Hi. I'm trying to control my quadcopter with my arduino uno. I'm trying to have the uno act as the radio receiver and output a ppm signal to the kk2 board. So far, I've been using .writeMicroseconds(); to output my code, but when I have new outputs being continously written to the kk, the motors on my quadcopter turn on and off at seemingly random intervals...
Here is my code:
#include <string.h>
#include <Servo.h>
Servo throttle;
Servo ail;
Servo elev;
Servo rud;
void setup()
{
Serial.begin(9600);
throttle.attach(5);
ail.attach(10);
elev.attach(9);
rud.attach(6);
throttle.write(0);
rud.write(1187);
Serial.println("ARMED");
}
void loop()
{
int data[4];
if (Serial.available()) {
data[0] = (Serial.parseInt());
Serial.print("Data0: ");
Serial.println(data[0]);
data[1] = (Serial.parseInt());
Serial.print("Data1: ");
Serial.println(data[1]);
data[2] = (Serial.parseInt());
Serial.print("Data2: ");
Serial.println(data[2]);
data[3] = (Serial.parseInt());
Serial.print("Data3: ");
Serial.println(data[3]);
throttle.writeMicroseconds(data[0]);
Serial.println("DID IF");
delete data;
}
Serial.print("Data0: ");
Serial.println(data[0]);
Serial.println("end");
}
So, when I manually type '1500' in the serial window, the motors run until I send '0' in the serial window. However, when I send the signals with my java-side program, the motors turn on and off continously.....
This is my java-side code if you want to take a look at it....
/******************************************************************************\
* Copyright (C) 2012-206 Leap Motion, Inc. All rights reserved. *
* Leap Motion proprietary and confidential. Not for distribution. *
* Use subject to the terms of the Leap Motion SDK Agreement available at *
* https://developer.leapmotion.com/sdk_agreement, or another agreement *
* between Leap Motion and you, your company or other organization. *
\******************************************************************************/
import gnu.io.CommPort;
import gnu.io.CommPortIdentifier;
import gnu.io.SerialPort;
import com.leapmotion.leap.*;
import java.io.IOException;
import com.leapmotion.leap.Gesture.State;
import java.io.OutputStream;
import com.leapmotion.leap.Controller;
import com.leapmotion.leap.Frame;
import com.leapmotion.leap.Listener;
//import java.lang.Math;
class SampleListenerMain extends Listener {
public int posmapxold = 0;
public int posmapyold = 0;
public int posmapzold = 0;
public int a = 1;
public void onInit(Controller controller) {
System.out.println("Initialized");
}
public void onConnect(Controller controller) {
System.out.println("Connected");
controller.enableGesture(Gesture.Type.TYPE_SWIPE);
controller.enableGesture(Gesture.Type.TYPE_CIRCLE);
controller.enableGesture(Gesture.Type.TYPE_SCREEN_TAP);
controller.enableGesture(Gesture.Type.TYPE_KEY_TAP);
}
public void onDisconnect(Controller controller) {
System.out.println("Disconnected");
}
public void onExit(Controller controller) {
System.out.println("Exited");
}
public void onFrame(Controller controller) {
Frame frame = controller.frame();
Hand hand = frame.hands().rightmost();
float positionx = hand.palmPosition().getX();
System.out.println("X: " + positionx);
float positiony = hand.palmPosition().getY();
System.out.println("Y:" + positiony);
float positionz = hand.palmPosition().getZ();
System.out.println("Z: " + positionz);
System.out.println("Hands: " + frame.hands().count());
int in_min = -117;
int in_max = 117;
int out_min = 900;
int out_max = 1900;
int in_min2 = -73;
int in_max2 = 73;
int positionmapx = (int) ((positionx - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min;
int positionmapy = (int) ((positiony - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min;
int positionmapz = (int) ((positionz - in_min) * (out_max - out_min) / (in_max2 - in_min)) + out_min;
if (frame.hands().count() == 0) {
//LeapDrone.writeToArduino("0");
}
String data = Integer.toString(positionmapy)+":"+ Integer.toString(positionmapx)+":"+Integer.toString(positionmapz);
System.out.println("data: " + data);
System.out.println("Old X: " + posmapxold);
System.out.println("Difference X: " + Math.abs(positionmapx - posmapxold));
System.out.println("sent");
LeapDrone.writeToArduino(data);
/*if (Math.abs(positionmapx - posmapxold) >= 5 && posmapxold > 0) {
LeapDrone.writeToArduino(data);
//LeapDrone.writeToArduino("100:100:100:100");
}
if (Math.abs(positionmapy - posmapyold) >= 5 && posmapyold > 0) {
LeapDrone.writeToArduino(data);
}
if (Math.abs(positionmapz - posmapzold) >= 5 && posmapzold > 0) {
LeapDrone.writeToArduino(data);
}
*/
posmapxold = positionmapx;
posmapyold = positionmapy;
posmapzold = positionmapz;
System.out.println("New-Old X: " + posmapxold);
GestureList gestures = frame.gestures();
for (int i = 0; i < gestures.count(); i++) {
Gesture gesture = gestures.get(i);
}
}
}
class LeapDrone {
static OutputStream out = null;
public static void main(String[] args) {
//Connect to Arduino BT
try
{
(new LeapDrone()).connect("/dev/cu.usbmodem1421");
}
catch ( Exception e )
{
e.printStackTrace();
System.exit(0);
}
// Create a sample listener and controller
SampleListenerMain listener = new SampleListenerMain();
Controller controller = new Controller();
// Have the sample listener receive events from the controller
controller.addListener(listener);
// Keep this process running until Enter is pressed
System.out.println("Press Enter to quit...");
try {
System.in.read();
} catch (IOException e) {
e.printStackTrace();
}
// Remove the sample listener when done
controller.removeListener(listener);
}
void connect ( String portName ) throws Exception {
CommPortIdentifier portIdentifier = CommPortIdentifier.getPortIdentifier(portName);
if ( portIdentifier.isCurrentlyOwned() )
{
System.out.println("Error: Port is currently in use");
}
else
{
CommPort commPort = portIdentifier.open(this.getClass().getName(),2000);
if ( commPort instanceof SerialPort )
{
SerialPort serialPort = (SerialPort) commPort;
serialPort.setSerialPortParams(9600,SerialPort.DATABITS_8,SerialPort.STOPBITS_1,
SerialPort.PARITY_NONE);
out = serialPort.getOutputStream();
}
else
{
System.out.println("Error: Only serial ports are handled by this example.");
}
}
}
public static void writeToArduino(String data)
{
String tmpStr = data;
byte bytes[] = tmpStr.getBytes();
try {
out.write(bytes);
} catch (IOException e) { }
}
}
