I am using a example program given from the kit's website where everything works fine execpt the command queueing system. Currently, when I start the program with a button press, the robot turns right indefinitely even though I've added other commands to my command queue. I am using an arduino uno rev 3, L298N motor driver, breadboard mini, and two DC motors 45-to-1 with encoders. My IDE software version is 2.3.2. Appreciate the help, please let me know if you need anymore information.
#include <Arduino.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h> // this library is needed for the 20x4 display
#define VERSION "1"
#define DISPLAY_PRESENT 1 // set to 1 if the 20x4 I2C Display is present
//
// Board: Ardunio Uno
// DEFINE ALL I/O PIN CONNECTIONS
// *** DO NOT CHANGE ***
//
#define PIN_MTR1_ENCA 2
#define PIN_MTR2_ENCA 3
#define PIN_PB_START 4
#define PIN_MTR1_DIR_FWD 5
#define PIN_MTR1_DIR_REV 6
#define PIN_MTR2_DIR_FWD 7
#define PIN_MTR2_DIR_REV 8
#define PIN_MTR1_PWM 9
#define PIN_MTR2_PWM 10
#define PIN_SONIC_PULSE 11
#define PIN_SONIC_TRIGGER 12
#define PIN_LED 13
//************************* ADJUST THE FOLLOWING TO MATCH YOUR ROBOT ****************************
#define ENCODER_COUNTS_PER_REV 540 // Set to the number of encoder pulses per wheel revolution
#define MM_PER_REV 235 // Set to the number of mm per wheel revolution (Hence : Diameter * Pi)
#define ENCODER_COUNTS_90_DEG 200 // Set to the number of encoder pulses to make a 90 degree turn
#define SPEED_MIN 120 // Minimum speed (pulses/second) use at the end of individual moves
LiquidCrystal_I2C display(0x27,20,4); // set the LCD address to 0x27 for a 20 chars and 4 line display
unsigned long usLast;
long usecElapsed;
long usScanLong;
int usLongResetCount;
long usScanAvg;
long timerusScan;
int scanCount;
long timerRunTime;
int speedFwd;
int speedTurn;
int flagTimeRun;
int flagLastMoveFwd;
int flagLED;
float sonicDistance;
int printStep;
int printLastCmd;
unsigned long msTimerPrint;
unsigned long msTimerMPU;
unsigned long timerSonicRange;
unsigned long timerPBStartOn;
unsigned long timerPBStartOff;
unsigned long timerDelay;
#define MAX_COMMANDS 60 // Maximum number of motion commands allowed
//======================================================================================
// Command object is used to hold a list of commands to be executed
//======================================================================================
class Command
{
private:
int start;
int end;
int last_cmd;
int list[MAX_COMMANDS];
int p1[MAX_COMMANDS];
int flagFirstScan;
public:
inline int current() { return list[start]; };
inline int getParameter1() { return p1[start]; };
inline int empty() { if (start==end) return 127; else return 0; };
inline int last() { return last_cmd; };
inline int firstScan() { int flag = flagFirstScan; flagFirstScan = 0; return flag; }
Command() {
clear();
}
void clear() {
start = 0;
end = 0;
last_cmd = 0;
flagFirstScan = 0;
int n = 0;
for (n=0;n<MAX_COMMANDS;n++) { list[n] = 0; p1[n] = 0; }
}
void add(int cmd) {
add(cmd,0);
}
void add(int cmd,int par1) {
list[end] = cmd;
p1[end] = par1;
end++;
if (end >= MAX_COMMANDS) end = 0;
}
int next() {
flagFirstScan = 127;
if (empty()) return 0;
last_cmd = list[start]; // save last command
start++;
if (start >= MAX_COMMANDS) start = 0;
return list[start];
}
};
Command cmdQueue;
//
// List of possible vehicle motion commands
// -- Additional motion commands can be added which will require code to execute
//
#define VEHICLE_START_WAIT 1 // Wait for the start button to be pressed
#define VEHICLE_START 2 // First motion command after button press
#define VEHICLE_FORWARD 10
#define VEHICLE_TURN_RIGHT 40
#define VEHICLE_TURN_LEFT 50
#define VEHICLE_SET_MOVE_SPEED 101
#define VEHICLE_SET_TURN_SPEED 102
#define VEHICLE_SET_ACCEL 105
#define VEHICLE_FINISHED 900 // Must be at the end of the command list
#define VEHICLE_STOP 1000
#define VEHICLE_ABORT 2000 // Used to abort the current movement list and stop the robot
//======================================================================================
//======================================================================================
// Loads the command queue with the robots commands to be executed during a run
//======================================================================================
//======================================================================================
void loadCommandQueue() {
cmdQueue.clear();
cmdQueue.add(VEHICLE_START_WAIT); // do not change this line - waits for start pushbutton
cmdQueue.add(VEHICLE_START); // do not change this line
// Define robot movement speeds
// Speed is encoder pulses per second.
// There is a maximum speed. Testing will be required to learn this speed.
// SETTING THE SPEEDS ABOVE THE MOTOR'S MAXIMUM SPEED WILL CAUSE STRANGE RESULTS
cmdQueue.add(VEHICLE_SET_MOVE_SPEED,500); // Speed used for forward movements
cmdQueue.add(VEHICLE_SET_TURN_SPEED,300); // Speed used for left or right turns
cmdQueue.add(VEHICLE_SET_ACCEL,400); // smaller is softer larger is quicker and less accurate moves
// Example list of robot movements
// This block is modified for each tournament
cmdQueue.add(VEHICLE_TURN_RIGHT);
cmdQueue.add(VEHICLE_FORWARD,500);
cmdQueue.add(VEHICLE_TURN_LEFT);
cmdQueue.add(VEHICLE_FORWARD,500);
cmdQueue.add(VEHICLE_TURN_LEFT);
cmdQueue.add(VEHICLE_FORWARD,500);
cmdQueue.add(VEHICLE_TURN_LEFT);
// This MUST be the last command.
cmdQueue.add(VEHICLE_FINISHED);
}
//======================================================================================
// Motion object (like a library) that calculates the acceleration used for motor speed
// control.
//
// Distance is encoder pulses
// Speed is encoder pulses per second
// Accel is encoder pulses per second^2
//======================================================================================
class MotionLogic
{
private:
long timeAccel;
long timeAtSpeed;
long timeDecel;
long timeRunning;
long timeRunningLast;
long timerUpdate;
int pinPWM;
int outputPWM;
int outputFwd;
int outputRev;
int running;
int flagStopped;
int counterStopped;
int pwmLoopI;
int pwmLoopP;
int debugPrint;
public:
long accelRate;
long decelRate;
long position;
long posProfile;
int speedTarget;
int speedProfile;
int speedActual;
int speedMinimum;
int speedAtDecel;
long countEncoder;
long countEncoderLast;
inline int getOutputPWM() { return outputPWM; };
inline int getOutputFwd() { return outputFwd; };
inline int getOutputRev() { return outputRev; };
inline void incrEncoder() { countEncoder++; };
inline void debugOn() { debugPrint = 1; }; // used this function to turn on debug print statements
// recommended to only turn on debug for left or right motor. NOT both.
inline int debugState() { return debugPrint; };
MotionLogic() {
outputPWM = 0;
outputFwd = 0;
outputRev = 0;
countEncoder = 0;
countEncoderLast = 0;
debugPrint = 0;
accelRate = 200;
decelRate = 200;
posProfile = 0;
speedActual = 0;
speedTarget = 0;
speedAtDecel = -10000;
timeRunning = 0;
timeRunningLast = 0;
flagStopped = 0;
counterStopped = 0;
running = 0;
}
int isStopped() {
if (flagStopped) return 1;
return 0;
}
void setParams(long accel,int spdMin,int pPWM) {
accelRate = accel;
decelRate = accel;
speedMinimum = spdMin;
pinPWM = pPWM;
}
// This object uses the same value for accelerate and decelerate rate
void setAccel(long accel) {
accelRate = accel;
decelRate = accel;
}
// This function must be called to start a motion
void startMove(int pos, int spd) {
if (spd > 0) {
outputFwd = 1;
outputRev = 0;
} else {
outputFwd = 0;
outputRev = 1;
}
speedTarget = abs(spd);
position = abs(pos);
if (debugPrint) { Serial.print(F("Motion - speed = ")); Serial.println(speedTarget); }
if (debugPrint) { Serial.print(F("Motion - position = ")); Serial.println(position); }
float tAccel = (float) speedTarget / (float) accelRate;
float tDecel = (float) speedTarget / (float) decelRate;
float distAccel = (float) speedTarget / 2.0 * tAccel;
float distDecel = (float) speedTarget / 2.0 * tDecel;
float distAtSpeed = (float) position - distAccel - distDecel;
if (distAtSpeed < 0.0) { // current written as accel and decel same
// Serial.println("Motion - Short move logic");
distAccel = (float) position / 2.0;
distDecel = (float) position / 2.0;
distAtSpeed = 0.0;
tAccel = sqrt(distAccel * 2.0 / (float) accelRate);
tDecel = sqrt(distDecel * 2.0 / (float) decelRate);
}
float tAtSpeed = distAtSpeed / (float) speedTarget;
// times are in microseconds
timeAccel = 0;
timeAtSpeed = tAccel * 1000000;
timeDecel = timeAtSpeed + tAtSpeed * 1000000;
pwmLoopI = 0;
pwmLoopP = 0;
countEncoder = 0;
countEncoderLast = 0;
posProfile = 0;
speedAtDecel = -10000;
timeRunning = 0;
timeRunningLast = 0;
timerUpdate = 0;
flagStopped = 0;
counterStopped = 0;
running = 1;
}
void stop() {
outputPWM = 0;
outputFwd = 0;
outputRev = 0;
analogWrite(pinPWM,outputPWM);
running = 0;
posProfile = 0;
speedProfile = 0;
speedTarget = 0;
}
void updateMotion(long usecElapsed) {
int flagUpdate = 0;
timerUpdate += usecElapsed;
if (timerUpdate >= 30000) {
long delta = countEncoder - countEncoderLast;
speedActual = delta * 1000000L / timerUpdate;
countEncoderLast = countEncoder;
timerUpdate = 0;
flagUpdate = 1;
if (running == 0 && speedActual < 4) {
if (!flagStopped) counterStopped++;
if (counterStopped > 2) flagStopped = 1;
}
}
if (running == 0) {
outputPWM = 0;
outputFwd = 0;
outputRev = 0;
pwmLoopP = 0;
pwmLoopI = 0;
return;
}
if (countEncoder >= (position - 2)) {
if (debugPrint) {
Serial.print("STOPPED,");
Serial.print("timeRunning:");
Serial.print(timeRunning);
Serial.print(",encoder:");
Serial.print(countEncoder);
Serial.print(",speedActual:");
Serial.print(speedActual);
Serial.print(",pwm:");
Serial.println(outputPWM);
}
stop();
return;
}
timeRunning += usecElapsed;
if (flagUpdate == 0) return;
float speed;
if (timeRunning < timeAtSpeed) {
speed = (float) timeRunning / 1000000.0 * (float) accelRate;
speedProfile = (int) speed;
//if (debugPrint) { Serial.print(" - Accel speedProfile = "); Serial.println(speedProfile); }
} else if (timeRunning < timeDecel) {
speedProfile = speedTarget;
//if (debugPrint) { Serial.print(" - At Speed speedProfile = "); Serial.println(speedProfile); }
} else {
if (speedAtDecel <= -10000) speedAtDecel = speedProfile;
speed = (float) (timeRunning - timeDecel) / 1000000.0 * (float) decelRate;
speedProfile = speedAtDecel - (int) speed;
if (speedProfile < speedMinimum) speedProfile = speedMinimum;
//if (debugPrint) { Serial.print(" - Decel speedProfile = "); Serial.println(speedProfile); }
}
posProfile += (speedProfile * (timeRunning - timeRunningLast)) / 1000000;
timeRunningLast = timeRunning;
long perror = posProfile - countEncoder;
int serror = speedProfile - speedActual;
// This program uses a PI loop to control speed
// This loop is NOT tuned. Meaning testing is required to tune the loop
// which will provide the best preformance
pwmLoopI += serror / 4;
pwmLoopP = serror / 2;
outputPWM = pwmLoopP + pwmLoopI;
if (outputPWM < 0) outputPWM = 0;
if (outputPWM > 254) outputPWM = 254;
if (debugPrint) {
Serial.print("timeRunning:");
Serial.print(timeRunning);
Serial.print(",encoder:");
Serial.print(countEncoder);
Serial.print(",speedProfile:");
Serial.print(speedProfile);
Serial.print(",speedActual:");
Serial.print(speedActual);
Serial.print(",pos_error:");
Serial.print(perror);
Serial.print(",speed_error:");
Serial.print(serror);
Serial.print(",loopI:");
Serial.print(pwmLoopI);
Serial.print(",loopP:");
Serial.print(pwmLoopP);
Serial.print(",pwm:");
Serial.println(outputPWM);
}
analogWrite(pinPWM,outputPWM);
}
};
MotionLogic mtrLeft;
MotionLogic mtrRight;
//---------------------------------------------------------------------------------------
// Interupt function for counting left motor encoder pulses
void encoderIntLeft() {
mtrLeft.incrEncoder();
}
//---------------------------------------------------------------------------------------
// Interupt function for counting right motor encoder pulses
void encoderIntRight() {
mtrRight.incrEncoder();
}
//---------------------------------------------------------------------------------------
void setMotorOutputs() {
if (mtrLeft.getOutputFwd()) digitalWrite(PIN_MTR1_DIR_FWD, HIGH);
else digitalWrite(PIN_MTR1_DIR_FWD, LOW);
if (mtrLeft.getOutputRev()) digitalWrite(PIN_MTR1_DIR_REV, HIGH);
else digitalWrite(PIN_MTR1_DIR_REV, LOW);
if (mtrRight.getOutputFwd()) digitalWrite(PIN_MTR2_DIR_FWD, HIGH);
else digitalWrite(PIN_MTR2_DIR_FWD, LOW);
if (mtrRight.getOutputRev()) digitalWrite(PIN_MTR2_DIR_REV, HIGH);
else digitalWrite(PIN_MTR2_DIR_REV, LOW);
}
//======================================================================================
// Trigger Sonic range finder
void triggerRangeFinder() {
digitalWrite(PIN_SONIC_TRIGGER, LOW);
delayMicroseconds(20);
digitalWrite(PIN_SONIC_TRIGGER, HIGH);
delayMicroseconds(10);
digitalWrite(PIN_SONIC_TRIGGER, LOW);
int pcount = pulseIn(PIN_SONIC_PULSE, HIGH);
sonicDistance = float(pcount) * 0.34 / 2.0;
//Serial.print(F("Sonic pcount = "));
//Serial.print(pcount);
//Serial.print(F(" mm = "));
//Serial.println(sonicDistance);
}
//=======================================================================================
// Used to display fault codes on the built-in LED
void faultCodeLED(int count) {
int i = -1;
flagLED = true;
toggleLED();
while (-1) {
i = count;
delay(2000);
while (i > 0) {
toggleLED();
delay(300);
toggleLED();
delay(300);
i--;
}
}
}
//=======================================================================================
// Toggle the Ardunio built in LED each time this function is executed
void toggleLED() {
if (flagLED) {
digitalWrite(PIN_LED,LOW);
flagLED = false;
} else {
digitalWrite(PIN_LED,HIGH);
flagLED = true;
}
}
//=======================================================================================
// This function is called to update the variable information on the display.
// Only limited information is updated at a time since the write commands are slow
//=======================================================================================
void initDisplay() {
// Display is 20 characters wide by 4 lines
// 01234567890123456789
// Cmd:
//
// Rng: xxxx.x cm
// Time: xx.xxx v.v.vv
display.clear();
display.setCursor(0,0);
display.print(F("Cmd:"));
display.setCursor(0,2);
display.print(F("Rng:"));
display.setCursor(0,3);
display.print(F("Time:"));
}
//=======================================================================================
// This function is called to update the variable information on the display.
// Only limited information is updated at a time since the write commands are slow
//=======================================================================================
void updateDisplay() {
int cmd;
char buff[12];
int i;
int itmp;
float f;
switch (printStep) {
case 0 :
cmd = cmdQueue.current();
if (printLastCmd != cmd) {
display.setCursor(4,0);
switch (cmd) {
case VEHICLE_START_WAIT :
// 4567890123456789
display.print(F("WAIT START "));
break;
case VEHICLE_START :
display.print(F("WAIT RELEASE "));
break;
case VEHICLE_FORWARD :
display.print(F("FORWARD "));
break;
case VEHICLE_TURN_RIGHT :
display.print(F("TURN RIGHT "));
break;
case VEHICLE_TURN_LEFT :
display.print(F("TURN LEFT "));
break;
case VEHICLE_FINISHED :
display.print(F("FINISHED "));
break;
case VEHICLE_STOP :
display.print(F("STOP "));
break;
case VEHICLE_ABORT :
display.print(F("ABORT "));
break;
default :
display.print(F("***unknown**"));
break;
}
printLastCmd = cmd;
}
break;
case 1 :
break;
case 2 :
break;
case 3 :
display.setCursor(4,2);
display.print(sonicDistance,1);
display.print("cm ");
break;
case 4 :
display.setCursor(6,3);
f = (float) timerRunTime / 1000000.0;
display.print(f,3);
break;
default :
printStep = -1;
break;
}
printStep++; // increment the print step value to the next sequence step
toggleLED();
}
//======================================================================================
// The setup() is called once at the power up of the Arduino
//======================================================================================
void setup() {
pinMode(PIN_LED, OUTPUT);
flagLED = false;
// Only uncomment one motor at a time to use the Serial Plotter function to tune the PID loop
//mtrLeft.debugOn();
//mtrRight.debugOn();
if (mtrLeft.debugState() || mtrRight.debugState()) {
Serial.begin(115200);
Serial.println(F("Setup()..."));
}
if (DISPLAY_PRESENT) {
//Serial.println(F("Display init()"));
display.init(); //initialize the lcd
display.backlight(); //open the backlight
display.clear();
display.setCursor(0,0);
display.print(F("Start Up....."));
}
pinMode(PIN_SONIC_TRIGGER,OUTPUT);
pinMode(PIN_SONIC_PULSE,INPUT);
pinMode(PIN_PB_START, INPUT_PULLUP);
pinMode(PIN_MTR1_PWM,OUTPUT);
pinMode(PIN_MTR2_PWM,OUTPUT);
pinMode(PIN_MTR1_ENCA, INPUT_PULLUP);
pinMode(PIN_MTR2_ENCA, INPUT_PULLUP);
sonicDistance = 0.0;
timerSonicRange = 0;
timerDelay = 0;
attachInterrupt(digitalPinToInterrupt(PIN_MTR1_ENCA), encoderIntLeft, RISING);
attachInterrupt(digitalPinToInterrupt(PIN_MTR2_ENCA), encoderIntRight, RISING);
pinMode(PIN_MTR1_DIR_FWD,OUTPUT);
pinMode(PIN_MTR1_DIR_REV,OUTPUT);
pinMode(PIN_MTR2_DIR_FWD,OUTPUT);
pinMode(PIN_MTR2_DIR_REV,OUTPUT);
digitalWrite(PIN_MTR1_DIR_FWD, LOW);
digitalWrite(PIN_MTR1_DIR_REV, LOW);
digitalWrite(PIN_MTR2_DIR_FWD, LOW);
digitalWrite(PIN_MTR2_DIR_REV, LOW);
speedFwd = 100;
speedTurn = 100;
int speedAccel = 100;
int speedMin = SPEED_MIN;
mtrLeft.setParams(speedAccel, speedMin, PIN_MTR1_PWM);
mtrRight.setParams(speedAccel, speedMin, PIN_MTR2_PWM);
//Serial.println(F("Initialize Display with background text"));
if (DISPLAY_PRESENT) { initDisplay(); }
printStep = 0;
loadCommandQueue();
usScanLong = 0;
usScanAvg = 0;
timerusScan = 0;
scanCount = 0;
usLongResetCount = 0;
//Serial.println(F("....End Setup"));
usLast = micros();
}
//======================================================================================
// The following function will execute then exit. The Ardunio will constantly call this
// function. The function should not have delays as this will effect the motor's speed.
//======================================================================================
void loop() {
long distance;
int speed;
float fspd;
long ldelta;
long delayWait;
int itmp;
unsigned long current = micros();
usecElapsed = current - usLast;
usLast = current;
if (usecElapsed > usScanLong) usScanLong = usecElapsed;
timerusScan += usecElapsed;
scanCount++;
if (timerusScan > 1000000) {
usScanAvg = timerusScan / scanCount;
timerusScan = 0;
scanCount = 0;
usLongResetCount++;
if (usLongResetCount > 10) {
usScanLong = 0;
usLongResetCount = 0;
}
}
mtrLeft.updateMotion(usecElapsed);
mtrRight.updateMotion(usecElapsed);
if (msTimerPrint > 200000) {
if (DISPLAY_PRESENT) { updateDisplay(); }
msTimerPrint = 0;
}
msTimerPrint += usecElapsed;
int newCmd = false;
if (cmdQueue.firstScan()) {
newCmd = true;
}
int pbStart = !digitalRead(PIN_PB_START);
if (pbStart) {
timerPBStartOn += usecElapsed;
timerPBStartOff = 0;
} else {
timerPBStartOn = 0;
timerPBStartOff += usecElapsed;
}
if (cmdQueue.current() > VEHICLE_START && cmdQueue.current() < VEHICLE_ABORT) {
if (timerPBStartOn > 100000) {
cmdQueue.clear();
cmdQueue.add(VEHICLE_ABORT);
mtrLeft.stop();
mtrRight.stop();
setMotorOutputs();
}
}
if (flagTimeRun) timerRunTime += usecElapsed;
switch (cmdQueue.current()) {
case VEHICLE_START_WAIT :
if (timerPBStartOn > 100000) {
cmdQueue.next();
}
timerSonicRange += usecElapsed;
if (timerSonicRange > 1500000) {
timerSonicRange = 0;
triggerRangeFinder();
}
break;
case VEHICLE_START :
timerRunTime = 0;
if (timerPBStartOff > 100000) {
cmdQueue.next();
flagTimeRun = 1;
flagLastMoveFwd = 0;
}
break;
case VEHICLE_FORWARD :
if (newCmd) {
distance = ((long) cmdQueue.getParameter1() * (long) ENCODER_COUNTS_PER_REV / (long) MM_PER_REV);
speed = speedFwd;
mtrLeft.startMove(distance,speed);
mtrRight.startMove(distance,speed);
setMotorOutputs();
}
if (mtrLeft.isStopped() && mtrRight.isStopped()) {
setMotorOutputs();
cmdQueue.next();
}
break;
case VEHICLE_TURN_RIGHT :
if (newCmd) {
distance = ENCODER_COUNTS_90_DEG;
speed = speedTurn;
mtrLeft.startMove(distance,speed);
mtrRight.startMove(distance,speed * -1);
setMotorOutputs();
}
if (mtrLeft.isStopped() && mtrRight.isStopped()) {
setMotorOutputs();
cmdQueue.next();
}
break;
case VEHICLE_TURN_LEFT :
if (newCmd) {
distance = ENCODER_COUNTS_90_DEG;
speed = speedTurn;
mtrLeft.startMove(distance,speed * -1);
mtrRight.startMove(distance,speed);
setMotorOutputs();
}
if (mtrLeft.isStopped() && mtrRight.isStopped()) {
setMotorOutputs();
cmdQueue.next();
}
break;
case VEHICLE_SET_MOVE_SPEED :
speedFwd = cmdQueue.getParameter1();
cmdQueue.next();
break;
case VEHICLE_SET_TURN_SPEED :
speedTurn = cmdQueue.getParameter1();
cmdQueue.next();
break;
case VEHICLE_SET_ACCEL :
mtrLeft.setAccel(cmdQueue.getParameter1());
mtrRight.setAccel(cmdQueue.getParameter1());
cmdQueue.next();
break;
default :
case VEHICLE_FINISHED :
if (newCmd) {
mtrLeft.stop();
mtrRight.stop();
setMotorOutputs();
}
flagTimeRun = 0;
break;
case VEHICLE_ABORT :
mtrLeft.stop();
mtrRight.stop();
setMotorOutputs();
flagTimeRun = 0;
if (timerPBStartOff > 200000) {
loadCommandQueue();
}
break;
}
}```