick data
       }
       if(i>5)   break;
       i++;
     }
     if     (i==2)   getButtonState(cmd[1]);             // 3 Bytes
     else if(i==5)   getJoystickState(cmd);              // 6 Bytes
     else            Serial.println("**  Communication error **");
     if(DEBUG)       printDebug(i);
   }
 }  else  
      sendBlueToothData();  
 delay(5);
}

void getJoystickState(byte data[5])    {
 int joyX = (data[1]<<7) + data[2];
 int joyY = (data[3]<<7) + data[4];
 joyX = joyX - 200;               // Offset to avoid
 joyY = joyY - 200;               // transmitting negative numbers

 if(!DEBUG)  {
   Serial.print("Joystick position:  ");
   Serial.print(joyX);  
   Serial.print(", ");  
   Serial.println(joyY);
 }
 
// Your code here ...

 joyX = map(joyX, -100, 100, 0, 180);             // Sabertooth  XXX
 joyY = map(joyY, -100, 100, 0, 180);             // Sabertooth  XXX

// 180: full forward,  0: full reverse, 90: stop 
 motor_R.write(joyX);                             // Sabertooth  XXX
 motor_L.write(joyY);                             // Sabertooth  XXX
}

void getButtonState(int bStatus)  {
 // do nothing
}

void sendBlueToothData()  {
 // do nothing
}

//String getButtonStatusString()  {
//}

//int GetdataInt1()  {              // Data dummy values sent to Android device for demo purpose
//}

//float GetdataFloat2()  {           // Data dummy values sent to Android device for demo purpose
//}

void printDebug(int nByte)  {
 if(nByte ==2)    {  
//    Serial.print("buttonStatus: "); Serial.print(buttonStatus);
//    Serial.print("  bin: "); Serial.println(getButtonStatusString());    
//    Serial.print("Button: < ");
 }
 else if(nByte ==5)  Serial.print("Joystick: < ");
 else                Serial.print("*error*: < ");
 for(int j =0; j<nByte+1; j++) { Serial.print(cmd[j]); Serial.print(" "); }
 Serial.println(">");
}


Sabertooth board:


Connect
- Arduino PWM_R  to  Sabertooth S1
- Arduino PWM_L  to  Sabertooth S2
- Arduino Ground  to  Sabertooth Ground
Don't forget dip switches setup

Can't test the code, let me know if it works

Without encoders, you won't have much torque at low speed
Look here for additional info's

[tolisn63]

Hi Kas

This just came in. Ho do you go about configuring it to use with the camera and what would the URL be so it can be inserted into the application ?

Hi tolisn63

Here it is:

available here

Again, using this device is not mandatory,
It is useful if you plan to drive your bot outside, far from your home router.
Connect to the IP camera by Ethernet or Wi-Fi,
cable connection should insure minimal lag  

[kas]

@tolisn63

This just came in. Ho do you go about configuring it to use with the camera and what would the URL be so it can be inserted into the application ?

Connect the camera (ethernet cable)
The router will appear as MIFI-XXXX in your available wireless network listing, along with your home network and your neibourgh's
Connect to MIFI-XXXX default password: 1234567890
To access the router home page, type 192.168.100.1 in your browser

Use your Wanscam Search tool to detect your camera, should be 192.168.1.XX5
Make sure the camera address is static and voilà   

You can access the camera from Total RC Commander using the same settings as for your home router, nothing to change within the App

Did you receive an operator manual with the router ??

[tolisn63]

I tried what you suggested but I can't seem to connect to the camera using this mini router.
Sure enough there is a new wifi network called MIFI-B01A. I connected to this network using the tablet but I can't connect to the camera.
I can sea a yellow indicator on the camera that is flasing and a green indicator that is alsway ON.
Also there is a flasing indicator(red-blue) in the mini router.
The camera address is static as always and I managed to access the router home page using a lan connection to my home router. If I make a lan connection the to the mini router I can't acces it.

[kas]

Also there is a flasing indicator(red-blue) in the mini router

That's good new

Go back to your Mini router web configuration pages
LAN/setup
LAN IP address
change 192.168.100.1  to 192.168.1.1

[tolisn63]

Also there is a flasing indicator(red-blue) in the mini router

That's good new

Go back to your Mini router web configuration pages
LAN/setup
LAN IP address
change 192.168.100.1  to 192.168.1.1

I tried this but I get an error message when I press the apply button.
The error says
"Starting and ending address, allocated by DHCP, are not in the same segment LAN!"

[kas]

DHCP Server Setup
Start IP Address     192.168.1.2
End IP Address       192.168.1.254

Alternatively, try unchecking  Enable DHCP server