Hi all, I am quite new to Arduino and code in general, have been teaching myself for a little while now. I have written a code that enables me to send data using the Xbee module attached to my computer, to the Xbee on my Arduino. The data received then turns one of four motors to a desired position using pulses counted from attached encoders. I got this working quite eaisily using the interrupt command for pin 2 on the arduino however, I have four motors therefore require four interrupt pins, as the arduino only has two this is a slight problem especially as because I am using the adafruit motorshield, pin 3 is already in use so I only have pin 2 available. I therfore looked into Pin Change interrupts and found the code to implement interrupts on the analog pins, I am not sure if I have done it correctly but I cant test it as I am finding an issue when compiling. Part of my code can be seen below, (i.e for just one motor) the full code runs 4:
#include <NewSoftSerial.h> // Wireless Library
#include <AFMotor.h> // Motor Library
#define encoderPin A5 // Encoder Pulse Pin 2 on Arduino
AF_DCMotor motor(1); // Motor + & - M1
volatile unsigned int encoderPos; // Initial Encoder Position
NewSoftSerial mySerial = NewSoftSerial(10, 13); // Xbee Pins 10 & 13
char inData[10]; // Declare Array
int n = 74; // Define Integer n as 74 i.e. 74 Pulses = 1 Click on Damper
int index; // Define Index Integer
boolean chose = false; // Motor Choice Boolean Initial Set up
boolean started = false; // Input Code Begin Boolean Initial Set up
boolean ended = false; // Input Code Complete Boolean Initial Set up
boolean forwards = true; // Directional Boolean Initial Set up
boolean mot1 = false; // Motor1 Boolean Initial Set up
void setup() { // Setup Procedure
PCICR |= (1<<PCIE1);
PCMSK1 |= (1<<PCINT13);
MCUCR = (1<<ISC01) | (1<<ISC01);
pinMode(encoderPin, INPUT); // Encoder Pulse Pin Set as Input on Arduino
digitalWrite(encoderPin, HIGH); // Turn on Pullup Resistor
mySerial.begin(19200); // Xbee Laptop Module Serial Set up Baud Rating 19200bps
Serial.begin (19200); // Arduino Serial Set up Baud Rating 19200bps
mySerial.println("start"); // Label Start
motor.setSpeed(200); // Set Motor Speed
}
void loop(){ // Main Loop
while (mySerial.available() >0) { // Check if There is a Character in the Serial Buffer
char aChar = mySerial.read(); // Read Input Character
if(aChar == '<') { // If a "<" is Input Signal Begining of Input
chose = true; // Boolean "Started" True
index = 0; // Index Equals 0
inData[index] = '\0'; // Add a Null to Position in Array
}
else if(aChar == '>') { // If a ">" is Input Signal End of Input
ended = true; // Boolean "Ended" True
}
else if(chose) { // If Chose is True
if(aChar == 'a') { // If 'a' has Been Input
mot1 = true; // Set Motor1 Boolean as True
}
chose = false; // Make Chose False again
started = true; // Set Started as True
}
else if(started) { // If Started is True
inData[index] = aChar; // Characters Entered Between < & >
index++; // Increment Index
inData[index] = '\0'; // Add a Null to Position in Array to Signal End of String
}
}
if(started && ended && mot1) { // If Started and Ended and Motor1 are True
int x = atoi(inData); // Convert Character to Integer
Serial.println(x); // Print Integer Value in Serial
for(encoderPos; (x * n) > encoderPos;) { // For Encoder Position Greater Than Last Encoder Position
forwards = true; // Directional Boolean is True
motor.run(FORWARD); // Drive Motor1 Forward
}
motor.run(RELEASE); // Stop Motor1
for(encoderPos; (x * n) < encoderPos;) { // For Encoder Position Greater Than Last Encoder Position
forwards = false; // Directional Boolean is False
motor.run(BACKWARD); // Drive Motor1 Backwards
}
motor.run(RELEASE); // Stop Motor1
mySerial.print ("Number of Pulses Read:"); // Print Number of Pulses
mySerial.println (encoderPos, DEC); // Print Actual Value of Pulses Read
if (encoderPos = (x*n)) { // If Encoder Position Equals Required Encoder Position
mySerial.println ("CORRECT"); // Print 'Correct'
}
else if (encoderPos != (x*n)) { // if Encoder Position Does Not Equal Required Encoder Position
mySerial.println ("FAILED"); // Print 'Failed'
mySerial.println ("Input Position Again:"); // Print 'Input Position Again'
}
started = false; // Reset Started Boolean
ended = false; // Reset Ended Boolean
mot1 = false; // Reset Motor1 Boolean
index = 0; // Reset Index Integer
inData[index] = '\0'; // Add a Null to Position in Array
}
}
ISR(PCINT1_vect) { // Interrupt
if (digitalRead(encoderPin) == HIGH) { // Interrupt when Pulse is Detected on Encoder Pin
if (forwards) { // If Boolean True
encoderPos++; // Increment Value by 1
}
if (!forwards) { // If Boolean False
encoderPos--; // Decrement Value by 1
}
}
}
I get an error that the vect has already been defined:
NewSoftSerial\NewSoftSerial.cpp.o: In function __vector_4': C:\Program Files\arduino-0022\arduino-0022\libraries\NewSoftSerial/NewSoftSerial.cpp:323: multiple definition of __vector_4'
sketch_may31b.cpp.o:C:\DOCUME~1\COMPAQ~1.DEA\LOCALS~1\Temp\build6271291997586514344.tmp/sketch_may31b.cpp:95: first defined here
Looking into the NewSoftSerial.cpp file I found where this was at line (306-341) I'm not sure how to get round this, therefore need someone's help. The SoftwareSerial library doesn't have this problem, but the mySerial.available() command doesn't work using that library, is there another bit of code I could use to get around that instead maybe? Also SoftwareSerial only works up to speeds of 9600 currently im running at 19200 so I would prefer to find a fix with newsoftserial
Thanks for your help
thank you, by doing this you say i will therefore be unable to receive serial data on the anolog pins, I'm guessing that is ok as I only want to use them for the encoder pulse readings? I will be writing more code to make it work for all four motors, so I might be back but at the moment that has solved my problem so thank you again