Ok. Update.
The Vertical motor is working.
I've added code and re-populated the array for the X-Y Joystick.
I've added code for the X-Y Joystick changed and modified the original joystick changed routine so that it looks only for the Z axis. It is to simplify things a bit, so that the motor driver pins are updated only for the fwd/reverse motors and the vertical motor.
What is happening now is that the motors only spin when the joystick is pushed forwards.
I've checked the voltages being returned from the joystick and changed the values in the array accordingly, but this doesn't seem to make much difference.
The full amended code is below:-
I've checked the actual voltages with a voltmeter and they all give me the values that I would expect, but they are slightly different from the ones coming into the pins.
Any suggestions?
//Port Motor Pins
constexpr int prtPWMPin = 9; //Port Motor PWM
constexpr int prtIn1Pin = 8; //Port Motor In1
constexpr int prtIn2Pin = 7; //Port Motor In2
//Starboard Motor Pins
constexpr int stbdPWMPin = 6; //Starboard Motor PWM
constexpr int stbdIn3Pin = 5; //Starboard Motor In3
constexpr int stbdIn4Pin = 4; //Starboard Motor In4
//Vertical Motor Pins
constexpr int vertPWMPin = 10; //Vertical Motor PWM Pin
constexpr int vertIn3Pin = 12; //Vertical Motor In3 Pin
constexpr int vertIn4Pin = 11; //Vertical Motor In4 Pin
struct motorType {
byte pwmPin;
byte inPin1;
byte inPin2;
void init(byte pwm, byte in1, byte in2) {
pwmPin = pwm;
inPin1 = in1;
inPin2 = in2;
pinMode(inPin1, OUTPUT);
pinMode(inPin2, OUTPUT);
stop();
}
void setDirection(byte in1, byte in2) {
digitalWrite(inPin1, in1);
digitalWrite(inPin2, in2);
}
void stop() {
digitalWrite(inPin1, LOW);
digitalWrite(inPin1, LOW);
speed(0);
}
void speed(int aSpeed) {
if (aSpeed >= 0) {
analogWrite(pwmPin, aSpeed);
}
}
// The following functions are not used here
// but could be useful in future
void forward() {
digitalWrite(inPin1, HIGH);
digitalWrite(inPin1, LOW);
}
void back() {
digitalWrite(inPin1, LOW);
digitalWrite(inPin1, HIGH);
}
};
motorType prtMotor;
motorType stbdMotor;
motorType vertMotor;
//Joystick input values
int X_Voltage = 0; //Port/Starboard Joystick input value
int Y_Voltage = 0; //Forward/Reverse Joystick input value
int Z_Voltage = 0; //Vertical Joystick input value
//Min Joystick Values
//int Min_X_Voltage = 0;
//int Min_Y_Voltage = 0;
//int Min_Z_Voltage = 0;
//int Z_CountR = 0;// Used to access Rows data in Z_Joystick_Array
//int Z_CountC = 0;// Used to access Columns data in Z_Joystick_Array
int Z_Rows = 5; //Max Number of Rows in Z Joystick Array
int Z_Columns = 4; //Max Number of Columns in Z Joystick Array
int X_Count = 0; // Used to access X_Voltage data in XY_Joystick_Array
int Y_Count = 0; // Used to access Y_Voltage date in XY_Joystick_Array
int XY_Columns = 7; //Used to access Columns in XY_Joystick_Array
int XY_Rows = 9; // Number of Rows in XY Joystick Array
// Array for decoding Z Axis Joystick values - Z_Voltage, In3, In4, PWM
int Z_Joystick_Array[5][4] = {
{0, 0, 1, 127}, //Joystick full down - motor down at PWM 50%
{1, 0, 1, 64}, //Joystick half down - motor down at PWM 25%
{2, 0, 0, 0}, //Joystick in middle, motor stopped, PWM 0
{3, 1, 0, 64}, //Joystick half up - motor up at PWM 25%
{4, 1, 0, 127} //Joystick full up - motor up at 50%
};
//Array for decoded XY joystick - X_Voltage, Y_Voltage, In1, In2, PWM1, In3, In4, PWM2
int XY_Joystick_Array[9][8] = {
{2, 2, 0, 0, 0, 0, 0, 0}, // Both Motors stopped
{2, 4, 1, 0, 127, 1, 0, 127}, // Both Motors forward
{0, 2, 1, 0, 127, 0, 0, 0}, // Right/starboard - Port Motor forward PWM 50%, Starboard Motor stopped
{4, 2, 0, 0, 0, 1, 0, 127}, // Left/Port - Starboard Motor forward PWM 50%, Port Motor stopped
{2, 0, 0, 1, 127, 0, 1, 127}, //Both Motors Reverse
{4, 4, 1, 0, 64, 1, 0, 127}, //Left/Port Forwards - Starboard Motor Forward PWM 50%,Port Motor Forward PWM 25%
{0, 0, 0, 1, 127, 0, 1, 64}, //Right/Starboard Reverse - Port Motor Reverse PWM 50%, Starboard Motor Forward PWM 25%
{3, 1, 1, 0, 127, 1, 0, 64}, //Right/Starboard Forward - Port Motor Forward PWM 50%, Starboard Motor Reverse PWM 25%
{4, 0, 0, 1, 64, 0, 1, 127} //Left/Port Reverse - Port Motor Reverse PWM 25%, Starboard Motor Reverse PWM 50%
};
#define X_Pin A0 //Joystick input Port/Starboard pin
#define Y_Pin A1 //Joystick input Forward/Reverse pin
#define Z_Pin A2 //Joystick input up/down
// function to return a scaled value of 0-5V from the analogue pins
int scaled_value(int adc, int scale_factor = 5) {
constexpr int max_adc = 1023;
int scaled = scale_factor * adc / max_adc;
return scaled;
}
void setup() {
//Enable Joystick inputs
pinMode(X_Pin, INPUT); //Joystick X Input Pin
pinMode(Y_Pin, INPUT); //Joystick Y Input Pin
pinMode(Z_Pin, INPUT); //Input Z Joystick Pin
//Set Motors to stop -> now done in init()
//Enable Port motor outputs
prtMotor.init(prtPWMPin, prtIn1Pin, prtIn2Pin);
//Enable Starboard Motor Outputs
stbdMotor.init(stbdPWMPin, stbdIn3Pin, stbdIn4Pin);
//Enable Vertical Motor Outputs
vertMotor.init(vertPWMPin, vertIn3Pin, vertIn4Pin);
//Enable Serial Output for Displaying values
Serial.begin(9600);
}
int oldX, oldY, oldZ;
void loop() {
if (Vert_joystickDataHaveChanged()) {
ControlVertMotor();
}
if (XY_joystickDataHaveChanged()){
ControlPortStarbdMotor();
}
}
boolean Vert_joystickDataHaveChanged() {
Z_Voltage = scaled_value(analogRead(Z_Pin), 5);
if (oldZ != Z_Voltage)
{
Serial.print("Z Voltage\t");
Serial.print(Z_Voltage);
oldZ = Z_Voltage;
return true;
}
return false;
}
boolean XY_joystickDataHaveChanged() {
X_Voltage = scaled_value(analogRead(X_Pin), 5);
Y_Voltage = scaled_value(analogRead(Y_Pin), 5);
if (oldX != X_Voltage ||
oldY != Y_Voltage )
{
Serial.print("X Voltage\t");
Serial.print(X_Voltage);
Serial.print("\tY Voltage\t");
Serial.print(Y_Voltage);
oldX = X_Voltage;
oldY = Y_Voltage;
return true;
}
return false;
}
void ControlVertMotor() {
for (int Z_CountR = 0; Z_CountR < Z_Rows; Z_CountR++)
{
int Array_Voltage = 0;
Array_Voltage = Z_Joystick_Array[Z_CountR][0];
if (Z_Voltage == Array_Voltage)
{
int in1 = Z_Joystick_Array[Z_CountR][1];
int in2 = Z_Joystick_Array[Z_CountR][2];
int pwmValue = Z_Joystick_Array[Z_CountR][3];
vertMotor.setDirection(in1, in2);
vertMotor.speed(pwmValue);
return;
}
}
}
void ControlPortStarbdMotor() {
for (int X_CountR = 0; X_CountR < XY_Rows; X_CountR++)
{
int X_Array_Voltage = 0;
int Y_Array_Voltage = 0;
X_Array_Voltage = XY_Joystick_Array[X_CountR][0];
if (X_Voltage == X_Array_Voltage)
{
if (Y_Voltage == XY_Joystick_Array[X_CountR][1])
{
int in1 = XY_Joystick_Array[X_CountR][2];
int in2 = XY_Joystick_Array[X_CountR][3];
int pwmValue1 = XY_Joystick_Array[X_CountR][4];
int in3 = XY_Joystick_Array[X_CountR][5];
int in4 = XY_Joystick_Array[X_CountR][6];
int pwmValue2 = XY_Joystick_Array[X_CountR][7];
stbdMotor.setDirection(in1, in2);
stbdMotor.speed(pwmValue1);
prtMotor.setDirection(in3, in4);
prtMotor.speed(pwmValue2);
Serial.print("XY Array Row: ");
Serial.print(X_CountR);
Serial.print("\tX_Array Voltage: ");
Serial.print(X_Array_Voltage);
Serial.print("\tY_Array Voltage");
Serial.print(Y_Array_Voltage);
Serial.print("\tPort In1: ");
Serial.print(in1);
Serial.print("\tPort In2: ");
Serial.print(in2);
Serial.print("\tPort PWM: ");
Serial.println(pwmValue1);
Serial.print("\tStarboard In3: ");
Serial.print(in3);
Serial.print("\tStarboard In4: ");
Serial.print(in4);
Serial.print("\tStarboard PWM: ");
Serial.println(pwmValue2);
return;
}
}
else{
return;
}
}
}
