Connecting Position Controller (Item code 27971) with aduino uno. Please help...
Vovik
Posts: 4
I have difficulty to connect the Motor Mount and Wheel Kit with Position Controller ( http://www.parallax.com/StoreSearchResults/tabid/768/txtSearch/hb-25/List/0/SortField/4/ProductID/507/Default.aspx ) with arduino.
As well I have the position controller connected to HB-25 Motor Controller (http://www.parallax.com/Store/Accessories/MotorServos/tabid/163/txtSearch/hb-25/List/0/SortField/4/ProductID/64/Default.aspx) but this part works fine as I tested it by just sending PWM directly to HB-25 and it behave as expected.
Here it is how I wired it:
=================
Position Arduino
Controller
DATA
> Digital pin 3
+5
> +5
GND
> GND
Here it is my arduino test code:
======================
#include <SoftwareSerial.h>
SoftwareSerial mySerial(2, 3); // RX, TX
void setup()
{
// set the data rate for the SoftwareSerial port
mySerial.begin(19200);
}
void loop() // run over and over
{
mySerial.write(0x28);
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
mySerial.write(0x20);
delay(50); // do not know if i need this delay?
mySerial.write(0x01);
delay(50); // do not know if i need this delay?
mySerial.write(0x01);
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
mySerial.write(0x28);
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
}
What I expected when I power or reset arduino is wheels to stay steel for a 4 second then rotates for no more then 4 seconds then stop for 4+4 seconds.... But what I observe is the wheel rotates continously for around 6-8 seconds and then starts and stops sporadically...
Even worse when i power the whole thing down and up it does not repeat the pattern of behavior... does not act consistent.
Couls somebody please advice me how to connect the position controller to arduino onu?
Thanks.
VG.
As well I have the position controller connected to HB-25 Motor Controller (http://www.parallax.com/Store/Accessories/MotorServos/tabid/163/txtSearch/hb-25/List/0/SortField/4/ProductID/64/Default.aspx) but this part works fine as I tested it by just sending PWM directly to HB-25 and it behave as expected.
Here it is how I wired it:
=================
Position Arduino
Controller
DATA
> Digital pin 3
+5
> +5
GND
> GND
Here it is my arduino test code:
======================
#include <SoftwareSerial.h>
SoftwareSerial mySerial(2, 3); // RX, TX
void setup()
{
// set the data rate for the SoftwareSerial port
mySerial.begin(19200);
}
void loop() // run over and over
{
mySerial.write(0x28);
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
mySerial.write(0x20);
delay(50); // do not know if i need this delay?
mySerial.write(0x01);
delay(50); // do not know if i need this delay?
mySerial.write(0x01);
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
mySerial.write(0x28);
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
delay(1000); // Wait for 1 seconds
}
What I expected when I power or reset arduino is wheels to stay steel for a 4 second then rotates for no more then 4 seconds then stop for 4+4 seconds.... But what I observe is the wheel rotates continously for around 6-8 seconds and then starts and stops sporadically...
Even worse when i power the whole thing down and up it does not repeat the pattern of behavior... does not act consistent.
Couls somebody please advice me how to connect the position controller to arduino onu?
Thanks.
VG.
Comments
'------------------------------------------------------------------------' ' Position Controller Test Interface (v1_2).bs2 ' ' Parallax Inc. 2009.05.20 Code Version 1.2 ' ' ' ' < Description > ' ' This code is a simple test interface for a two-wheel robot design. ' ' It sends a command to travel forward 350 positions and continually ' ' queries the current position of each wheel to display to the ' ' debug (serial) terminal. ' ' ' ' < Harware Configuration > ' ' For proper operation with this example code, connect the yellow lead ' ' of each motor to "M1" and the blue lead of each motor to "M2" on ' ' each respective HB-25 motor driver. ' ' ' ' Left or right can be determined by the "L" or "R" marking on the ' ' motor casing. On the right-side Position Controller, install both ' ' ID jumpers for an ID value = 1. On the left-side Position ' ' Controller, set the ID jumpers for an ID value = 2. During ' ' initialization, the SREV command is sent to the right-side Position ' ' Controller to reverse the orientation of the sensor in software. ' ' ' ' If either wheel does not operate as expected, check all connections ' ' and ensure that each step above was performed correctly. ' ' ' ' For additional information, refer to the (27971) product documentation ' ' available online at [URL="http://www.parallax.com"]www.parallax.com[/URL]. ' ' ' '------------------------------------------------------------------------' ' {$STAMP BS2} ' {$PBASIC 2.5} '--- Command Value Constants --- QPOS CON $08 'Query Position QSPD CON $10 'Query Speed CHFA CON $18 'Check for Arrival TRVL CON $20 'Travel Number of Positions CLRP CON $28 'Clear Position SREV CON $30 'Set Orientation as Reversed STXD CON $38 'Set TX Delay SMAX CON $40 'Set Speed Maximum SSRR CON $48 'Set Speed Ramp Rate '--- User Constants & Variables --- AllWheels CON 0 RightWheel CON 1 'ID of the right side Position Controller LeftWheel CON 2 'ID of the left side Position Controller CommPin CON 12 'communication bus pin BaudValue CON 32 'for 19.2kbps Wheel VAR Byte 'Specifies which wheel to command for subroutines Distance VAR Word 'Used to set the travel distance RxData VAR Word 'Used to receive data '--- Initialization --- PAUSE 1000 SEROUT CommPin, BaudValue, [SREV + RightWheel] 'Reverses the sensor on the right SEROUT CommPin, BaudValue, [CLRP] 'Clears any prior position info 'Go forward 350 positions Wheel = AllWheels Distance = 350 GOSUB GoDistance 'Continually check the position of each wheel CheckLoop: Wheel = LeftWheel DEBUG "L= " GOSUB DisplayPosition Wheel = RightWheel DEBUG " R= " GOSUB DisplayPosition DEBUG CR GOTO CheckLoop END '--- Subroutines --- GoDistance: SEROUT CommPin, BaudValue, [TRVL + Wheel] SEROUT CommPin, BaudValue, [Distance.HIGHBYTE, Distance.LOWBYTE] RETURN DisplayPosition: SEROUT CommPin, BaudValue, [QPOS + Wheel] SERIN CommPin, BaudValue, [RxData.HIGHBYTE, RxData.LOWBYTE] DEBUG SDEC RxData RETURNThis is the stamp code. You may be able to decipher the commands to send from this. It looks like at the least you need to take out the pauses between the low and high bytes.I'm not sure what the + sign does in the serout though.As for connecting, what you have will work for simplex communication, and is sufficient for getting started. If you want 2-way communication, you'll need to "steer" the 1-wire UART as shown in post #4 here:
http://forums.parallax.com/showthread.php?120828-help-colorpal-sensor&p=890024#post890024
Forget that the labels show some other Atmel chip and the ColorPal -- the general idea is the same for interfacing the Arduino to any of Parallax's 1-wire UART products.
-- Gordon