Published April 26, 2023

ZomoBot Controller - Arcade Joystick Contribution

My Personal Contribution to the building of this project

AdvancedWork in progress63

ZomoBot Controller - Arcade Joystick Contribution

Things used in this project

Hardware components

joystick walfront

Joystick Encoder board

Arduino UNO

Breadboard (generic)

Resistor 10k ohm

Story

Personally came up with the conceptual plan of the controller and provided the supplies needed to get the project done. I also helped codesign and assemble the overall controller as well as try to manage the team the best I could. Looked into how to make joystick controllers and had to figure out how to get the four prongs from the Joystick encoder to the Arduino itself. We ended up connecting the joystick prongs, one ground and one input, into the Digital pins of the Arduino board through the breadboard with a few 10k ohm resistors added to it, making a series circuit for the stick getting all the inputs. We had many issues getting the robot to go certain directions for a while, but after some rewiring, and fixes in the code by the coders, we were able to get the robot inputs working in simple one joystick tank style controls which is still difficult to control the robot with. We even got the diagonal inputs to work. After we got the robot the work, we had some difficulty keeping the signal for the robot good and after some code testing, and adding a small wire as an antenna to both the breadboard and the robot itself. Afterwards we attempted to get a few of the optical light sensors from the Arduino uno kit that we used in prior tournaments to try and change the speed of the robot dependent on how much light was hitting it, but for some reason could not calibrate it, or see any difference, and unfortunately with time constraints, we decided to scrap the idea and stay with the 4 input joystick tank controls, which is very uncomfortable.

//  Modified version of ask_receiver.pde by RadioHead
// -*- mode: C++ -*-
// Simple example of how to use RadioHead to receive messages
// with a simple ASK transmitter in a very simple way.
// Implements a simplex (one-way) receiver with an Rx-B1 module
#include <RH_ASK.h>
#include <SPI.h> // Not actualy used but needed to compile
//Enable timmer2 instead of timmer1
#define RH_ASK_ARDUINO_USE_TIMER2
RH_ASK driver(2000, 11, 12, 13, false);;
#include <ZumoMotors.h>
ZumoMotors motors;
float Sensor1Data;
char Sensor1CharMsg[4];
float Sensor2FloatMsg[3];
int left_speed, right_speed;
void setup()
{
  //LED indicates message sent.
  pinMode(13, OUTPUT);
  Serial.begin(9600); // Debugging only.
  //For some reason, this is needed to initialize the driver.
  if (!driver.init()) {
    Serial.println("init failed");
  }
}
void loop()
{
  uint8_t buf[RH_ASK_MAX_MESSAGE_LEN];
  uint8_t buf2[RH_ASK_MAX_MESSAGE_LEN];
  uint8_t buflen = sizeof(buf);
  uint8_t buflen2 = sizeof(buf);
  float speedMult = 0.5;
  if(driver.recv(buf2, &buflen2))
  {
    if()
  }
  
  if (driver.recv(buf, &buflen)) // Non-blocking
  {
    int i;
    // Message with a good checksum received, dump it.
    for (i = 0; i < buflen; i++)
    {
      // Fill Sensor1CharMsg Char array with corresponding
      // chars from buffer.
      Sensor1CharMsg[i] = char(buf[i]);
      Sensor2FloatMsg[i]= float(buf[i]);
    }
    // Null terminate the char array
    // This needs to be done otherwise problems will occur
    // when the incoming messages has less digits than the
    // one before.
    Sensor1CharMsg[buflen] = '\0';
    // Convert Sensor1CharMsg Char array to integer
    Sensor1Data = atof(Sensor1CharMsg);    
 
    //Choose the correct speeds depending on the command
    if (Sensor1CharMsg[0] == 'f') {
      left_speed = 200;
      right_speed = 200;
    }
    if (Sensor1CharMsg[0] == 'b') {
      left_speed = -200;
      right_speed = -200;
    }
    if (Sensor1CharMsg[0] == 'n') {
      left_speed = 0;
      right_speed = 0;
    }
    if (Sensor1CharMsg[1] == 'l') {
      left_speed = left_speed + 100;
      right_speed = right_speed - 100;
    }
    if (Sensor1CharMsg[1] == 'r') {
      left_speed = left_speed - 100;
      right_speed = right_speed + 100;
    }
    if (Sensor1CharMsg[1] == 'n') {
      left_speed = left_speed;
      right_speed = right_speed;
    }
 
    //Activate motors
    ZumoMotors::setSpeeds(left_speed, right_speed);
 
    //Flash to indicate message received.
    digitalWrite(13, 1);
    delay(200);
    digitalWrite(13, 0);
    delay(200);
 
  }
}

// Modified version of ask_transmitter.pde by RadioHead
// -*- mode: C++ -*-
// Simple example of how to use RadioHead to transmit messages
// with a simple ASK transmitter in a very simple way.
// Implements a simplex (one-way) transmitter with an TX-C1 module
#include <RH_ASK.h>
#include <SPI.h> // Not actually used but needed to compile
RH_ASK driver;
const int potPin = A0;
int value;
void setup()
{
  //LED indicates message sent.
  //pinMode(13, OUTPUT);
  pinMode(4,OUTPUT);
  pinMode(5,OUTPUT);
  pinMode(9,OUTPUT);
  pinMode(8,OUTPUT);
  pinMode(potPin, INPUT);
  Serial.begin(9600);
  //For some reason, this is needed to initialize the driver.
  if (!driver.init())
  {
    Serial.println("init failed");
  }
}
 
void loop()
{
  int switchStateFwd = digitalRead(4);
  int switchStateBwd = digitalRead(8);
  int switchStateRgt = digitalRead(5);
  int switchStateLft = digitalRead(9);
  //int speedMagnitude = analogRead(A0);
  float voltage1 = analogRead(A0) * (5.0 / 1023.0);
  //value = analogRead(potPin);
  //value = map(value, 0, 1023, 0, 255);
  delay(1); 
  Serial.println(voltage1);
  char msg[8];
  float value
  //Read the voltage in the potentiometer.
  //This one encodes forward/neutral/backwards
  //float voltage1 = analogRead(0) * (5.0 / 1023.0);
  
  //Read the voltage in the potentiometer.
  //This one encodes left/neutral/rigth
  //float voltage2 = analogRead(1) * (5.0 / 1023.0);
  if(voltage1 > .5)
  {
    msg[0] = voltage1;
  }
  else
  {
    msg[0] = .5
  }
  //move foward
  if(switchStateFwd == LOW)
  {
    msg[0] = 'n';
    //Serial.println("Stop!");
  }
  else
  {
    msg[0] = 'f';
    //Serial.println("Forward!");
  }
  
  //move back
  if(switchStateBwd == LOW)
  {
    //msg[0] = 'n';
  }
  else
  {
    msg[0] = 'b';
    //Serial.println("Back!");
  }
  
  //move left
  if(switchStateRgt == LOW)
  {
    msg[1] = 'n';
  }
  else
  {
    msg[1] = 'r';
    //Serial.println("Left!");
  }
  
  //move right
  if(switchStateLft == LOW)
  {
    //msg[1] = 'n';
  }
  else
  {
    msg[1] = 'l';
    //Serial.println("Right!");
  }
  

  /*if (voltage1 > 2.6) {
    msg[0] = 'f';
  } else if (voltage1 < 2.4) { msg[0] = 'b'; } else { msg[0] = 'n'; } if (voltage2 > 2.6) {
 
    msg[1] = 'r';
  } else if (voltage2 < 2.4) {
    msg[1] = 'l';
  }
  else {
    msg[1] = 'n';
  }*/
 
  //Send the message and wait to check if it was sent.
  driver.send((uint8_t *)msg, strlen(msg));
  driver.waitPacketSent();
 
  //Flash LED to indicate message sent.
  digitalWrite(13, 1);
  delay(20);
  digitalWrite(13, 0);
  delay(20);
}

Credits

Luis Estades

13 projects • 1 follower

ZomoBot Controller - Arcade Joystick Contribution

Things used in this project

Hardware components

Story

Code

Reciever Code

Transmitter Code

Credits

Luis Estades

Comments

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ZomoBot Controller - Arcade Joystick Contribution

ZomoBot Controller - Arcade Joystick Contribution

Things used in this project

Hardware components

Story

Code

Reciever Code

Transmitter Code

Credits

Luis Estades

Comments

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