program on simple algorithm

avanishpratap · April 15, 2020, 7:24am

// I need help with this algorithm
i know how touse if else statements but dont know how to pause specific function when condition is true
in this case "dont rotate anticlockwise" and "dont rotate clockwise"

if button1==low
      rotate anticlockwise
if button1==high
      dont rotate anticlockwise
      but can rotate clockwise
if button2==low 
      rotate clockwise
if button2==high
      dont rotate clockwise
      but rotate anticlockwise
if both are low 
      can rotate clockwise
      can rotate anticlockwise

//functions

rotae clockwise
rotate anticlockwise

TomGeorge · April 15, 2020, 7:36am

Hi,
Can you draw up a table that has all the button combinations you have and what the motor actions you want outputted.
Are there two states, clock and anticlock, OR three with STOP as well.

Button 1	Button 2	Motor State
0	0
1	0
1	1
0	1

Just tell us the outputs you need.
You may be overthinking the process and what simple coding logic can do.

Thanks.. Tom...

avanishpratap · April 15, 2020, 7:46am

thanks for reply
// here are the motor state

button 1 button 2 motor state

0 0 stop

1 0 rotate clockwise

0 1 rotate anticlockwisse

1 1 stop

avanishpratap · April 15, 2020, 8:05am

HERE is the basic design

here button 1 and button 2 are acting as a limit switch

if any button is pressed with a robot arm is not able to move further respective to its direction

it is basically robot arm controlled by Arduino

TomGeorge · April 15, 2020, 8:13am

Hi,
Thanks for the info and that makes it clear, however if they are limit switches, if both are "0", then you should be able to turn in either direction as the arm is not against a stop.

Tom..

TomGeorge · April 15, 2020, 8:16am

Hi,
Can you post your code please and we can see how to integrate the endstops into it?

Thanks.. Tom...

avanishpratap · April 15, 2020, 8:25am

yes if both are zero then they can move in any direction

I have designed two codes

one is manual with push-button and Arduino

*and another is with esp32 and blynk

//this is Arduino and push button code

const int button1=2;
const int button2=4;
const int button_brake1=7;
const int button_brake2=8;

int  button1_state=0;
int  button2_state=0;
int  button_brake1_state=0;
int  button_brake2_state=0;

void setup() {
  Serial.begin(9600);
  pinMode(2,INPUT);
  pinMode(4,INPUT);
  pinMode(7,INPUT);
  pinMode(8,INPUT);
  pinMode(10,OUTPUT);
  pinMode(11,OUTPUT);
}

void loop() 
{
button1_state=digitalRead(button1);
button2_state=digitalRead(button2);
button_brake1_state=digitalRead( button_brake1);
button_brake2_state=digitalRead( button_brake2);


if (button_brake1_state==LOW){
     if (button1_state==HIGH){
     arm_forward();
     Serial.print("button forward=");
Serial.println(button1_state);
  }
  else if (button_brake1_state==HIGH){
    arm_forward_brake();
    Serial.print("button brake 1=");
Serial.println(button_brake1_state);
  }
}
else if{
    if ( button2_state==HIGH){
    arm_backward();
    Serial.print("button backward=");
Serial.println(button2_state);
    }
  else if (button_brake2_state==HIGH){
    arm_forward_brake();
    Serial.print("button brake 1=");
Serial.println(button_brake1_state);
  }
}
else{
     arm_stable_mode();
      Serial.print("arm is in stable mode\n");
  }
}
  void arm_forward(){
  digitalWrite(10,HIGH);
  digitalWrite(11,LOW);
 }
  void arm_backward(){
  digitalWrite(10,LOW);
  digitalWrite(11,HIGH);
 }
  void arm_forward_brake(){
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
 }
  void arm_backward_brake(){
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
 }
  void arm_stable_mode(){
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
 }

avanishpratap · April 15, 2020, 8:32am

// this is esp32 and blynk code
// please note here I have used multiple devices and motor drivers

#define BLYNK_PRINT Serial

// Include Libraries
#include <Arduino.h>
#include <WiFi.h>
#include <WiFiClient.h>
#include <BlynkSimpleEsp32.h>
#include <ESP32_Servo.h>


//pins for motor driver1 inputs
const int input1=32;
const int input2=33;
const int input3=25;
const int input4=26;

//pins for motor driver2 inputs

const int input11=27;
const int input22=14;
const int input33=12;
const int input44=13;

//pins for motor driver3 inputs

const int MotorLeft[2] = {23,22};  
const int MotorRight[2] = {1,3};

//pins for limit (brake) switches
const int upper_limit=36;
const int lower_limit=39;

//pins for other components
const int buzzer_pin=4;


// Pin Definitions for servos
#define SERVOMD2_2_PIN_SIG  5
#define SERVOMD4_4_PIN_SIG  18


// You should get Auth Token in the Blynk App.
// Go to the Project Settings (nut icon).
char auth[] = "khaNno_d_PlPu9JRoLDk8mOyCzYmO_ec";

// Your WiFi credentials.
// Set password to "" for open networks.
char ssid[] = "lgq6";
char pass[] = "avanish307";

WidgetLED led1(2);

BlynkTimer timer;

// 2 LED Widget is blinking
void blinkLedWidget()
{
  if (led1.getValue()) {
    led1.on();
   
  } 
  else {
    led1.off();
   
  }
}

Servo servoMD2_2;
Servo servoMD4_4;

BLYNK_WRITE(V0)
  {
  servoMD2_2.write(param.asInt());
  }
BLYNK_WRITE(V1)

{
  servoMD4_4.write(param.asInt());
}

int arm_brake1=0;
int arm_brake2=0;

void setup() {
   // Setup Serial which is useful for debugging
    // Use the Serial Monitor to view printed messages
    Serial.begin(9600);
    while (!Serial) ; // wait for serial port to connect. Needed for native USB
    Serial.println("start");
     Blynk.begin(auth, ssid, pass);
     MotorInit();
  // You can also specify server:
  //Blynk.begin(auth, ssid, pass, "blynk-cloud.com", 80);
  //Blynk.begin(auth, ssid, pass, IPAddress(192,168,1,100), 8080);

    servoMD2_2.attach(SERVOMD2_2_PIN_SIG);
    servoMD4_4.attach(SERVOMD4_4_PIN_SIG);
   
    
  pinMode(36,INPUT);
  pinMode(39,INPUT);
  pinMode(32,OUTPUT);
  pinMode(33,OUTPUT);
  pinMode(25,OUTPUT);
  pinMode(26,OUTPUT);
  pinMode(27,OUTPUT);
  pinMode(14,OUTPUT);
  pinMode(12,OUTPUT);
  pinMode(13,OUTPUT);
  pinMode(4,OUTPUT);

   timer.setInterval(1000L, blinkLedWidget);
}

void loop() {

arm_brake1=digitalRead( upper_limit);
arm_brake2=digitalRead( lower_limit);

 if (arm_brake1==1){
    lower_joint_brake();
    Serial.print(" arm_brake 1=");
Serial.println(arm_brake1);
  }
  else if
   (arm_brake2==1){
     upper_joint_brake();
      Serial.print(" arm_brake 2=");
Serial.println(arm_brake2);
  }
 else{
     arm_stable_mode();
     
  }
  
  Blynk.run();
  timer.run();

}
//Intialize the motor
void MotorInit()
{
  int i;
  for(i=0 ; i<2; i++)
  {
  pinMode(MotorLeft[i],OUTPUT);
  pinMode(MotorRight[i],OUTPUT);
  }
}
 //Robot Driving Functions
void Robot_Forward()
{
   digitalWrite(MotorLeft[0],0);
   digitalWrite(MotorLeft[1],1);
   digitalWrite(MotorRight[0],1);
   digitalWrite(MotorRight[1],0);   
}
void Robot_Backward()
{
   digitalWrite(MotorLeft[0],1);
   digitalWrite(MotorLeft[1],0);
   digitalWrite(MotorRight[0],0);
   digitalWrite(MotorRight[1],1);  
}
void Robot_Left()
{
  digitalWrite(MotorLeft[0],1);
  digitalWrite(MotorLeft[1],0);
  digitalWrite(MotorRight[0],1);
  digitalWrite(MotorRight[1],0);    
}
void Robot_Right()
{
  digitalWrite(MotorLeft[0],0);
  digitalWrite(MotorLeft[1],1);
  digitalWrite(MotorRight[0],0);
  digitalWrite(MotorRight[1],1);    
}
void Robot_Stop()
{
  digitalWrite(MotorLeft[0],0);
  digitalWrite(MotorLeft[1],0);
  digitalWrite(MotorRight[0],0);
  digitalWrite(MotorRight[1],0);    
}

//arm joint movement functions
 void lower_joint_forward(){
  digitalWrite(32,1);
  digitalWrite(33,0);

 }
  void lower_joint_backward(){
  digitalWrite(32,0);
  digitalWrite(33,1);

 }
  void lower_joint_brake(){
  digitalWrite(32,0);
  digitalWrite(33,0);
 }
  void upper_joint_forward(){
  digitalWrite(25,1);
  digitalWrite(26,0);
 
 }
  void upper_joint_backward(){
  digitalWrite(25,0);
  digitalWrite(26,1);

 }
  void upper_joint_brake(){
  digitalWrite(25,0);
  digitalWrite(26,0);
 }
  void arm_stable_mode(){
  digitalWrite(32,0);
  digitalWrite(33,0);
  digitalWrite(25,0);
  digitalWrite(26,0);
  digitalWrite(27,0);
  digitalWrite(14,0);
  digitalWrite(12,0);
  digitalWrite(13,0);
 }
void output1_1(){
  digitalWrite(27,1);
  digitalWrite(14,0);
}
void output2_1(){
  digitalWrite(14,1);
  digitalWrite(27,0);
}
  void output3_1(){
  digitalWrite(12,1);
  digitalWrite(13,0);
}
 void output4_1(){
  digitalWrite(13,1);
  digitalWrite(12,0);
}
 BLYNK_WRITE(V2)
{   
  int value = param.asInt(); // Get value as integer
Serial.println("Going Forward");
  if(value)
  {
    Robot_Forward();

  }
}

BLYNK_WRITE(V3)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("Moving Right");
  if(value)
  {
    Robot_Right();
    delay(200);
    Robot_Stop();
  }
}


BLYNK_WRITE(V4)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("Going back");
  if(value)
  {
    Robot_Backward();

  }
}


BLYNK_WRITE(V5)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("Taking Left");
  if(value)
  {
    Robot_Left();
    delay(200);
    Robot_Stop();

  }
}
BLYNK_WRITE(V6)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("Braking!!");
  if(value)
  {
    Robot_Stop();
  }
}
BLYNK_WRITE(V7)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("lower_joint_forward");
  if(value==1)
  {
    lower_joint_forward();
  }
}
BLYNK_WRITE(V8)
{   
  int value = param.asInt(); // Get value as integer
 Serial.println("lower_joint_backward");
  if(value)
  {
    lower_joint_backward();
  }
}
BLYNK_WRITE(V9)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("upper_joint_forward");
  if(value)
  {
    upper_joint_forward();
  }
}
BLYNK_WRITE(V10)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("upper_joint_backward");
  if(value)
  {
    upper_joint_backward();
  }
}
BLYNK_WRITE(V11)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("output1_1");
  if(value)
  {
    output1_1();
  }
}
BLYNK_WRITE(V12)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("output2_1");
  if(value)
  {
    output2_1();
  }
}
BLYNK_WRITE(V13)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("output3_1");
  if(value)
  {
    output3_1();
  }
}
BLYNK_WRITE(V14)
{   
  int value = param.asInt(); // Get value as integer
  Serial.println("output4_1");
  if(value)
  {
    output4_1();
  }
}
BLYNK_WRITE(V15)
{   
  int value = param.asInt(); // Get value as integer
 Serial.println("BUZZER IS ON");
  if(value)
  {
     digitalWrite(4,1);
  }
}

TomGeorge · April 15, 2020, 8:37am

Hi,
Stick with the Arduino for the moment, what model Arduino are you using?
How have you got the switches wired and do you have pulldown resistors on the input pins of the controller.

You haven't said how big or powerful your motor and mechanicals are?

Have you tried your code?

Tom...

avanishpratap · April 15, 2020, 8:45am

i am using l298n motor driver it only requires two inputs on for 1 motor and the logics are provided

i have tested this code but got the error that if any of the button is high(pressed) it stops the entire rotation both clock and anticlockwise

avanishpratap · April 15, 2020, 8:51am

and no pulldown resistors are used

TomGeorge · April 15, 2020, 8:56am

Hi,
Can you post a circuit diagram please?

i have tested this code but got the error that if any of the button is high(pressed) it stops the entire rotation both clock and anticlockwise

You need to have 10k pull down resistors, but lets see your circuit diagram first.

Thanks.. Tom..

avanishpratap · April 15, 2020, 9:22am

here is the schematic

two buttons are for brake
two buttons are to control movement in a particular direction

two wires not connected to anything is connected to l298 input

avanishpratap · April 15, 2020, 9:28am

here is the diagram

avanishpratap · April 15, 2020, 10:45am

hello tom are you still there???

TomGeorge · April 15, 2020, 1:40pm

Hi,
Ops circuit.

Which inputs are the limit switches?
Do you have buttons to make the motor go clock and anti-clock?
What and why do you have two brake buttons?

Thanks.. Tom..

leongjerland · April 15, 2020, 1:57pm

Declaring a pin as INPUT requires it to be connected to either 5V or GND when read. Otherwise it will be floating, and digitalRead() will return arbitrary values.

To solve this you have to add a resistor (10k, or so, ref TomGeorge in #11) between each input-pin and GND to force them LOW when a button is not pressed. When pressed it will connect to 5V and read HIGH.

Alternatively you can declare the inputs as INPUT_PULLUP and connect the switches to GND instead of 5V. The logic then becomes inverse, and a button will read LOW when pressed, and HIGH when not.

system · May 5, 2021, 7:12pm