I'm having some strange behaviour when I verify-upload below sketch. In setup(), I call displayInstructions(); // Display user instructions and it writes some garbage on the screen which I do not understand. So, to debug it, I verify-upload an empty sketch that does nothing. Then, I upload same sketch with //displayInstructions(); // Display user instructions line commented out. However, the text in displayInstructions(); // Display user instructions keeps showing up when this function has been commented out. Any hints why it's uploading a previous version of the sketch and not the last I uploaded?? Thank you. AA
//###################################################################################
// ESC CALIBRATION PROGRAM FOR ESC TYPE HW30A
//###################################################################################
// WARNING: PROGRAM PROVIDED AS IS, NO WARRANTY
//###################################################################################
// The Arduino must be connected to ESC beforehand:
// - pin 4 on ESC on white control wire. NOTE FIG. PAGE 81 USES pin 3!!!!!
// - GND on black ESC control wire
// - WARNING: red ESC wire NOT used, never connected
//
// ESC is connected to brushless motor, BUT NOT YET TO BATTERY. Steps to follow are:
// 1. Upload program to Arduino. Program starts send PWM pulses of 2ms (max)
// 2. Open Arduino serial monitor, set baud rate to 9600. Text appears with
// instructions on how to continue.
// 3. Connect ESC to battery: 3 rising "beeps" followed by 2 identical "beeps".
// The 2 "beeps" confirm that the max speed control point were memorized.
// 4. Within 2secs after the 2 beeps, type in the serial monitor letter
// "v"+"enter". This sends a min speed command (PWM pulses 1ms) to ESC.
// ESC will emit 3 short "beeps" followed by a long "beep", confirming that
// min speed command is acknowledged. Calibration is now complete.
// 5. Press "t" to perform with increasing/decreasing speed control. Motor will
// run up to max speed and then down to min speed.
//
// NOTE: IF STEP "4" IS NOT DONE QUICKLY ENOUGH, ESC ENTERS CONFIGURATION MODE.
// In this case, it is necessary to:
// - disconnect ESC from battery
// - close serial monitor
// - reset Arduino or plug/unplug USB from PC
// - reopen serial monitor
// - reconnect ESC to battery
// - resume calibration from step "4"
// After calibration, disconnect: ESC from battery, Arduino from PC, Arduino/ESC
// link. Close serial monitor and Arduino IDE.
//###################################################################################
// Include "Servo.h" library to generate PWM signals, this is the same type of signal
// used to control servomotors.
#include <Servo.h>
Servo motor; // Instance of type "Servo"
char data; // Variable to read a character typed in the keyboard at serial monitor
//############################################################
//##### SETUP() FUNCTION #####
//############################################################
void setup(){
Serial.begin(9600); // Initialiaze serial communication with PC
motor.attach(3, 1000, 2000); // ESC controlled at pin 3, PWM pulses of 1ms to 2ms
motor.write(180); // Throttle max corresponds to 2ms. Writes a value to the servo,
// controlling the shaft accordingly. On a STANDARD servo, this will set angle
// of the shaft (in deg), moving the shaft to that orientation. In a CONTINUOUS
// rotation servo (like a motor), this will set the speed of the servo (with 0
// being full-speed in one direction, 180 being full speed in the other, and a
// value near 90 being no movement). REGULAR/STANDARD servo motors only turn
// over a narrow range, with precise control over position. CONTINUOUS rotation
// servos spin continuously, with control over its speed and direction.
//displayInstructions(); // Display user instructions
}// End setup()
//############################################################
//##### LOOP() FUNCTION #####
//############################################################
void loop(){
if( Serial.available() ){
data = Serial.read(); // Read character from serial monitor
// Based on user answer, execute the following switch:
switch(data){
case 118: // 118 is ASCII for letter "v"
Serial.println("Send min gas command");
motor.write(0); //Min speed command. Should this be 90?? see setup()
break;
case 109: // 109 is ASCII for letter "m"
Serial.println("Send max gas command");
motor.write(180);// Max speed command
break;
case 116: // 116 is ASCII for letter "t"
Serial.print("Motor test start in 3secs...\n");
delay(3000);
ESC_test();
break;
}
}
}
//###################################################################################
// ESC test function has no input nor output parameters.
// ESC setpoint (the desired value in a closed-loop feedback system, as in regulation
// of temperature or pressure) varies from min to max and from max to min.
//###################################################################################
void ESC_test(){
for (int i = 0 ; i <= 180 ; i++){//Should it be 90-180??????
Serial.print("Speed = ");
Serial.println(i);
motor.write(i);
delay(10);
}
for (int i = 180 ; i >= 0 ; i--){//Should it be 180-90??????
Serial.print("Speed = ");
Serial.println(i);
motor.write(i);
delay(10);
}
Serial.println("STOP");
motor.write(0); //Should it be 90??????
}
//###################################################################################
// Function to display instructions to user. Has no input/output parameters.
// ##################################################################################
void displayInstructions(){
Serial.println("READY FOR CALIBRATION\n");
Serial.println("Read the following instructions completely before you begin:\n");
Serial.println("Connect the ESC to the battery");
Serial.println("ESC emits a melody of 3 rising beeps, then 2 beeps of same tone");
Serial.println("Within 2 secs, type \"v\" followed by \"enter\" in serial monitor");
Serial.println("ESC then emits 3 identical short beeps followed by long beep");
Serial.println("This signals that calibration is complete");
Serial.println("To start a test in variable speed, enter letter \"t\" + \"enter\": ");
}
