MakerFaire

Author: ArminJo

.github/workflows/TestCompile.yml

@@ -32,7 +32,7 @@ jobs:
           - arduino:avr:uno
           - arduino:avr:uno|TimeOfFlight
           - arduino:avr:uno|BreadboardFull
-          - arduino:avr:uno|Mecanum
+#          - arduino:avr:uno|Mecanum
 
         include:
           - arduino-boards-fqbn: arduino:avr:uno
@@ -41,7 +41,7 @@ jobs:
                 -DBLUETOOTH_BAUD_RATE=BAUD_115200
                 -DUS_SENSOR_SUPPORTS_1_PIN_MODE
                 -DDISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN
-                -DUSE_ADAFRUIT_MOTOR_SHIELD
+                -mcall-prologues # reduces size by 870 bytes
 
           - arduino-boards-fqbn: arduino:avr:uno|TimeOfFlight # UNO board with ToF distance sensor
             build-properties:
@@ -59,14 +59,16 @@ jobs:
                 -DUS_SENSOR_SUPPORTS_1_PIN_MODE
                 -mcall-prologues # reduces size by 870 bytes
 
-          - arduino-boards-fqbn: arduino:avr:uno|Mecanum # Nano board with TB6612 breakout board + 4 mecanum wheels
-            build-properties:
-              RobotCarBlueDisplay:
-                -DMECANUM_BASIC_CONFIGURATION
-                -DBLUETOOTH_BAUD_RATE=BAUD_115200
-                -DUS_SENSOR_SUPPORTS_1_PIN_MODE
-                -mcall-prologues # reduces size by 870 bytes
+#          - arduino-boards-fqbn: arduino:avr:uno|Mecanum # Nano board with TB6612 breakout board + 4 mecanum wheels
+#            build-properties:
+#              RobotCarBlueDisplay:
+#                -DMECANUM_BASIC_CONFIGURATION
+#                -DBLUETOOTH_BAUD_RATE=BAUD_115200
+#                -DUS_SENSOR_SUPPORTS_1_PIN_MODE
+#                -mcall-prologues # reduces size by 870 bytes
 
+      # Do not cancel all jobs / architectures if one job fails
+      fail-fast: false
 
     steps:
       - name: Checkout

README.md

@@ -20,17 +20,19 @@ the **[BlueDisplay library](https://github.com/ArminJo/BlueDisplay)** for Smartp
 | 4WD car with IR receiver and Bluetooth module and 4 AA rechargeable batteries. | Instructable |
 |-|-|
 | ![4 wheel car](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/4WDInstructable.jpg) | [![Instructable](https://github.com/ArminJo/Arduino-OpenWindowAlarm/blob/master/pictures/instructables-logo-v2.png)](https://www.instructables.com/Arduino-4WD-Car-Assembly-and-Code-With-Optional-In/) |
-| 4 wheel car, like 2 WD car before, but with servo mounted head up. | 2 wheel car with encoders, 2 Li-ion batteries, Adafruit Motor Shield V2, Bluetooth connection, and servo mounted head down.  |
+| 4 wheel car like the 2 WD car right, but with servo mounted head up. | 2 wheel car with encoders, 2 Li-ion batteries, Adafruit Motor Shield V2, Bluetooth connection, and servo mounted head down.  |
 | ![4 wheel car](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/4WheelDriveCar.jpg) | ![2 wheel car](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/2WheelDriveCar.jpg)  |
 | Encoder fork sensor | Servo mounted head down |
 | ![Encoder fork sensor](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/ForkSensor.jpg) | ![Servo mounting](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/ServoAtTopBack.jpg) |
-| VIN sensing |   |
-| ![VIN sensing](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/SensingVIn.jpg) |   |
+| VIN sensing with motor shield | Red car with Sharp GP2Y0A21YK distance sensor |
+| ![VIN sensing](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/SensingVIn.jpg) | https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/RedCar.jpg  |
 
 # SCREENSHOTS
 | Start page | Test page |
 |-|-|
 | ![Start page](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/HomePage.png) | ![Test page](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/TestPage.png) |
+| Sensor drive page | Sensor drive page for mecanum car |
+| ![Sensor drive page](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/SensorDrivePage.jpg) | ![Sensor drive page for mecanum car](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/SensorDrivePageWithTurn.jpg) |
 
 Automatic control page with detected wall at right
 ![Automatic control page](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/AutoDrivePageWallDetected.jpg)
@@ -56,10 +58,10 @@ Compile options for the used **PWMMotorControl library** like `USE_ENCODER_MOTOR
 
 | Name | Default value | Description |
 |-|-|-|
-| `CAR_HAS_VIN_VOLTAGE_DIVIDER` | undefined | VIN/11 at A2, e.g. 1MOhm to VIN, 100kOhm to ground. Required to show and monitor (for undervoltage) VIN voltage. |
+| `CAR_HAS_VIN_VOLTAGE_DIVIDER` | undefined | VIN/11 at A2, e.g. 1 MΩ to VIN, 100 kΩ to ground. Required to show and monitor (for undervoltage) VIN voltage. |
 | `VIN_VOLTAGE_CORRECTION` | undefined or 0.8 for UNO | Voltage to be subtracted from VIN voltage for voltage monitoring. E.g. if there is a series diode between Li-ion and VIN as on the UNO boards, set it to 0.8. |
 | `CAR_HAS_US_DISTANCE_SENSOR` | disabled | A HC-SR04 ultrasonic distance sensor is mounted (default for most China smart cars). |
-| `US_SENSOR_SUPPORTS_1_PIN_MODE` | disabled | Use modified HC-SR04 modules or HY-SRF05 ones.</br>Modify HC-SR04 by connecting 10kOhm between echo and trigger and then use only trigger pin. |
+| `US_SENSOR_SUPPORTS_1_PIN_MODE` | disabled | Use modified HC-SR04 modules or HY-SRF05 ones.</br>Modify HC-SR04 by connecting 10 k&ohm; between echo and trigger and then use only trigger pin. |
 | `CAR_HAS_IR_DISTANCE_SENSOR` | disabled | Use Sharp GP2Y0A21YK / 1080 IR distance sensor. |
 | `CAR_HAS_TOF_DISTANCE_SENSOR` | disabled | Use VL53L1X TimeOfFlight distance sensor. |
 | `CAR_HAS_DISTANCE_SERVO` | disabled | Distance sensor is mounted on a pan servo (default for most China smart cars). |
@@ -69,8 +71,8 @@ Compile options for the used **PWMMotorControl library** like `USE_ENCODER_MOTOR
 | `CAR_HAS_CAMERA` | disabled | Enables the `Camera` button for the `PIN_CAMERA_SUPPLY_CONTROL` pin. |
 | `CAR_HAS_LASER` | disabled | Enables the `Laser` button for the `PIN_LASER_OUT` / `LED_BUILTIN` pin. |
 | `ENABLE_RTTTL_FOR_CAR` | undefined | Plays melody after initial timeout has reached. Enables the Melody button, which plays a random melody. |
-| `MONITOR_VIN_VOLTAGE` | disabled | Shows VIN voltage and monitors it for undervoltage. VIN/11 at A2, 1MOhm to VIN, 100kOhm to ground. |
-| `ENABLE_EEPROM_STORAGE` | disabled | Activates the buttons to store compensation and drive speed. |
+| `MONITOR_VIN_VOLTAGE` | disabled | Shows VIN voltage and monitors it for undervoltage. VIN/11 at A2, 1 M&ohm; to VIN, 100 k&ohm; to ground. |
+| `ENABLE_EEPROM_STORAGE` | disabled | Activates the buttons to store compensation values. Normally they are stored after calibration. |
 
 ### Changing include (*.h) files with Arduino IDE
 First, use *Sketch > Show Sketch Folder (Ctrl+K)*.<br/>

media/Arduino-4WD-Car-Assembly-and-Code.pdf

@@ -34,7 +34,7 @@
  * with INTERNAL you can calibrate your ADC readout. For my Nanos I measured e.g. 1060 mV and 1093 mV.
  */
 #if !defined(ADC_INTERNAL_REFERENCE_MILLIVOLT)
-#define ADC_INTERNAL_REFERENCE_MILLIVOLT 1100L    // Value measured at the AREF pin
+#define ADC_INTERNAL_REFERENCE_MILLIVOLT    1100L    // Value measured at the AREF pin. If value > real AREF voltage, measured values are > real values
 #endif
 
 // Union to speed up the combination of low and high bytes to a word

pictures/RedCar.jpg

@@ -101,7 +101,7 @@ void startStopAutomomousDrive(bool aDoStart, uint8_t aDriveMode) {
 #if defined(ENABLE_PATH_INFO_PAGE)
         if (sStepMode != MODE_SINGLE_STEP) {
             // add last driven distance to path
-            insertToPath(RobotCar.rightCarMotor.LastRideEncoderCount, sLastDegreesTurned, true);
+            insertToPath(RobotCar.rightCarMotor.EncoderCount, sLastDegreesTurned, true);
         }
 #endif
         DistanceServoWriteAndDelay(90);
@@ -237,7 +237,7 @@ void driveCollisonAvoidingOneStep() {
                 insertToPath(CENTIMETER_PER_RIDE * 2, sLastDegreesTurned, true);
             } else {
                 // add last driven distance to path
-                insertToPath(RobotCar.rightCarMotor.LastRideEncoderCount, sLastDegreesTurned, true);
+                insertToPath(RobotCar.rightCarMotor.EncoderCount, sLastDegreesTurned, true);
             }
         } else {
             /*

pictures/SensorDrivePage.jpg

@@ -286,8 +286,8 @@ void startAutonomousDrivePage(void) {
     SliderIROrTofDistance.setPosition(POS_X_DISTANCE_POSITION_SLIDER - (TEXT_SIZE_11_WIDTH + BUTTON_WIDTH_10), SLIDER_SHIFTED_Y_POS);
 #endif
     drawAutonomousDrivePage();
-    if(!isCalibrated) {
-        calibrateAndPrint();
+    if(!isPWMCalibrated) {
+        calibrateDriveSpeedPWMAndPrint();
     }
 }
 

pictures/SensorDrivePageWithTurn.jpg

@@ -51,8 +51,8 @@ uint8_t sSensorChangeCallCountForZeroAdjustment;
 float sYZeroValueAdded; // The accumulator for the values of the first 8 calls.
 float sYZeroValue = 0;
 
-struct positiveNegativeSlider sAccelerationLeftRightSliders;
-struct positiveNegativeSlider sAccelerationForwardBackwardSliders;
+struct positiveNegativeSlider sAccelerationLeftRightSliders;        // Left is positive slider
+struct positiveNegativeSlider sAccelerationForwardBackwardSliders;  // Forward is positive slider
 
 #if defined(CAR_HAS_4_MECANUM_WHEELS)
 BDButton TouchButtonTurnMode;
@@ -116,20 +116,80 @@ void doSensorChange(uint8_t aSensorType, struct SensorCallback *aSensorCallbackI
         BlueDisplay1.playTone(24);        // feedback for zero value acquired
     } else {
 
+#if defined(CAR_HAS_4_MECANUM_WHEELS)
         /*
          * Regular operation here
+         * Forward backward handling
+         * We operate with speed and direction instead of signed speed, because direction postprocessing is easier then
+         */
+        int tForwardBackwardValue = -((aSensorCallbackInfo->ValueY - sYZeroValue) * (MAX_SPEED_PWM / 10)); // Scale value to 0 to MAX_SPEED_PWM
+        uint8_t tDirection = DIRECTION_FORWARD;
+        bool tDirectionForward = true;
+        if (tForwardBackwardValue < 0) {
+            tDirection = DIRECTION_BACKWARD;
+            tDirectionForward = false;
+            tForwardBackwardValue = -tForwardBackwardValue;
+        }
+        tForwardBackwardValue = setPositiveNegativeSliders(&sAccelerationForwardBackwardSliders, (unsigned int)tForwardBackwardValue,
+                tDirectionForward, SPEED_DEAD_BAND);
+
+        //Print speedPWM as value of bottom slider
+        sprintf(sStringBuffer, "%3d", tForwardBackwardValue);
+        SliderBackward.printValue(sStringBuffer);
+
+        /*
          * Left right handling
          */
+        int tLeftRightValue = aSensorCallbackInfo->ValueX * (MAX_SPEED_PWM / 10); // Scale value
+        bool tDirectionLeft = true;
+        if (tLeftRightValue < 0) {
+            tDirection |= DIRECTION_RIGHT;
+            tDirectionLeft = false;
+            tLeftRightValue = -tLeftRightValue;
+        } else if (tLeftRightValue > 0) {
+            tDirection |= DIRECTION_LEFT;
+        }
+        tLeftRightValue = setPositiveNegativeSliders(&sAccelerationLeftRightSliders, (unsigned int)tLeftRightValue, tDirectionLeft, SPEED_DEAD_BAND);
+
+        /*
+         * Direction postprocessing
+         */
+        if (tForwardBackwardValue == 0 && tLeftRightValue == 0) {
+            tDirection = DIRECTION_STOP;
+        }
+        if(tLeftRightValue == 0 || tForwardBackwardValue > 2 * tLeftRightValue) {
+            //suppress left right
+            tDirection &= ~DIRECTION_LEFT_RIGHT_MASK;
+        }
+        if (tForwardBackwardValue == 0 || tLeftRightValue > 2 * tForwardBackwardValue) {
+            //suppress forward backward
+            tDirection &= ~DIRECTION_FORWARD_BACKWARD_MASK;
+        }
+        if(sTurnModeEnabled) {
+            tDirection |= DIRECTION_TURN;
+        }
+
+        unsigned int tSpeedPWM = max(tForwardBackwardValue, tLeftRightValue);
+        // reapply dead band;
+        tSpeedPWM += SPEED_DEAD_BAND;
+        // overflow handling since analogWrite only accepts byte values
+        if (tSpeedPWM > MAX_SPEED_PWM) {
+            tSpeedPWM = MAX_SPEED_PWM;
+        }
+        RobotCar.setSpeedPWMAndDirection(tSpeedPWM, tDirection);
+#else //defined(CAR_HAS_4_MECANUM_WHEELS)
+
+        /*
+         * Regular operation here
+         * Left right handling
+         * We operate with signed speed, because speed for left and right motors can be computed easier
+         */
 #if defined(CAR_HAS_4_WHEELS)
         int tLeftRightValue = aSensorCallbackInfo->ValueX * 16.0;
 #else
         int tLeftRightValue = aSensorCallbackInfo->ValueX * 8.0; // Scale value
 #endif
-#if defined(CAR_HAS_4_MECANUM_WHEELS)
-        tLeftRightValue = setPositiveNegativeSliders(&sAccelerationLeftRightSliders, tLeftRightValue, SPEED_DEAD_BAND);
-#else
         tLeftRightValue = setPositiveNegativeSliders(&sAccelerationLeftRightSliders, tLeftRightValue, LEFT_RIGHT_SENSOR_DEAD_BAND);
-#endif
         /*
          * forward backward handling
          */
@@ -141,38 +201,11 @@ void doSensorChange(uint8_t aSensorType, struct SensorCallback *aSensorCallbackI
          */
         sprintf(sStringBuffer, "%4d", tSpeedPWMValue);
         SliderBackward.printValue(sStringBuffer);
-
-#if defined(CAR_HAS_4_MECANUM_WHEELS)
-        /*
-         * Get direction
-         */
-        uint8_t tDirection = DIRECTION_STOP;
-        if(tSpeedPWMValue > 0) {
-            tDirection = DIRECTION_FORWARD;
-        } else if (tSpeedPWMValue < 0) {
-            tSpeedPWMValue = -tSpeedPWMValue;
-            tDirection = DIRECTION_BACKWARD;
-        }
-        if(tLeftRightValue > 0) {
-            // Left
-            tDirection |= DIRECTION_LEFT;
-        } else if(tLeftRightValue < 0) {
-            tLeftRightValue = - tLeftRightValue;
-            tDirection |= DIRECTION_RIGHT;
-        }
-        if(sTurnModeEnabled) {
-            tDirection |= DIRECTION_TURN;
-        }
-        tSpeedPWMValue = max(tSpeedPWMValue, tLeftRightValue);
-        RobotCar.setSpeedPWMAndDirection(speedOverflowAndDeadBandHandling(tSpeedPWMValue), tDirection);
-#else
-        if(tSpeedPWMValue < 0){
+        if (tSpeedPWMValue < 0) {
             tLeftRightValue = -tLeftRightValue;
         }
-        RobotCar.rightCarMotor.setSpeedPWMAndDirection(
-                speedOverflowAndDeadBandHandling(tSpeedPWMValue + tLeftRightValue));
-        RobotCar.leftCarMotor.setSpeedPWMAndDirection(
-                speedOverflowAndDeadBandHandling(tSpeedPWMValue - tLeftRightValue));
+        RobotCar.rightCarMotor.setSpeedPWMAndDirection(speedOverflowAndDeadBandHandling(tSpeedPWMValue + tLeftRightValue));
+        RobotCar.leftCarMotor.setSpeedPWMAndDirection(speedOverflowAndDeadBandHandling(tSpeedPWMValue - tLeftRightValue));
 #endif
     }
 }