Motors only start if arduino is connected to a PC

slugger32015 · July 10, 2023, 1:11am

I am currently programming a FlightController for a Quadrocopter. For some reason if I connect the battery to the drone the calibraton of the ESC works perfectly. If I try to turn on the motors nothing happens (not even the TX LED on the Arduino blinks). If I connect the Board to a PC and open the Serial Monitor I see that after the initialisiation of the receiver there is no Serial ouptput. If I now press restart everythig works just fine. If I disconnect the board from the PC everything still works (if I don't disconnect the battery). If I press restart now it sometimes works and sometimes it doesn't (still didn't disconnect the battery). If I disconnect the battery and reconnect it it doesn't work until I connect it to a PC again. Also I somehow have to put those empty Serial.println in order to be any Serial outputafter the initialisation of the Receiver. I have no clue what is going on here. Did I mess up using an array Maby you can find an error in my Code.

FlightController1.1.ino:

#include"Returnvalues.h"
#include"Receiver.h"
#include"ESC.h"
#include<SPI.h>

//---- global variable declarations ----
ESC* esc;
Receiver* receiver;
int motorPowers[4];

//---- function declarations ----
void shutdown();
void resetMotorPowers();
void up(int * pow, int sens, int acc);
void down(int * pow, int sens, int acc);
void convertInput(int *leftStickInput, int *rightStickInput);
void printMotorPowers();

//---- funktion definitions ----
void shutdown() {
  delete receiver;
  delete esc;
  while (1);
}

void resetMotorPowers() {
  for (int i = 0; i < 4; i++) {
    motorPowers[i] = 0;
  }
}

void up(int * pow, int sens, int acc) {
  if (motorPowers[0] < 180 && motorPowers[1] < 180 && motorPowers[2] < 180 && *pow > 0) {
    for (int i = 0; i < 4; i++)
      motorPowers[i]++;
    delay(acc + sens - map(*pow, 1, 124, 1 , sens)); //176
  }
}

void down(int * pow, int sens, int acc) {
  if (motorPowers[0] > 0 && motorPowers[1] > 0 && motorPowers[2] > 0 && *pow < 0) {
    for (int i = 0; i < 4; i++)
      motorPowers[i]--;
    delay(acc + sens + map(*pow, -1, -131, -1 , -sens)); //176
  }
}

void convertInput(int *leftStickInput, int *rightStickInput, int sens, int acc) {
  up(&rightStickInput[1], sens, acc);
  down(&rightStickInput[1], sens, acc);
}

void printMotorPowers() {
  Serial.println("M1: " + String(motorPowers[0])
                 + "M2: " + String(motorPowers[1])
                 + "M3: " + String(motorPowers[2])
                 + "M4: " + String(motorPowers[3]));
}

//---- setup + loop ----
void setup() {
  Serial.begin(9600);
  esc = new ESC(10, 9, 6, 5);
  receiver = new Receiver;

  resetMotorPowers();
}

void loop() {
  int status = ReturnValues::Return_OK;
  status = receiver->routine(RIGHT_STICK, 125, 127, false);

  if (status == ReturnValues::Return_PROBLEM) {
    //esc->connectionLost();
  } else if (status == ReturnValues::Return_FATAL) {
    shutdown();
  }

  convertInput(receiver->getControllerOutput(ControllerSticks::LEFT_STICK), receiver->getControllerOutput(ControllerSticks::RIGHT_STICK), 1000, 70);
  Serial.print(""); //why has this to be be here???????
  printMotorPowers();
  Serial.print("");
  esc->update(motorPowers);
}

ESC.cpp:

#include"Returnvalues.h"
#include"ESC.h"
#include<Servo.h>
#include<SPI.h>

ESC::ESC(int pinMotor1, int pinMotor2, int pinMotor3, int pinMotor4) {
  pins[0] = pinMotor1;
  pins[1] = pinMotor2;
  pins[2] = pinMotor3;
  pins[3] = pinMotor4;

  Serial.println("start ESC setup");
  delay(2000);
  attachMotors();
  calibrate();
  Serial.println("Motors armed -- ESC Setup completed");
}

void ESC::attachMotors() {
  for (int i = 0; i < 4; i++) {
    motors[i].attach(pins[i], 1000, 2000);
    Serial.println("Motor" + String(i) + " attached");
  }
}

void ESC::calibrate() {
  Serial.println("start calibration");
  for (int i = 0; i <= 180; i++) {
    for (int k = 0; k < 4; k++) {
      motors[k].write(i);
    }
    delay(10);
  }
  Serial.println("max value reached -- phase 1 completed");
  delay(2000);
  for (int i = 180; i >= 0; i--) {
    for (int k = 0; k < 4; k++) {
      motors[k].write(i);
    }
    delay(10);
  }
  Serial.println("min value reached -- phase 2 completed");
  delay(2000);
  Serial.println("calibration completed");
}

void ESC::shutdownMotors() {
  for (int i = 0; i < 4; i++)
    motors[i].write(0);
}

int ESC::manuelWrite(int motor, int value) {
  if (motor < 0 || motor > 3) {
    Serial.println("ESC.ccp::manuelWrite::not supported Input value. ABBORT");
    return ReturnValues::Return_WRONG_INPUT;
  }

  motors[motor].write(value);
  return ReturnValues::Return_OK;
}

void ESC::update(int *motorPowers) {
  for (int i = 0; i < 4; i++) {
    motors[i].write(motorPowers[i]);
  }
}

ESC::~ESC() {
  shutdownMotors();
  for (int i = 0; i < 4; i++) {
    motors[i].detach();
  }
}

ESC.h:

#ifndef ESC_H
#define ESC_H

#include<Servo.h>

class ESC
{
  private:
    int pins[4];
    Servo motors[4];

    void attachMotors();
    void calibrate();
  public:
    ESC(int pinMotor1, int pinMotor2, int pinMotor3, int pinMotor4);
    void shutdownMotors();
    int manuelWrite(int motor, int value);
    void update(int *motorPowers);

    ~ESC();
};

#endif

Receiver.cpp:

#include"Receiver.h"
#include"Returnvalues.h"
#include<RH_ASK.h>
#include<SPI.h>

Receiver::Receiver() {
  if (!RX.init()) {
    Serial.println("RF-Modul could not be initialised");
  } else {
    Serial.println("RF_Modul succesfully initialised");
  }
}

int Receiver::recvControllerOutput(int stick, int xCalibration, int yCalibration, bool print) {
  uint8_t buf[3];
  uint8_t bufLen = sizeof(buf);
  int status = ReturnValues::Return_PROBLEM;

  if (stick == LEFT_STICK) {
    if (RX.recv(buf, &bufLen)) {
      status = Return_OK;
      for (int i = 0; i < 3; i++) {
        leftStick[i] = buf[i];
      }

      leftStick[0] = (leftStick[0] - xCalibration) * (-1);
      leftStick[1] = leftStick[1] - yCalibration;

      if (print) {
        printControllerOutput(LEFT_STICK);
      }
    }
  } else if (stick == RIGHT_STICK) {
    if (RX.recv(buf, &bufLen)) {
      status = Return_OK;
      for (int i = 0; i < 3; i++) {
        rightStick[i] = buf[i];
      }

      rightStick[0] = (rightStick[0] - xCalibration) * (-1);
      rightStick[1] = rightStick[1] - yCalibration;

      if (print) {
        printControllerOutput(RIGHT_STICK);
      }
    }
  }

  return status;
}

void Receiver::printControllerOutput(int stick) {
  if (stick == LEFT_STICK) {
    Serial.print("X: ");
    Serial.print(leftStick[0], DEC);
    Serial.print(" Y: ");
    Serial.print(leftStick[1], DEC);
    Serial.print(" Z: ");
    Serial.println(leftStick[2], DEC);
  } else if (stick == RIGHT_STICK) {
    Serial.print("X: ");
    Serial.print(rightStick[0], DEC);
    Serial.print(" Y: ");
    Serial.print(rightStick[1], DEC);
    Serial.print(" Z: ");
    Serial.println(rightStick[2], DEC);
  }
}

bool Receiver::isEmergency() {
  if (rightStick[2] == 1) {
    return true;
  }
  return false;
}

int Receiver::routine(int stick, int xCalibration, int yCalibration, bool print) {
  int status = ReturnValues::Return_OK;

  if (recvControllerOutput(stick, xCalibration, yCalibration, print) == ReturnValues::Return_PROBLEM)
    status = ReturnValues::Return_PROBLEM;
  if (isEmergency())
    status = ReturnValues::Return_FATAL;
  return status;
}

void Receiver::resetOutputStream() {
  for (int i = 0; i < 3; i++) {
    leftStick[i] = 0;
    rightStick[i] = 0;
  }
}

int* Receiver::getControllerOutput(int stick) {
  if (stick == LEFT_STICK) {
    return leftStick;
  }

  return rightStick;
}

Receiver::~Receiver() {
  resetOutputStream();
};

Receiver.h:

#ifndef RECEIVER_H
#define RECEIVER_H

#include<RH_ASK.h>

class Receiver
{
  private:
    int leftStick[3];
    int rightStick[3];

    RH_ASK RX;

  public:
    Receiver();

    int recvControllerOutput(int stick, int xCalibration, int yCalibration, bool print);
    //void printControllerOutput();
    void printControllerOutput(int stick);
    int routine(int stick, int xCalibration, int yCalibration, bool print);
    void resetOutputStream();
    int *getControllerOutput(int stick);
    bool isEmergency();

    ~Receiver();
};

enum ControllerSticks {
  LEFT_STICK = 0,
  RIGHT_STICK = 1,
};
#endif

Returnvalues.h:

#ifndef RETURNVALUES_H
#define RETURNVALUES_H

enum ReturnValues {
  Return_OK = 0,
  Return_FATAL = 1,
  Return_PROBLEM = 2,
  Return_WRONG_INPUT = 3,
};

#endif

It is not a hardware problem because this skript works perfectly fine:

#include<Servo.h>
#include <RH_ASK.h>
#include <SPI.h>

#define value 80

bool emergencyShutdown = false;

bool momentaryRecive = false;
RH_ASK RX;

int controllerL[3];

Servo m1;
Servo m2;
Servo m3;
Servo m4;
int mPow [4] = {0,0,0,0};
int mPowDelay = 10;

void setup() {
  Serial.begin(9600);
  escSetup();
  rxSetup();
  
}

void loop() {
  recvControllerInput(controllerL, 125, 127, true);
  if (controllerL[2] == 1) {
    shutdownMotors();
    while(1);
  }

  up(&controllerL[1], 1000, 70);
  down(&controllerL[1], 1000, 70);
  updateESC();
}



void rxSetup() {
  if (!RX.init()) {
    Serial.println("RF-Modul konnte nicht initialisiert werden");
  } else {
    Serial.println("RF-Modul erfolgreich initialisiert");
  }
}

void escSetup() {
  Serial.println("start ESC setup");
  delay(2000);
  m1.attach(10,1000,2000);
  Serial.println("attached Motor 1");
  m2.attach(9,1000,2000);
  Serial.println("attached Motor 2");
  m3.attach(6,1000,2000);
  Serial.println("attached Motor 3");
  m4.attach(5,1000,2000);
  Serial.println("attached Motor 4");
  Serial.println("start calibration");
  for(int i = 0; i <= 180 ; i++){
    m1.write(i);
    m2.write(i);
    m3.write(i);
    m4.write(i);
    delay(10);
  }
  Serial.println("max value reached -- phase 1 completed");
  delay(2000);
  for(int i = 180; i >= 0; i--){
    m1.write(i);
    m2.write(i);
    m3.write(i);
    m4.write(i);
    delay(10);
  }
  Serial.println("min value reached -- phase 2 completed");
  delay(2000);
  Serial.println("Motors armed -- ESC Setup completed");
  Serial.println("start m1");
  m1.write(value);
  Serial.println("start m2");
  m2.write(value);
  Serial.println("start m3");
  m3.write(value);
  Serial.println("start m4");
  m4.write(value);
}

void recvControllerInput(int * output, int xCalibration, int yCalibration, bool print) {
  uint8_t buf[3];
  uint8_t bufLen = sizeof(buf);

  if (RX.recv(buf, &bufLen)) {
    momentaryRecive = true;
    for (int i = 0; i < 3; i++) 
      *(output + i) = buf[i];

    *output = (*output - xCalibration) * (-1);
    *(output + 1) = *(output + 1) - yCalibration;
    if (print == true) {
      printControllerInput(output);
      printMotorPower();
    }
  } else {
    momentaryRecive = false;
  }
}

void printControllerInput(int * arr) {
  Serial.print("X: ");
  Serial.print(*arr, DEC);
  Serial.print(" Y: ");
  Serial.print(*(arr + 1), DEC);
  Serial.print(" Z: ");
  Serial.println(*(arr + 2), DEC);
}

void up(int * pow, int sens, int acc) {
  if (mPow[0] < 180 && mPow[1] < 180 && mPow[2] < 180 && *pow > 0) {
    for (int i = 0; i < 4; i++) 
      mPow[i]++;
    delay(acc + sens - map(*pow, 1, 124, 1 , sens)); //176
  }
}

void down(int * pow, int sens, int acc) {
  if (mPow[0] > 0 && mPow[1] > 0 && mPow[2] > 0 && *pow < 0) {
    for (int i = 0; i < 4; i++) 
      mPow[i]--;
    delay(acc + sens + map(*pow, -1, -131, -1 , -sens)); //176
  }
}

void printMotorPower() {
  Serial.print("M1: ");
  Serial.print(mPow[0], DEC);
  Serial.print(" M2: ");
  Serial.print(mPow[1], DEC);
  Serial.print(" M3: ");
  Serial.print(mPow[2], DEC);
  Serial.print(" M4: ");
  Serial.println(mPow[3], DEC);
}

void updateESC() {
  m1.write(mPow[0]);
  m2.write(mPow[1]);
  m3.write(mPow[2]);
  m4.write(mPow[3]);
}

void shutdownMotors() {
  m1.write(0);
  m2.write(0);
  m3.write(0);
  m4.write(0);
}

groundFungus · July 10, 2023, 1:18am

It is unlikely that any member will download and unzip a zip file from an unknown source. Please read the forum guidelines to see how to properly post code and some information on making a good post.

Use the IDE autoformat tool (ctrl-t or Tools, Auto format) before posting code in a code block.

Please post a schematic or wiring diagram. Written descriptions are always more ambiguous than a drawing. Hand drawn, photographed and posted is fine. Include all pin names/numbers, components, their part numbers and/or values and power supplies.

madmark2150 · July 10, 2023, 1:20am

Power issue. please show actual wiring, including power source(s). Also a hand drawn schematic of what was intended will help.

jremington · July 10, 2023, 2:18am

Most likely an inadequate power supply, like trying to power the motors from the Arduino 5V output.

slugger32015 · July 10, 2023, 3:26am

That cannot be because if I change nothing on the hardware but upload only the last code block I included in the question everything works as intended.

gilshultz · July 10, 2023, 3:53am

How do you think the Arduinos operate without batteries? I have a feeling that they use the 5V from the USB cable. That same cable is powering your stuff along with the battery. As requested by others post an annotated schematic showing all connections, power sources, and grounds. Also post links to technical information on each of the hardware items.

system · January 6, 2024, 3:53am

This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.

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Motors only start if arduino is connected to a PC

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