PiPlanter | Graphing timed mysql data with pchart

May 9, 2013 / Leave a comment

Time to get this data we’re harvesting graphed. In a couple past posts, I’ve used pChart to graph random data but now since data is getting dumped into a mysql chart, it would make sense to try and graph that data.

To install pChart on my system (same installs as listed in this post) to do that do the following:

First, get the php5-gd package by running:

sudo apt-get install php5-gd

1	sudo apt-get install php5-gd

Then download, rename and move the pChart files to the proper directory:

sudo mkdir /srv/www/lib/
sudo wget http://www.pchart.net/release/pChart2.1.3.tar.gz
sudo tar -xzvf pChart2.1.3.tar.gz
sudo mv pChart2.1.3 pChart

sudo mkdir /srv/www/lib/

sudo wget http://www.pchart.net/release/pChart2.1.3.tar.gz

sudo tar -xzvf pChart2.1.3.tar.gz

sudo mv pChart2.1.3 pChart

Now pChart is ready to be used.

I used a lot of the info found here:

http://wiki.pchart.net/doc.mysql.integration.html

http://wiki.pchart.net/doc.doc.draw.scale.html

The code is pretty well commented so I’m not really going to get into describing it, but essentially, the following php will retrieve data from a mysql table (which is being populated by a python script seen in this post) and after leaving it on in my room for like 3 days, render this graph:

Here’s that php script:

<?php

/* Include all the classes */ 
include("/srv/www/lib/pChart/class/pData.class.php");
include("/srv/www/lib/pChart/class/pDraw.class.php");
include("/srv/www/lib/pChart/class/pImage.class.php");

/* Create your dataset object */ 
$myData = new pData(); 

$db = mysql_connect("localhost", "piplanter_user", "piplanter_pass"); //location of server, db username, db pass
mysql_select_db("piplanter", $db);

$Requete = "SELECT * FROM `piplanter_table_05`"; //table name
$Result = mysql_query($Requete, $db);

/*This fetches the data from the mysql database, and adds it to pchart as points*/
while($row = mysql_fetch_array($Result))
{
	//$Sample_Number = $row["Sample_Number"]; //Not using this data
	//$myData->addPoints($Sample_Number,"Sample_Number");
	
	$Time = $row["Time"];
	$myData->addPoints($Time,"Time");
	
	$Temp_F = $row["Temp_F"];
	$myData->addPoints($Temp_F,"Temp_F");
	
	$LDR_V = $row["LDR_V"];
	$myData->addPoints($LDR_V,"LDR_V");
}

$myData-> setSerieOnAxis("Temp_F", 0); //assigns the data to the frist axis
$myData-> setAxisName(0, "Temperature"); //adds the label to the first axis

$myData-> setSerieOnAxis("LDR_V", 1);
$myData-> setAxisName(1, "LDR");

$myData-> setAxisPosition(1,AXIS_POSITION_LEFT); //moves the second axis to the far left

$myData->setAbscissa("Time"); //sets the time data set as the x axis label


$myPicture = new pImage(1100,300,$myData); /* Create a pChart object and associate your dataset */ 

$myPicture->setFontProperties(array("FontName"=>"/srv/www/lib/pChart/fonts/pf_arma_five.ttf","FontSize"=>6)); /* Choose a nice font */

$myPicture->setGraphArea(80,40,1000,200); /* Define the boundaries of the graph area */

$Settings = array("R"=>250, "G"=>250, "B"=>250, "Dash"=>1, "DashR"=>0, "DashG"=>0, "DashB"=>0);

$myPicture->drawScale(array("LabelRotation"=>320)); /* Draw the scale, keep everything automatic */ 

/*The combination makes a cool looking graph*/
$myPicture->drawPlotChart();
$myPicture->drawLineChart();


$myPicture->drawLegend(90,20); //adds the legend

$myPicture->autoOutput(); /* Build the PNG file and send it to the web browser */ 

?>

<?php

/* Include all the classes */

include("/srv/www/lib/pChart/class/pData.class.php");

include("/srv/www/lib/pChart/class/pDraw.class.php");

include("/srv/www/lib/pChart/class/pImage.class.php");

/* Create your dataset object */

$myData = new pData();

$db = mysql_connect("localhost", "piplanter_user", "piplanter_pass"); //location of server, db username, db pass

mysql_select_db("piplanter", $db);

$Requete = "SELECT * FROM `piplanter_table_05`"; //table name

$Result = mysql_query($Requete, $db);

/*This fetches the data from the mysql database, and adds it to pchart as points*/

while($row = mysql_fetch_array($Result))

{

//$Sample_Number = $row["Sample_Number"]; //Not using this data

//$myData->addPoints($Sample_Number,"Sample_Number");

$Time = $row["Time"];

$myData->addPoints($Time,"Time");

$Temp_F = $row["Temp_F"];

$myData->addPoints($Temp_F,"Temp_F");

$LDR_V = $row["LDR_V"];

$myData->addPoints($LDR_V,"LDR_V");

}

$myData-> setSerieOnAxis("Temp_F", 0); //assigns the data to the frist axis

$myData-> setAxisName(0, "Temperature"); //adds the label to the first axis

$myData-> setSerieOnAxis("LDR_V", 1);

$myData-> setAxisName(1, "LDR");

$myData-> setAxisPosition(1,AXIS_POSITION_LEFT); //moves the second axis to the far left

$myData->setAbscissa("Time"); //sets the time data set as the x axis label

$myPicture = new pImage(1100,300,$myData); /* Create a pChart object and associate your dataset */

$myPicture->setFontProperties(array("FontName"=>"/srv/www/lib/pChart/fonts/pf_arma_five.ttf","FontSize"=>6)); /* Choose a nice font */

$myPicture->setGraphArea(80,40,1000,200); /* Define the boundaries of the graph area */

$Settings = array("R"=>250, "G"=>250, "B"=>250, "Dash"=>1, "DashR"=>0, "DashG"=>0, "DashB"=>0);

$myPicture->drawScale(array("LabelRotation"=>320)); /* Draw the scale, keep everything automatic */

/*The combination makes a cool looking graph*/

$myPicture->drawPlotChart();

$myPicture->drawLineChart();

$myPicture->drawLegend(90,20); //adds the legend

$myPicture->autoOutput(); /* Build the PNG file and send it to the web browser */

Hey! This post was written a long time ago, but I'm leaving it up on the off-chance it may help someone. Proceed with caution. It may not be a good idea to blindly integrate this code or work into your project, but instead use it as a starting point.

PiPlanter | Basic package setup and bringing everything together

May 5, 2013 / 1 Comment

I’m in a hotel trying to occupy myself with something interesting so I’ve decided to work on this. I had to re-image the SD card I’ve been developing this project on, but I saved to code so there’s no problem there. Now I need to re-install all the basic packages.

First I need to get the components of a LAMP server with the following commands:

sudo apt-get install apache2
sudo apt-get install mysql-server
sudo apt-get install php5
sudo apt-get install php5-server
sudo apt-get install php5-mysql

sudo apt-get install apache2

sudo apt-get install mysql-server

sudo apt-get install php5

sudo apt-get install php5-server

sudo apt-get install php5-mysql

Once you get the mysql server setup, you’ll need to create a database and tables in mysql.

To create the database you’ll be using run the following command:

CREATE DATABASE piplanter;

1	CREATE DATABASE piplanter;

And then grant the proper privileges to use later with the command:

mysql> mysql> GRANT ALL PRIVILEGES ON piplanter.* TO 'user'@'localhost' IDENTIFIED BY 'pass';
FLUSH PRIVILEGES;

1 2	mysql> mysql> GRANT ALL PRIVILEGES ON piplanter.* TO 'user'@'localhost' IDENTIFIED BY 'pass'; FLUSH PRIVILEGES;

Then we can enter the database and create a table:

USE piplanter;
CREATE TABLE piplanter_table_01(Sample_Number INT NOT NULL AUTO_INCREMENT PRIMARY KEY, Time VARCHAR(100), Temp_F VARCHAR(100), LDR_V VARCHAR(100) );

1 2	USE piplanter; CREATE TABLE piplanter_table_01(Sample_Number INT NOT NULL AUTO_INCREMENT PRIMARY KEY, Time VARCHAR(100), Temp_F VARCHAR(100), LDR_V VARCHAR(100) );

Now we need to set up the specific libraries for python the first of which being spidev, the spi tool for the raspberry pi which we can grab from git using the following commands:

sudo apt-get install git
git clone git://github.com/doceme/py-spidev
cd py-spidev/
sudo apt-get install python-dev
sudo python setup.py install

sudo apt-get install git

git clone git://github.com/doceme/py-spidev

cd py-spidev/

sudo apt-get install python-dev

sudo python setup.py install

You also need to (copied from http://scruss.com/blog/2013/01/19/the-quite-rubbish-clock/):

As root, edit the kernel module blacklist file:

sudo vi /etc/modprobe.d/raspi-blacklist.conf

1	sudo vi /etc/modprobe.d/raspi-blacklist.conf

Comment out the spi-bcm2708 line so it looks like this:

#blacklist spi-bcm2708

1	#blacklist spi-bcm2708

Save the file so that the module will load on future reboots. To enable the module now, enter:

sudo modprobe spi-bcm2708

1	sudo modprobe spi-bcm2708

We will also need WiringPi:

sudo apt-get install python-imaging python-imaging-tk python-pip python-dev git
sudo pip install spidev
sudo pip install wiringpi

sudo apt-get install python-imaging python-imaging-tk python-pip python-dev git

sudo pip install spidev

sudo pip install wiringpi

Then you need to get APscheduler, the timing program used to execute the incremental timing with the following commands:

wget https://pypi.python.org/packages/source/A/APScheduler/APScheduler-2.1.0.tar.gz
sudo tar -xzvf APScheduler-2.1.0.tar.gz
python setup.py install

wget https://pypi.python.org/packages/source/A/APScheduler/APScheduler-2.1.0.tar.gz

sudo tar -xzvf APScheduler-2.1.0.tar.gz

python setup.py install

You will need mysqldb to interface python and mysql:

sudo apt-get install python-mysqldb

1	sudo apt-get install python-mysqldb

Once you reboot, the following program should work:

#Timing setup
from datetime import datetime
from apscheduler.scheduler import Scheduler
import time
import datetime
import sys

now =datetime.datetime.now()

import logging #if you start getting logging errors, uncomment these two lines
logging.basicConfig()

#GPIO setup
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD)

GPIO.cleanup()

pin = 26 #pin for the adc
GPIO.setup(pin, GPIO.OUT)
led1 = 11 #pin for the short indicator led
GPIO.setup(led1, GPIO.OUT)
led2 = 13 #pin for other long indicator led
GPIO.setup(led2, GPIO.OUT)

#the adc's SPI setup
import spidev
spi = spidev.SpiDev()
spi.open(0, 0)

import MySQLdb
con = MySQLdb.connect('localhost','piplanter_user','piplanter_pass','piplanter');
cursor = con.cursor()

#fuction that can read the adc
def readadc(adcnum): 
# read SPI data from MCP3008 chip, 8 possible adc's (0 thru 7)
    if adcnum > 7 or adcnum < 0:
        return -1
    r = spi.xfer2([1, 8 + adcnum << 4, 0])
    adcout = ((r[1] & 3) << 8) + r[2]
    return adcout
    
def rapidSample():	
	sampleTime = time.ctime()
	sampleTemp1 = (((readadc(0)*3.3)/1024)/(10.0/1000)) #this translates the analog voltage to temperature in def F
	sampleLght1 = readadc(1)
	samplePot1 = readadc(2)
	
	GPIO.output(led1, True) #turns the led on
	time.sleep(.1) #sleeps a little bit so you can see the LED on
	print "Job 1", sampleTime,"LDR:",sampleLght1 ,"Pot:",samplePot1,"Temp:",sampleTemp1 #prints the debug info
	
	cursor.execute("INSERT INTO piplanter_table_02(Time,Temp_F,LDR_V) VALUES(%s,'%s','%s')",(sampleTime,sampleTemp1,sampleLght1))
	con.commit() #this is important for live updating
	
	time.sleep(.1)
	GPIO.output(led1, False) #turns the led off
	
def slowSample():
	sampleTime = time.ctime()
	sampleTemp1 = (((readadc(0)*3.3)/1024)/(10.0/1000)) #this translates the analog voltage to temperature in def F
	sampleLght1 = readadc(1)
	samplePot1 = readadc(2)
	
	GPIO.output(led2, True) #turns the led on
	time.sleep(5)
	
	print "Job 2", sampleTime,"LDR:",sampleLght1 ,"Pot:",samplePot1,"Temp:",sampleTemp1 #prints the debug info
	cursor.execute("INSERT INTO piplanter_table_03(Time,Temp_F,LDR_V) VALUES(%s,'%s','%s')",(sampleTime,sampleTemp1,sampleLght1))
	con.commit() #this is important for live updating
	
	time.sleep(5)
	GPIO.output(led2, False) #turns the led on
	
	
if __name__ == '__main__':
	#the following 3 lines start up the interval job and keep it going
    scheduler = Scheduler(standalone=True)
    scheduler.add_interval_job(rapidSample, minutes=1)
    scheduler.add_interval_job(slowSample, hours=1)
    scheduler.start()

#Timing setup

from datetime import datetime

from apscheduler.scheduler import Scheduler

import time

import datetime

import sys

now =datetime.datetime.now()

import logging #if you start getting logging errors, uncomment these two lines

logging.basicConfig()

#GPIO setup

import RPi.GPIO as GPIO

GPIO.setmode(GPIO.BOARD)

GPIO.cleanup()

pin = 26 #pin for the adc

GPIO.setup(pin, GPIO.OUT)

led1 = 11 #pin for the short indicator led

GPIO.setup(led1, GPIO.OUT)

led2 = 13 #pin for other long indicator led

GPIO.setup(led2, GPIO.OUT)

#the adc's SPI setup

import spidev

spi = spidev.SpiDev()

spi.open(0, 0)

import MySQLdb

con = MySQLdb.connect('localhost','piplanter_user','piplanter_pass','piplanter');

cursor = con.cursor()

#fuction that can read the adc

def readadc(adcnum):

# read SPI data from MCP3008 chip, 8 possible adc's (0 thru 7)

if adcnum > 7 or adcnum < 0:

return -1

r = spi.xfer2([1, 8 + adcnum << 4, 0])

adcout = ((r[1] & 3) << 8) + r[2]

return adcout

def rapidSample():

sampleTime = time.ctime()

sampleTemp1 = (((readadc(0)*3.3)/1024)/(10.0/1000)) #this translates the analog voltage to temperature in def F

sampleLght1 = readadc(1)

samplePot1 = readadc(2)

GPIO.output(led1, True) #turns the led on

time.sleep(.1) #sleeps a little bit so you can see the LED on

print "Job 1", sampleTime,"LDR:",sampleLght1 ,"Pot:",samplePot1,"Temp:",sampleTemp1 #prints the debug info

cursor.execute("INSERT INTO piplanter_table_02(Time,Temp_F,LDR_V) VALUES(%s,'%s','%s')",(sampleTime,sampleTemp1,sampleLght1))

con.commit() #this is important for live updating

time.sleep(.1)

GPIO.output(led1, False) #turns the led off

def slowSample():

sampleTime = time.ctime()

sampleTemp1 = (((readadc(0)*3.3)/1024)/(10.0/1000)) #this translates the analog voltage to temperature in def F

sampleLght1 = readadc(1)

samplePot1 = readadc(2)

GPIO.output(led2, True) #turns the led on

time.sleep(5)

print "Job 2", sampleTime,"LDR:",sampleLght1 ,"Pot:",samplePot1,"Temp:",sampleTemp1 #prints the debug info

cursor.execute("INSERT INTO piplanter_table_03(Time,Temp_F,LDR_V) VALUES(%s,'%s','%s')",(sampleTime,sampleTemp1,sampleLght1))

con.commit() #this is important for live updating

time.sleep(5)

GPIO.output(led2, False) #turns the led on

if __name__ == '__main__':

#the following 3 lines start up the interval job and keep it going

scheduler = Scheduler(standalone=True)

scheduler.add_interval_job(rapidSample, minutes=1)

scheduler.add_interval_job(slowSample, hours=1)

scheduler.start()

And there you go! The program should log data every minute and then every hour to two different tables. To view those data sets as php tables you can use this php script:

<?php
mysql_connect("localhost", "piplanter_user","piplanter_pass") or die ("Could not connect: " . mysql_error());
mysql_select_db("piplanter");

$result = mysql_query("SELECT * FROM piplanter_table_02");

echo "<table border='1'>
<tr>
<th>Sample_Number</th>
<th>Time</th>
<th>Temp F</th>
<th>LDR Value V</th>
</tr>";

while($row = mysql_fetch_array($result)){
	echo"<tr>";
	echo"<td>" . $row['Sample_Number'] . "</td>";
	echo"<td>" . $row['Time'] . "</td>";
	echo"<td>" . $row['Temp_F'] . "</td>";
	echo"<td>" . $row['LDR_V'] . "</td>";
	echo"</tr>";
}

echo "</table>";
mysql_close($con);
?>

<?php

mysql_connect("localhost", "piplanter_user","piplanter_pass") or die ("Could not connect: " . mysql_error());

mysql_select_db("piplanter");

$result = mysql_query("SELECT * FROM piplanter_table_02");

echo "<table border='1'>

<tr>

<th>Sample_Number</th>

<th>LDR Value V</th>

</tr>";

while($row = mysql_fetch_array($result)){

echo"<tr>";

echo"<td>" . $row['Sample_Number'] . "</td>";

echo"<td>" . $row['Time'] . "</td>";

echo"<td>" . $row['Temp_F'] . "</td>";

echo"<td>" . $row['LDR_V'] . "</td>";

echo"</tr>";

}

echo "</table>";

mysql_close($con);

Sometime later I’ll get to graphing the data.

Plane | Adding an LCD to the controller, and using Visual Basic for feedback

March 31, 2013 / Leave a comment

So here’s a video:

So pretty easy but important step here. For a while I’ve known that I need to have some more feedback from the robot that just LED brightness levels on the controller. This VB program allows me to get analog values from the vehicle and interpret them in any number of ways. You can download and run that program HERE, and like I said in the video I’ve refrained from going open source with my VB programs in the past because they’ve never really had any polish to them. But now I think it will be good to keep this all open.

I also added a 16 * 2 character LCD to my controller. I’ve sacrificed the 6 pins because hopefully in the long run it will be a better experience for the user. I may go back, but for now I’d rather build around something that’s a little more constraining as it will force me to innovate a little bit more. Here’s a picture of the new controller:

Here’s the program:

//Serial Handshake declaration
#include <string.h> // we'll need this for subString
#define MAX_STRING_LEN 100 // like 3 lines above, change as needed.
const char EOPmarker = '.';  //This is the end of packet marker
char serialbuf[100]; //This gives the incoming serial some room. Change it if you want a longer incoming.

//SoftwareSerial declaration
#include <SoftwareSerial.h>
SoftwareSerial xbee_serial(2, 3);

//Shift Register Pins declaration
int SER_Pin = 5;   //pin 14 on the 75HC595
int RCLK_Pin = 6;  //pin 12 on the 75HC595
int SRCLK_Pin = 7; //pin 11 on the 75HC595
#define number_of_74hc595s 1 //How many of the shift registers - change this
#define numOfRegisterPins number_of_74hc595s * 8 //do not touch
boolean registers[numOfRegisterPins];

//Servo declarations
int left_servo_val;
int rght_servo_val;

//lcd declaration
#include <LiquidCrystal.h>
LiquidCrystal lcd(7, 8, 9, 10, 11, 12);

//Misc Pin declaration

//inputs
int debug_switch1 = 4;
int debug_switch2 = 6;
//these values are for communication, not hardware inputs
int in_ref;
int in_brightness;
int in_pot1;
int in_pot2;
int in_accelerometer_x;
int in_accelerometer_y;
int in_accelerometer_z;
int in_temp1;

//outputs
//int pot_LED = 6;
int fade_LED = 5;
int debug_switch1_LED = 13;
//these values are for communication, not hardware outputs
int out_joystick_x;
int out_joystick_y;

//Misc Integer Declarations
int brightness = 0;    // how bright the LED is
int fadeAmount = 51;    // how many points to fade the LED by

int accel_x_min = 293;
int accel_x_max = 440;
int accel_y_min = 290;
int accel_y_max = 434;

void setup(){
  Serial.begin(9600);
  xbee_serial.begin(9600);

  //shift register setup
  pinMode(SER_Pin, OUTPUT);
  pinMode(RCLK_Pin, OUTPUT);
  pinMode(SRCLK_Pin, OUTPUT);
  pinMode(0, INPUT);
  clearRegisters();
  writeRegisters();

  //Misc Pin Declarations
  pinMode(debug_switch1, INPUT);
  pinMode(debug_switch2, INPUT);

  //pinMode(pot_LED, OUTPUT);
  pinMode(fade_LED, OUTPUT);

  //lcd declaration
  lcd.begin(16, 2);

  xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0.
}

void loop(){
  if (xbee_serial.available() > 0) {
    static int bufpos = 0;
    char inchar = xbee_serial.read();
      if (inchar != EOPmarker) {
        serialbuf[bufpos] = inchar;
        bufpos++;
      }
      else {
        serialbuf[bufpos] = 0; //restart the buff
        bufpos = 0; //restart the position of the buff

        if (digitalRead(debug_switch1) == LOW){
          digitalWrite(debug_switch1_LED, LOW); //LED in board indicates debug status
          handshake();
          lcd.setCursor(0, 0);
          lcd.print("Debug: OFF");
          lcd.setCursor(0, 1);
          lcd.print("             ");
          digitalWrite(debug_switch1_LED, LOW);
        }

        if (digitalRead(debug_switch1) == HIGH){
          handshake(); //no matter what, the handshake happens normally
          lcd.setCursor(0, 0);
          lcd.print("Debug: ON ");

          debug_handshake(); //the debug to console only slows the process downm no interference with data
          digitalWrite(debug_switch1_LED, HIGH);
        }
    }
  }
}

void handshake(){
  //inputs, recived from vehicle
  in_ref = atoi(subStr(serialbuf, "," , 1));
  in_brightness = atoi(subStr(serialbuf, "," , 2));
  in_pot1 = (map(atoi(subStr(serialbuf, "," , 3)),0,1023,0,255));
  in_pot2 = atoi(subStr(serialbuf, "," , 4));
  in_accelerometer_x = atoi(subStr(serialbuf, "," , 5));
  in_accelerometer_y = atoi(subStr(serialbuf, "," , 6));
  in_accelerometer_z = atoi(subStr(serialbuf, "," , 7));
  in_temp1 = atoi(subStr(serialbuf, "," , 8));

  analogWrite(fade_LED, in_brightness);
  //analogWrite(pot_LED, in_pot1);

  //outputs, sent to vehicle
  brightness = brightness + fadeAmount;

  // reverse the direction of the fading at the ends of the fade:
  if (brightness == 0 || brightness == 255) {
    fadeAmount = -fadeAmount ;
  }

  out_joystick_x = analogRead(7); //remap for coherency purposes
  out_joystick_y = analogRead(6);

  xbee_serial.print(brightness);
  xbee_serial.print(",");
  xbee_serial.print(out_joystick_x);
  xbee_serial.print(",");
  xbee_serial.print(out_joystick_y);
  xbee_serial.print("."); //EOP marker
  delay(10);

}

void debug_handshake() { //there are two debug modes
  if (digitalRead(debug_switch2) == HIGH){
    lcd.setCursor(0, 1);
    lcd.print("Mode: 1 Line");
    debug_handshake_fncy(); //this is good for looking at one line at a time (via the port monitor)
  }

  if (digitalRead(debug_switch2) == LOW){
    debug_handshake_smpl(); //this is great for data interpretation (via VB)
    lcd.setCursor(0, 1);
    lcd.print("Mode: VB     ");
  }
}

void debug_handshake_fncy(){
  Serial.print("INPUTS {");

  Serial.print("refvolt: ");
  Serial.print(in_ref);
  Serial.print(",");

  Serial.print(" fade: ");
  Serial.print(brightness);
  Serial.print(",");

  Serial.print(" LED1: ");
  Serial.print(in_pot1);
  Serial.print(",");

  Serial.print(" pot2: ");
  Serial.print(in_pot2);
  Serial.print(",");

  Serial.print(" accel_x: ");
  Serial.print(in_accelerometer_x);
  Serial.print(",");

  Serial.print(" accel_y: ");
  Serial.print(in_accelerometer_y);
  Serial.print(",");

  Serial.print(" accel_z: ");
  Serial.print(in_accelerometer_z);
  Serial.print(",");

  Serial.print(" temp1: ");
  Serial.print(in_temp1);

  Serial.print("}");

  Serial.print(" | ");
  Serial.print("OUTPUTS {");

  Serial.print("joystick_x: ");
  Serial.print(out_joystick_x);
  Serial.print(",");

  Serial.print(" joystick_y: ");
  Serial.print(out_joystick_y);

  Serial.print("}");

  Serial.println("");
}

void debug_handshake_smpl(){ //just inputs seperated by commas then a | then outputs seperated by commas
  Serial.print(in_ref);
  Serial.print(",");
  Serial.print(brightness);
  Serial.print(",");
  Serial.print(in_pot1);
  Serial.print(",");
  Serial.print(in_pot2);
  Serial.print(",");
  Serial.print(in_accelerometer_x);
  Serial.print(",");
  Serial.print(in_accelerometer_y);
  Serial.print(",");
  Serial.print(in_accelerometer_z);
  Serial.print(",");
  Serial.print(in_temp1);
  Serial.print(",");

  Serial.print("|");

  Serial.print(out_joystick_x);
  Serial.print(",");
  Serial.print(out_joystick_y);

  Serial.println("");
}

char* subStr (char* input_string, char *separator, int segment_number) { //for substring
 char *act, *sub, *ptr;
 static char copy[MAX_STRING_LEN];
 int i;

 strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

 sub = strtok_r(act, separator, &ptr);
 if (sub == NULL) break;
 }
 return sub;
}

void clearRegisters(){ //for shift registers
  for(int i = numOfRegisterPins - 1; i >=  0; i--){
     registers[i] = LOW;
  }
}

void writeRegisters(){ //for shift registers
  digitalWrite(RCLK_Pin, LOW);
  for(int i = numOfRegisterPins - 1; i >=  0; i--){
    digitalWrite(SRCLK_Pin, LOW);
    int val = registers[i];
    digitalWrite(SER_Pin, val);
    digitalWrite(SRCLK_Pin, HIGH);
  }
  digitalWrite(RCLK_Pin, HIGH);
}

//set an individual pin HIGH or LOW
void setRegisterPin(int index, int value){
  registers[index] = value;
}

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//Serial Handshake declaration

#include <string.h> // we'll need this for subString

#define MAX_STRING_LEN 100 // like 3 lines above, change as needed.

const char EOPmarker = '.'; //This is the end of packet marker

char serialbuf[100]; //This gives the incoming serial some room. Change it if you want a longer incoming.

//SoftwareSerial declaration

#include <SoftwareSerial.h>

SoftwareSerial xbee_serial(2, 3);

//Shift Register Pins declaration

int SER_Pin = 5; //pin 14 on the 75HC595

int RCLK_Pin = 6; //pin 12 on the 75HC595

int SRCLK_Pin = 7; //pin 11 on the 75HC595

#define number_of_74hc595s 1 //How many of the shift registers - change this

#define numOfRegisterPins number_of_74hc595s * 8 //do not touch

boolean registers[numOfRegisterPins];

//Servo declarations

int left_servo_val;

int rght_servo_val;

//lcd declaration

#include <LiquidCrystal.h>

LiquidCrystal lcd(7, 8, 9, 10, 11, 12);

//Misc Pin declaration

//inputs

int debug_switch1 = 4;

int debug_switch2 = 6;

//these values are for communication, not hardware inputs

int in_ref;

int in_brightness;

int in_pot1;

int in_pot2;

int in_accelerometer_x;

int in_accelerometer_y;

int in_accelerometer_z;

int in_temp1;

//outputs

//int pot_LED = 6;

int fade_LED = 5;

int debug_switch1_LED = 13;

//these values are for communication, not hardware outputs

int out_joystick_x;

int out_joystick_y;

//Misc Integer Declarations

int brightness = 0; // how bright the LED is

int fadeAmount = 51; // how many points to fade the LED by

int accel_x_min = 293;

int accel_x_max = 440;

int accel_y_min = 290;

int accel_y_max = 434;

void setup(){

Serial.begin(9600);

xbee_serial.begin(9600);

//shift register setup

pinMode(SER_Pin, OUTPUT);

pinMode(RCLK_Pin, OUTPUT);

pinMode(SRCLK_Pin, OUTPUT);

pinMode(0, INPUT);

clearRegisters();

writeRegisters();

//Misc Pin Declarations

pinMode(debug_switch1, INPUT);

pinMode(debug_switch2, INPUT);

//pinMode(pot_LED, OUTPUT);

pinMode(fade_LED, OUTPUT);

//lcd declaration

lcd.begin(16, 2);

xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0.

}

void loop(){

if (xbee_serial.available() > 0) {

static int bufpos = 0;

char inchar = xbee_serial.read();

if (inchar != EOPmarker) {

serialbuf[bufpos] = inchar;

bufpos++;

}

else {

serialbuf[bufpos] = 0; //restart the buff

bufpos = 0; //restart the position of the buff

if (digitalRead(debug_switch1) == LOW){

digitalWrite(debug_switch1_LED, LOW); //LED in board indicates debug status

handshake();

lcd.setCursor(0, 0);

lcd.print("Debug: OFF");

lcd.setCursor(0, 1);

lcd.print(" ");

digitalWrite(debug_switch1_LED, LOW);

}

if (digitalRead(debug_switch1) == HIGH){

handshake(); //no matter what, the handshake happens normally

lcd.setCursor(0, 0);

lcd.print("Debug: ON ");

debug_handshake(); //the debug to console only slows the process downm no interference with data

digitalWrite(debug_switch1_LED, HIGH);

}

void handshake(){

//inputs, recived from vehicle

in_ref = atoi(subStr(serialbuf, "," , 1));

in_brightness = atoi(subStr(serialbuf, "," , 2));

in_pot1 = (map(atoi(subStr(serialbuf, "," , 3)),0,1023,0,255));

in_pot2 = atoi(subStr(serialbuf, "," , 4));

in_accelerometer_x = atoi(subStr(serialbuf, "," , 5));

in_accelerometer_y = atoi(subStr(serialbuf, "," , 6));

in_accelerometer_z = atoi(subStr(serialbuf, "," , 7));

in_temp1 = atoi(subStr(serialbuf, "," , 8));

analogWrite(fade_LED, in_brightness);

//analogWrite(pot_LED, in_pot1);

//outputs, sent to vehicle

brightness = brightness + fadeAmount;

// reverse the direction of the fading at the ends of the fade:

if (brightness == 0 || brightness == 255) {

fadeAmount = -fadeAmount ;

}

out_joystick_x = analogRead(7); //remap for coherency purposes

out_joystick_y = analogRead(6);

xbee_serial.print(brightness);

xbee_serial.print(",");

xbee_serial.print(out_joystick_x);

xbee_serial.print(",");

xbee_serial.print(out_joystick_y);

xbee_serial.print("."); //EOP marker

delay(10);

}

void debug_handshake() { //there are two debug modes

if (digitalRead(debug_switch2) == HIGH){

lcd.setCursor(0, 1);

lcd.print("Mode: 1 Line");

debug_handshake_fncy(); //this is good for looking at one line at a time (via the port monitor)

}

if (digitalRead(debug_switch2) == LOW){

debug_handshake_smpl(); //this is great for data interpretation (via VB)

lcd.setCursor(0, 1);

lcd.print("Mode: VB ");

}

void debug_handshake_fncy(){

Serial.print("INPUTS {");

Serial.print("refvolt: ");

Serial.print(in_ref);

Serial.print(",");

Serial.print(" fade: ");

Serial.print(brightness);

Serial.print(",");

Serial.print(" LED1: ");

Serial.print(in_pot1);

Serial.print(",");

Serial.print(" pot2: ");

Serial.print(in_pot2);

Serial.print(",");

Serial.print(" accel_x: ");

Serial.print(in_accelerometer_x);

Serial.print(",");

Serial.print(" accel_y: ");

Serial.print(in_accelerometer_y);

Serial.print(",");

Serial.print(" accel_z: ");

Serial.print(in_accelerometer_z);

Serial.print(",");

Serial.print(" temp1: ");

Serial.print(in_temp1);

Serial.print("}");

Serial.print(" | ");

Serial.print("OUTPUTS {");

Serial.print("joystick_x: ");

Serial.print(out_joystick_x);

Serial.print(",");

Serial.print(" joystick_y: ");

Serial.print(out_joystick_y);

Serial.print("}");

Serial.println("");

}

void debug_handshake_smpl(){ //just inputs seperated by commas then a | then outputs seperated by commas

Serial.print(in_ref);

Serial.print(",");

Serial.print(brightness);

Serial.print(",");

Serial.print(in_pot1);

Serial.print(",");

Serial.print(in_pot2);

Serial.print(",");

Serial.print(in_accelerometer_x);

Serial.print(",");

Serial.print(in_accelerometer_y);

Serial.print(",");

Serial.print(in_accelerometer_z);

Serial.print(",");

Serial.print(in_temp1);

Serial.print(",");

Serial.print("|");

Serial.print(out_joystick_x);

Serial.print(",");

Serial.print(out_joystick_y);

Serial.println("");

}

char* subStr (char* input_string, char *separator, int segment_number) { //for substring

char *act, *sub, *ptr;

static char copy[MAX_STRING_LEN];

int i;

strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

sub = strtok_r(act, separator, &ptr);

if (sub == NULL) break;

}

return sub;

}

void clearRegisters(){ //for shift registers

for(int i = numOfRegisterPins - 1; i >= 0; i--){

registers[i] = LOW;

}

void writeRegisters(){ //for shift registers

digitalWrite(RCLK_Pin, LOW);

for(int i = numOfRegisterPins - 1; i >= 0; i--){

digitalWrite(SRCLK_Pin, LOW);

int val = registers[i];

digitalWrite(SER_Pin, val);

digitalWrite(SRCLK_Pin, HIGH);

}

digitalWrite(RCLK_Pin, HIGH);

}

//set an individual pin HIGH or LOW

void setRegisterPin(int index, int value){

registers[index] = value;

}

I didn’t mention in in the video, but I moved the mux from the controller, to the vehicle. It allows me to have 22 analog inputs, and the reason I took so long to finally add it was primarily laziness on my part. Aside from the the code is still very similar but close followers will notice that I cleaned up the way the program receives and sends code. It is much much more organized, and much more expandable. Here’s the “new” controller:

Here’s the new program:

//Serial Handshake declaration
#include <string.h> // we'll need this for subString
#define MAX_STRING_LEN 100 // like 3 lines above, change as needed.
const char EOPmarker = '.';  //This is the end of packet marker
char serialbuf[100]; //This gives the incoming serial some room. Change it if you want a longer incoming.

//SoftwareSerial declaration
#include <SoftwareSerial.h>
SoftwareSerial xbee_serial(8, 9);

//Mux control pins declarations
int s0 = 2;
int s1 = 3;
int s2 = 4;
int s3 = 7;
int SIG_pin = 0;

//Shift Register Pins declaration
int SER_Pin = 10;   //pin 14 on the 75HC595
int RCLK_Pin = 11;  //pin 12 on the 75HC595
int SRCLK_Pin = 12; //pin 11 on the 75HC595
#define number_of_74hc595s 1 //How many of the shift registers - change this
#define numOfRegisterPins number_of_74hc595s * 8 //do not touch
boolean registers[numOfRegisterPins];

//Servo declarations
#include <Servo.h>
Servo left_servo;
Servo rght_servo;

//Misc Pin declaration

//inputs
int debug_switch1 = 4;

//outputs
//these values are for communication, not hardware outputs
int out_ref;
int out_pot1;
int out_pot2;
int out_accelerometer_x;
int out_accelerometer_y;
int out_accelerometer_z;
int out_temp1;

int fade_LED = 13;
int x_LED = 5;
int y_LED = 6;
//int debug_switch1_LED = 12;

//Misc Integer declarations
int in_brightness;
int in_joystick_x;
int in_joystick_y;

int brightness = 0;    // how bright the LED is
int fadeAmount = 51;    // how many points to fade the LED by

int x_upperTrigger = 600;
int x_lowerTrigger = 450;
int y_upperTrigger = 600;
int y_lowerTrigger = 400;

void setup(){
  Serial.begin(9600);
  xbee_serial.begin(9600);

  //mux setup
  pinMode(s0, OUTPUT);
  pinMode(s1, OUTPUT);
  pinMode(s2, OUTPUT);
  pinMode(s3, OUTPUT);
  digitalWrite(s0, LOW);
  digitalWrite(s1, LOW);
  digitalWrite(s2, LOW);
  digitalWrite(s3, LOW);

  //shift register setup
  pinMode(SER_Pin, OUTPUT);
  pinMode(RCLK_Pin, OUTPUT);
  pinMode(SRCLK_Pin, OUTPUT);
  clearRegisters();
  writeRegisters();

  //misc pin declarations
  pinMode(x_LED, OUTPUT);
  pinMode(y_LED, OUTPUT);
  pinMode(fade_LED, OUTPUT);

  xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0.
}

void loop(){

  if (xbee_serial.available() > 0) {
    static int bufpos = 0;
    char inchar = xbee_serial.read();
      if (inchar != EOPmarker) {
        serialbuf[bufpos] = inchar;
        bufpos++;
      }
      else {
        serialbuf[bufpos] = 0; //restart the buff
        bufpos = 0; //restart the position of the buff

          handshake();

          setRegisterPin(1, HIGH);
          writeRegisters();

    }
  }
}

void handshake(){

   //inputs
  in_brightness = atoi(subStr(serialbuf, "," , 1));
  in_joystick_x = atoi(subStr(serialbuf, "," , 2));
  in_joystick_y = atoi(subStr(serialbuf, "," , 3));

  analogWrite(fade_LED,in_brightness);

  if (in_joystick_x > x_upperTrigger){ //the below boolean blocks set pins high or low
    setRegisterPin(4,HIGH);
    setRegisterPin(5,LOW);
    analogWrite(x_LED, map(in_joystick_x,x_upperTrigger,1023,0,255));
    writeRegisters();
  }

  if (in_joystick_x < x_lowerTrigger){
    setRegisterPin(4,LOW);
    setRegisterPin(5,HIGH);
    analogWrite(x_LED, map(in_joystick_x,x_upperTrigger,0,0,255));
    writeRegisters();
  }

  if (in_joystick_x > x_lowerTrigger && in_joystick_x < x_upperTrigger){
    setRegisterPin(4,LOW);
    setRegisterPin(5,LOW);
    analogWrite(x_LED,0);
    writeRegisters();
  }

  // x above y below

  if (in_joystick_y > y_upperTrigger){
    setRegisterPin(2,HIGH);
    setRegisterPin(3,LOW);
    analogWrite(y_LED, map(in_joystick_y,y_upperTrigger,1023,0,255));
    writeRegisters();
  }

  if (in_joystick_y < y_lowerTrigger){
    setRegisterPin(2,LOW);
    setRegisterPin(3,HIGH);
    analogWrite(y_LED, map(in_joystick_y,y_upperTrigger,0,0,255));
    writeRegisters();
  }

  if (in_joystick_y > y_lowerTrigger && in_joystick_y < y_upperTrigger){
    setRegisterPin(2,LOW);
    setRegisterPin(3,LOW);
    analogWrite(y_LED,0);
    writeRegisters();
  }

  //outputs
  brightness = brightness + fadeAmount;

  // reverse the direction of the fading at the ends of the fade:
  if (brightness == 0 || brightness == 255) {
    fadeAmount = -fadeAmount ;
  }

  out_ref = readMux(15);
  out_pot1 = readMux(0);
  out_pot2 = readMux(1);
  out_accelerometer_x = readMux(2);
  out_accelerometer_y = readMux(3);
  out_accelerometer_z = readMux(4);
  out_temp1 = readMux(5);

  xbee_serial.print(out_ref);
  xbee_serial.print(",");
  xbee_serial.print(brightness);
  xbee_serial.print(",");
  xbee_serial.print(out_pot1);
  xbee_serial.print(",");
  xbee_serial.print(out_pot2);
  xbee_serial.print(",");
  xbee_serial.print(out_accelerometer_x);
  xbee_serial.print(",");
  xbee_serial.print(out_accelerometer_y);
  xbee_serial.print(",");
  xbee_serial.print(out_accelerometer_z);
  xbee_serial.print(",");
  xbee_serial.print(out_temp1);

  xbee_serial.print("."); //EOP marker
  delay(10);

}

// for substring
char* subStr (char* input_string, char *separator, int segment_number) {
 char *act, *sub, *ptr;
 static char copy[MAX_STRING_LEN];
 int i;

 strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

 sub = strtok_r(act, separator, &ptr);
 if (sub == NULL) break;
 }
 return sub;
}

// for mux
int readMux(int channel){
  int controlPin[] = {s0, s1, s2, s3};
  int muxChannel[16][4]={
    {0,0,0,0}, //channel 0
    {1,0,0,0}, //channel 1
    {0,1,0,0}, //channel 2
    {1,1,0,0}, //channel 3
    {0,0,1,0}, //channel 4
    {1,0,1,0}, //channel 5
    {0,1,1,0}, //channel 6
    {1,1,1,0}, //channel 7
    {0,0,0,1}, //channel 8
    {1,0,0,1}, //channel 9
    {0,1,0,1}, //channel 10
    {1,1,0,1}, //channel 11
    {0,0,1,1}, //channel 12
    {1,0,1,1}, //channel 13
    {0,1,1,1}, //channel 14
    {1,1,1,1}  //channel 15
  };

  //loop through the 4 sig
  for(int i = 0; i < 4; i ++){
    digitalWrite(controlPin[i], muxChannel[channel][i]);
  }

  //read the value at the SIG pin
  int val = analogRead(SIG_pin);

  //return the value
  return val;
}
// for shift registers
void clearRegisters(){
  for(int i = numOfRegisterPins - 1; i >=  0; i--){
     registers[i] = LOW;
  }
}

// for shift registers
void writeRegisters(){
  digitalWrite(RCLK_Pin, LOW);
  for(int i = numOfRegisterPins - 1; i >=  0; i--){
    digitalWrite(SRCLK_Pin, LOW);
    int val = registers[i];
    digitalWrite(SER_Pin, val);
    digitalWrite(SRCLK_Pin, HIGH);
  }
  digitalWrite(RCLK_Pin, HIGH);
}

//set an individual pin HIGH or LOW
void setRegisterPin(int index, int value){
  registers[index] = value;
}

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//Serial Handshake declaration

#include <string.h> // we'll need this for subString

#define MAX_STRING_LEN 100 // like 3 lines above, change as needed.

const char EOPmarker = '.'; //This is the end of packet marker

char serialbuf[100]; //This gives the incoming serial some room. Change it if you want a longer incoming.

//SoftwareSerial declaration

#include <SoftwareSerial.h>

SoftwareSerial xbee_serial(8, 9);

//Mux control pins declarations

int s0 = 2;

int s1 = 3;

int s2 = 4;

int s3 = 7;

int SIG_pin = 0;

//Shift Register Pins declaration

int SER_Pin = 10; //pin 14 on the 75HC595

int RCLK_Pin = 11; //pin 12 on the 75HC595

int SRCLK_Pin = 12; //pin 11 on the 75HC595

#define number_of_74hc595s 1 //How many of the shift registers - change this

#define numOfRegisterPins number_of_74hc595s * 8 //do not touch

boolean registers[numOfRegisterPins];

//Servo declarations

#include <Servo.h>

Servo left_servo;

Servo rght_servo;

//Misc Pin declaration

//inputs

int debug_switch1 = 4;

//outputs

//these values are for communication, not hardware outputs

int out_ref;

int out_pot1;

int out_pot2;

int out_accelerometer_x;

int out_accelerometer_y;

int out_accelerometer_z;

int out_temp1;

int fade_LED = 13;

int x_LED = 5;

int y_LED = 6;

//int debug_switch1_LED = 12;

//Misc Integer declarations

int in_brightness;

int in_joystick_x;

int in_joystick_y;

int brightness = 0; // how bright the LED is

int fadeAmount = 51; // how many points to fade the LED by

int x_upperTrigger = 600;

int x_lowerTrigger = 450;

int y_upperTrigger = 600;

int y_lowerTrigger = 400;

void setup(){

Serial.begin(9600);

xbee_serial.begin(9600);

//mux setup

pinMode(s0, OUTPUT);

pinMode(s1, OUTPUT);

pinMode(s2, OUTPUT);

pinMode(s3, OUTPUT);

digitalWrite(s0, LOW);

digitalWrite(s1, LOW);

digitalWrite(s2, LOW);

digitalWrite(s3, LOW);

//shift register setup

pinMode(SER_Pin, OUTPUT);

pinMode(RCLK_Pin, OUTPUT);

pinMode(SRCLK_Pin, OUTPUT);

clearRegisters();

writeRegisters();

//misc pin declarations

pinMode(x_LED, OUTPUT);

pinMode(y_LED, OUTPUT);

pinMode(fade_LED, OUTPUT);

xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0.

}

void loop(){

if (xbee_serial.available() > 0) {

static int bufpos = 0;

char inchar = xbee_serial.read();

if (inchar != EOPmarker) {

serialbuf[bufpos] = inchar;

bufpos++;

}

else {

serialbuf[bufpos] = 0; //restart the buff

bufpos = 0; //restart the position of the buff

handshake();

setRegisterPin(1, HIGH);

writeRegisters();

}

void handshake(){

//inputs

in_brightness = atoi(subStr(serialbuf, "," , 1));

in_joystick_x = atoi(subStr(serialbuf, "," , 2));

in_joystick_y = atoi(subStr(serialbuf, "," , 3));

analogWrite(fade_LED,in_brightness);

if (in_joystick_x > x_upperTrigger){ //the below boolean blocks set pins high or low

setRegisterPin(4,HIGH);

setRegisterPin(5,LOW);

analogWrite(x_LED, map(in_joystick_x,x_upperTrigger,1023,0,255));

writeRegisters();

}

if (in_joystick_x < x_lowerTrigger){

setRegisterPin(4,LOW);

setRegisterPin(5,HIGH);

analogWrite(x_LED, map(in_joystick_x,x_upperTrigger,0,0,255));

writeRegisters();

}

if (in_joystick_x > x_lowerTrigger && in_joystick_x < x_upperTrigger){

setRegisterPin(4,LOW);

setRegisterPin(5,LOW);

analogWrite(x_LED,0);

writeRegisters();

}

// x above y below

if (in_joystick_y > y_upperTrigger){

setRegisterPin(2,HIGH);

setRegisterPin(3,LOW);

analogWrite(y_LED, map(in_joystick_y,y_upperTrigger,1023,0,255));

writeRegisters();

}

if (in_joystick_y < y_lowerTrigger){

setRegisterPin(2,LOW);

setRegisterPin(3,HIGH);

analogWrite(y_LED, map(in_joystick_y,y_upperTrigger,0,0,255));

writeRegisters();

}

if (in_joystick_y > y_lowerTrigger && in_joystick_y < y_upperTrigger){

setRegisterPin(2,LOW);

setRegisterPin(3,LOW);

analogWrite(y_LED,0);

writeRegisters();

}

//outputs

brightness = brightness + fadeAmount;

// reverse the direction of the fading at the ends of the fade:

if (brightness == 0 || brightness == 255) {

fadeAmount = -fadeAmount ;

}

out_ref = readMux(15);

out_pot1 = readMux(0);

out_pot2 = readMux(1);

out_accelerometer_x = readMux(2);

out_accelerometer_y = readMux(3);

out_accelerometer_z = readMux(4);

out_temp1 = readMux(5);

xbee_serial.print(out_ref);

xbee_serial.print(",");

xbee_serial.print(brightness);

xbee_serial.print(",");

xbee_serial.print(out_pot1);

xbee_serial.print(",");

xbee_serial.print(out_pot2);

xbee_serial.print(",");

xbee_serial.print(out_accelerometer_x);

xbee_serial.print(",");

xbee_serial.print(out_accelerometer_y);

xbee_serial.print(",");

xbee_serial.print(out_accelerometer_z);

xbee_serial.print(",");

xbee_serial.print(out_temp1);

xbee_serial.print("."); //EOP marker

delay(10);

}

// for substring

char* subStr (char* input_string, char *separator, int segment_number) {

char *act, *sub, *ptr;

static char copy[MAX_STRING_LEN];

int i;

strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

sub = strtok_r(act, separator, &ptr);

if (sub == NULL) break;

}

return sub;

}

// for mux

int readMux(int channel){

int controlPin[] = {s0, s1, s2, s3};

int muxChannel[16][4]={

{0,0,0,0}, //channel 0

{1,0,0,0}, //channel 1

{0,1,0,0}, //channel 2

{1,1,0,0}, //channel 3

{0,0,1,0}, //channel 4

{1,0,1,0}, //channel 5

{0,1,1,0}, //channel 6

{1,1,1,0}, //channel 7

{0,0,0,1}, //channel 8

{1,0,0,1}, //channel 9

{0,1,0,1}, //channel 10

{1,1,0,1}, //channel 11

{0,0,1,1}, //channel 12

{1,0,1,1}, //channel 13

{0,1,1,1}, //channel 14

{1,1,1,1} //channel 15

};

//loop through the 4 sig

for(int i = 0; i < 4; i ++){

digitalWrite(controlPin[i], muxChannel[channel][i]);

}

//read the value at the SIG pin

int val = analogRead(SIG_pin);

//return the value

return val;

}

// for shift registers

void clearRegisters(){

for(int i = numOfRegisterPins - 1; i >= 0; i--){

registers[i] = LOW;

}

// for shift registers

void writeRegisters(){

digitalWrite(RCLK_Pin, LOW);

for(int i = numOfRegisterPins - 1; i >= 0; i--){

digitalWrite(SRCLK_Pin, LOW);

int val = registers[i];

digitalWrite(SER_Pin, val);

digitalWrite(SRCLK_Pin, HIGH);

}

digitalWrite(RCLK_Pin, HIGH);

}

//set an individual pin HIGH or LOW

void setRegisterPin(int index, int value){

registers[index] = value;

}

Like I promised in the video, here are a few more properly focused pictures:

Plane | List of things to do [Documentation]

March 17, 2013 / Leave a comment

So as school and sports start to ramp up, it’s going to get harder and harder to make time for this project as I want to complete it by the first week of summer.

I made some huge progress today, but it’s really still a baby step, the proof of concept using a brushless motor was reassuring that this will be expandable into something that is powered by brushless motors (some kind of tricopter) but there’s still quite a lot to get done.

First things first, I’d like to get started on re-tooling “Vehicle_Companion” to fit the needs of this new communication protocol I’ve established. Before it acted as an intermediate between the Arduinos, and now it shouldn’t have any effect on that at all, and should only supply visual feedback from the controller.

Reason being is that I need to get more feedback from the drone than led brightness levels. Plus I’m getting a little tired of C, it’ll be good to get back into VB for a while.

I also need to come up with a way to power the controller. Plain and simple it doesn’t make sense that it’s still tied to a computer.

After that I need to start locking down the vehicle’s PCB. I don’t need to do this to the controller as it’s BOUND to go through countless revisions as the vehicle does. Since the RC car is going to be able to be operated basically with just the joystick, It wouldn’t make sense to over complicate things. Here’s a preview of what it may look like.

After that it’s time to make some decisions on what the final form of this thing is going to be, I go back and forth because of a few reasons but for now I that some sort of multirotor is going to be the best.

Plane | Powering and Dual Motor Speed + Direction Control [Documentation]

March 9, 2013 / Leave a comment

Okay this post is going to be pretty media heavy, here’s a video of the overview of the system:

There are 4 main systems at work here, and like the video said I’ll be going over all of them.

The first is the power system. At it’s core, it’s a Turnigy 5000mAh 3S 20C Lipo Battery Pack that is fed through two voltage converters. The first is 12v-9v@3A and the second is 12v-5v@3A. They are connected all via screw terminals in case they blow out. This all is fed through a large switch before it is fed into the controller and the motor driver, so it can all be cut off at a moments notice.

Here’s a video of me explaining that:

And here are some more detailed pictures:

This is the bottom, I’m still not great at going from breadboard to perfboard so bear with me.

And here’s the top without the 5v module installed, but it would be exactly the same as the 9v one that is:

From there we go to the controller. It’s an Arduino Micro connected to a UartSBee V4 with a XBee Pro 60mW Wire Antenna – Series 1 (802.15.4) installed (the same goes for the controller). It also has a 74HC595 to free up pins which drive LED’s and the motor driver:

Here are some pictures:

Here’s the code:

//Serial Handshake declaration
#include <string.h> // we'll need this for subString
#define MAX_STRING_LEN 20 // like 3 lines above, change as needed.
const char EOPmarker = '.';  //This is the end of packet marker
char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming.

//SoftwareSerial declaration
#include <SoftwareSerial.h>
SoftwareSerial xbee_serial(8, 9);

//Shift Register Pins declaration
int SER_Pin = 10;   //pin 14 on the 75HC595
int RCLK_Pin = 11;  //pin 12 on the 75HC595
int SRCLK_Pin = 12; //pin 11 on the 75HC595
#define number_of_74hc595s 1 //How many of the shift registers - change this
#define numOfRegisterPins number_of_74hc595s * 8 //do not touch
boolean registers[numOfRegisterPins];

//Servo declarations
#include <Servo.h>
Servo left_servo;
Servo rght_servo;

//Misc Pin declaration

//inputs
int pot = 1;
int debug_switch1 = 4;

//outputs
int fade_LED = 3;
int x_LED = 5;
int y_LED = 6;
//int debug_switch1_LED = 12;

//Misc Integer declarations
int brightness = 0;    // how bright the LED is
int fadeAmount = 20;    // how many points to fade the LED by

int x_upperTrigger = 600;
int x_lowerTrigger = 400;
int y_upperTrigger = 600;
int y_lowerTrigger = 400;

void setup(){
  Serial.begin(9600);
  xbee_serial.begin(9600);

  pinMode(SER_Pin, OUTPUT);
  pinMode(RCLK_Pin, OUTPUT);
  pinMode(SRCLK_Pin, OUTPUT);
  pinMode(0, INPUT);
  clearRegisters();
  writeRegisters();

  pinMode(pot, INPUT);
  pinMode(debug_switch1, INPUT);

  pinMode(x_LED, OUTPUT);
  pinMode(y_LED, OUTPUT);
  pinMode(fade_LED, OUTPUT);

  xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0.
}

void loop(){
  if (xbee_serial.available() > 0) {
    static int bufpos = 0;
    char inchar = xbee_serial.read();
      if (inchar != EOPmarker) {
        serialbuf[bufpos] = inchar;
        bufpos++;
      }
      else {
        serialbuf[bufpos] = 0; //restart the buff
        bufpos = 0; //restart the position of the buff

          handshake();
          debug_handshake();

          setRegisterPin(1, HIGH);
          writeRegisters();

    }
  }
}

void handshake(){
  //input, recived from controller
  // led1val,ledval2,fade_LEDvalue.

  //analogWrite(x_LED, map(atoi(subStr(serialbuf, "," , 1)),0,1023,0,255));
  //analogWrite(y_LED, map(atoi(subStr(serialbuf, "," , 2)),0,1023,0,255));
  analogWrite(fade_LED, atoi(subStr(serialbuf, "," , 3)));

  brightness = brightness + fadeAmount;
  // reverse the direction of the fading at the ends of the fade:
  if (brightness == 0 || brightness == 255) {
    fadeAmount = -fadeAmount ;
  }

  if (atoi(subStr(serialbuf, "," , 1)) > x_upperTrigger ){
    analogWrite(x_LED, map(atoi(subStr(serialbuf, "," , 1)),512,1023,0,255));
    setRegisterPin(2, HIGH);
    setRegisterPin(3, LOW);
    writeRegisters();
  }

  if (atoi(subStr(serialbuf, "," , 1)) < x_lowerTrigger ){
    analogWrite(x_LED, map(atoi(subStr(serialbuf, "," , 1)),512,0,0,255));
    setRegisterPin(2, LOW);
    setRegisterPin(3, HIGH);
    writeRegisters();
  }

  if (atoi(subStr(serialbuf, "," , 1)) > x_lowerTrigger && atoi(subStr(serialbuf, "," , 1)) < x_upperTrigger){
    setRegisterPin(2, LOW);
    setRegisterPin(3, LOW);
    writeRegisters();
  }

  if (atoi(subStr(serialbuf, "," , 2)) > y_upperTrigger ){
    analogWrite(y_LED, map(atoi(subStr(serialbuf, "," , 2)),512,1023,0,255));
    setRegisterPin(4, HIGH);
    setRegisterPin(5, LOW);
    writeRegisters();
  }

  if (atoi(subStr(serialbuf, "," , 2)) < y_lowerTrigger ){
    analogWrite(y_LED, map(atoi(subStr(serialbuf, "," , 2)),512,0,0,255));
    setRegisterPin(4, LOW);
    setRegisterPin(5, HIGH);
    writeRegisters();
  }

  if (atoi(subStr(serialbuf, "," , 2)) > y_lowerTrigger && atoi(subStr(serialbuf, "," , 2)) < y_upperTrigger){
    setRegisterPin(4, LOW);
    setRegisterPin(5, LOW);
    writeRegisters();
  }

  //output, sent to controller
  //ledpot1,fade_LEDval.
  xbee_serial.print(analogRead(pot));
  xbee_serial.print(",");
  xbee_serial.print(brightness); //This second byte is for the purpose of the program, it is not being used.
  xbee_serial.print("."); //EOP marker
  delay(10);
}

void debug_handshake(){
  //input, recived from controller
  Serial.print("VEHICLE DEBUG: ");
  Serial.print("INPUTS|");
  Serial.print(" x_LED: ");
  Serial.print(map(atoi(subStr(serialbuf, "," , 1)),0,1023,0,255));
  Serial.print(" y_LED: ");
  Serial.print(map(atoi(subStr(serialbuf, "," , 2)),0,1023,0,255));
  Serial.print(" in fade_LED: ");
  Serial.print(atoi(subStr(serialbuf, "," , 3)));

  //output, sent to controller
  Serial.print(" OUTPUTS|");
  Serial.print(" Pot 1: ");
  Serial.print(analogRead(pot));
  Serial.print(" out fade_LED: ");
  Serial.print(brightness);
  Serial.println("");
}

char* subStr (char* input_string, char *separator, int segment_number) {
 char *act, *sub, *ptr;
 static char copy[MAX_STRING_LEN];
 int i;

 strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

 sub = strtok_r(act, separator, &ptr);
 if (sub == NULL) break;
 }
 return sub;
}

void clearRegisters(){
  for(int i = numOfRegisterPins - 1; i >=  0; i--){
     registers[i] = LOW;
  }
}

void writeRegisters(){
  digitalWrite(RCLK_Pin, LOW);
  for(int i = numOfRegisterPins - 1; i >=  0; i--){
    digitalWrite(SRCLK_Pin, LOW);
    int val = registers[i];
    digitalWrite(SER_Pin, val);
    digitalWrite(SRCLK_Pin, HIGH);
  }
  digitalWrite(RCLK_Pin, HIGH);
}

//set an individual pin HIGH or LOW
void setRegisterPin(int index, int value){
  registers[index] = value;
}

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//Serial Handshake declaration

#include <string.h> // we'll need this for subString

#define MAX_STRING_LEN 20 // like 3 lines above, change as needed.

const char EOPmarker = '.'; //This is the end of packet marker

char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming.

//SoftwareSerial declaration

#include <SoftwareSerial.h>

SoftwareSerial xbee_serial(8, 9);

//Shift Register Pins declaration

int SER_Pin = 10; //pin 14 on the 75HC595

int RCLK_Pin = 11; //pin 12 on the 75HC595

int SRCLK_Pin = 12; //pin 11 on the 75HC595

#define number_of_74hc595s 1 //How many of the shift registers - change this

#define numOfRegisterPins number_of_74hc595s * 8 //do not touch

boolean registers[numOfRegisterPins];

//Servo declarations

#include <Servo.h>

Servo left_servo;

Servo rght_servo;

//Misc Pin declaration

//inputs

int pot = 1;

int debug_switch1 = 4;

//outputs

int fade_LED = 3;

int x_LED = 5;

int y_LED = 6;

//int debug_switch1_LED = 12;

//Misc Integer declarations

int brightness = 0; // how bright the LED is

int fadeAmount = 20; // how many points to fade the LED by

int x_upperTrigger = 600;

int x_lowerTrigger = 400;

int y_upperTrigger = 600;

int y_lowerTrigger = 400;

void setup(){

Serial.begin(9600);

xbee_serial.begin(9600);

pinMode(SER_Pin, OUTPUT);

pinMode(RCLK_Pin, OUTPUT);

pinMode(SRCLK_Pin, OUTPUT);

pinMode(0, INPUT);

clearRegisters();

writeRegisters();

pinMode(pot, INPUT);

pinMode(debug_switch1, INPUT);

pinMode(x_LED, OUTPUT);

pinMode(y_LED, OUTPUT);

pinMode(fade_LED, OUTPUT);

xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0.

}

void loop(){

if (xbee_serial.available() > 0) {

static int bufpos = 0;

char inchar = xbee_serial.read();

if (inchar != EOPmarker) {

serialbuf[bufpos] = inchar;

bufpos++;

}

else {

serialbuf[bufpos] = 0; //restart the buff

bufpos = 0; //restart the position of the buff

handshake();

debug_handshake();

setRegisterPin(1, HIGH);

writeRegisters();

}

void handshake(){

//input, recived from controller

// led1val,ledval2,fade_LEDvalue.

//analogWrite(x_LED, map(atoi(subStr(serialbuf, "," , 1)),0,1023,0,255));

//analogWrite(y_LED, map(atoi(subStr(serialbuf, "," , 2)),0,1023,0,255));

analogWrite(fade_LED, atoi(subStr(serialbuf, "," , 3)));

brightness = brightness + fadeAmount;

// reverse the direction of the fading at the ends of the fade:

if (brightness == 0 || brightness == 255) {

fadeAmount = -fadeAmount ;

}

if (atoi(subStr(serialbuf, "," , 1)) > x_upperTrigger ){

analogWrite(x_LED, map(atoi(subStr(serialbuf, "," , 1)),512,1023,0,255));

setRegisterPin(2, HIGH);

setRegisterPin(3, LOW);

writeRegisters();

}

if (atoi(subStr(serialbuf, "," , 1)) < x_lowerTrigger ){

analogWrite(x_LED, map(atoi(subStr(serialbuf, "," , 1)),512,0,0,255));

setRegisterPin(2, LOW);

setRegisterPin(3, HIGH);

writeRegisters();

}

if (atoi(subStr(serialbuf, "," , 1)) > x_lowerTrigger && atoi(subStr(serialbuf, "," , 1)) < x_upperTrigger){

setRegisterPin(2, LOW);

setRegisterPin(3, LOW);

writeRegisters();

}

if (atoi(subStr(serialbuf, "," , 2)) > y_upperTrigger ){

analogWrite(y_LED, map(atoi(subStr(serialbuf, "," , 2)),512,1023,0,255));

setRegisterPin(4, HIGH);

setRegisterPin(5, LOW);

writeRegisters();

}

if (atoi(subStr(serialbuf, "," , 2)) < y_lowerTrigger ){

analogWrite(y_LED, map(atoi(subStr(serialbuf, "," , 2)),512,0,0,255));

setRegisterPin(4, LOW);

setRegisterPin(5, HIGH);

writeRegisters();

}

if (atoi(subStr(serialbuf, "," , 2)) > y_lowerTrigger && atoi(subStr(serialbuf, "," , 2)) < y_upperTrigger){

setRegisterPin(4, LOW);

setRegisterPin(5, LOW);

writeRegisters();

}

//output, sent to controller

//ledpot1,fade_LEDval.

xbee_serial.print(analogRead(pot));

xbee_serial.print(",");

xbee_serial.print(brightness); //This second byte is for the purpose of the program, it is not being used.

xbee_serial.print("."); //EOP marker

delay(10);

}

void debug_handshake(){

//input, recived from controller

Serial.print("VEHICLE DEBUG: ");

Serial.print("INPUTS|");

Serial.print(" x_LED: ");

Serial.print(map(atoi(subStr(serialbuf, "," , 1)),0,1023,0,255));

Serial.print(" y_LED: ");

Serial.print(map(atoi(subStr(serialbuf, "," , 2)),0,1023,0,255));

Serial.print(" in fade_LED: ");

Serial.print(atoi(subStr(serialbuf, "," , 3)));

//output, sent to controller

Serial.print(" OUTPUTS|");

Serial.print(" Pot 1: ");

Serial.print(analogRead(pot));

Serial.print(" out fade_LED: ");

Serial.print(brightness);

Serial.println("");

}

char* subStr (char* input_string, char *separator, int segment_number) {

char *act, *sub, *ptr;

static char copy[MAX_STRING_LEN];

int i;

strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

sub = strtok_r(act, separator, &ptr);

if (sub == NULL) break;

}

return sub;

}

void clearRegisters(){

for(int i = numOfRegisterPins - 1; i >= 0; i--){

registers[i] = LOW;

}

void writeRegisters(){

digitalWrite(RCLK_Pin, LOW);

for(int i = numOfRegisterPins - 1; i >= 0; i--){

digitalWrite(SRCLK_Pin, LOW);

int val = registers[i];

digitalWrite(SER_Pin, val);

digitalWrite(SRCLK_Pin, HIGH);

}

digitalWrite(RCLK_Pin, HIGH);

}

//set an individual pin HIGH or LOW

void setRegisterPin(int index, int value){

registers[index] = value;

}

Next is the motor driver. It’s built around the L298N. Here’s the video

Here are pictures:

It’s my first real use of a perfboard to make a project more permanent which is why it looks awful, but this is what it should look like:

Image generated by fritzing.

The last system is the controller. It’s an arduino micro hooked up to the same xbee system as seen earlier with a joystick and a multiplexer for more inputs. Here’s a video:

And some pictures:

So basically it receives and sends data to and from the controller as seen in the following code:

//Serial Handshake declaration
#include <string.h> // we'll need this for subString
#define MAX_STRING_LEN 20 // like 3 lines above, change as needed.
const char EOPmarker = '.'; //This is the end of packet marker
char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming.

//SoftwareSerial declaration
#include <SoftwareSerial.h>
SoftwareSerial xbee_serial(2, 3);

//Mux control pins declarations
int s0 = 8;
int s1 = 9;
int s2 = 10;
int s3 = 11;
int SIG_pin = 0;

//Shift Register Pins declaration
int SER_Pin = 5; //pin 14 on the 75HC595
int RCLK_Pin = 6; //pin 12 on the 75HC595
int SRCLK_Pin = 7; //pin 11 on the 75HC595
#define number_of_74hc595s 1 //How many of the shift registers - change this
#define numOfRegisterPins number_of_74hc595s * 8 //do not touch
boolean registers[numOfRegisterPins];

//Servo declarations
int left_servo_val;
int rght_servo_val;

//Misc Pin declaration

//inputs
int debug_switch1 = 4;

//outputs
int pot_LED = 5;
int fade_LED = 6;
int debug_switch1_LED = 2;

//Misc Integer Declarations
int joystick_x;
int joystick_y;

int brightness = 0; // how bright the LED is
int fadeAmount = 20; // how many points to fade the LED by

void setup(){
 Serial.begin(9600);
 xbee_serial.begin(9600);

 //mux setup
 pinMode(s0, OUTPUT);
 pinMode(s1, OUTPUT);
 pinMode(s2, OUTPUT);
 pinMode(s3, OUTPUT);
 digitalWrite(s0, LOW);
 digitalWrite(s1, LOW);
 digitalWrite(s2, LOW);
 digitalWrite(s3, LOW);

 //shift register setup
 pinMode(SER_Pin, OUTPUT);
 pinMode(RCLK_Pin, OUTPUT);
 pinMode(SRCLK_Pin, OUTPUT);
 pinMode(0, INPUT);
 clearRegisters();
 writeRegisters();

 //Misc Pin Declarations
 pinMode(pot_LED, OUTPUT);

xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0.
}

void loop(){
 if (xbee_serial.available() > 0) {
 static int bufpos = 0;
 char inchar = xbee_serial.read();
 if (inchar != EOPmarker) {
 serialbuf[bufpos] = inchar;
 bufpos++;
 }
 else {
 serialbuf[bufpos] = 0; //restart the buff
 bufpos = 0; //restart the position of the buff

 handshake();
 }
 }
}

void handshake(){
 //input, recived from vehicle
 //led1.
 analogWrite(pot_LED, map(atoi(subStr(serialbuf, "," , 1)),0,1023,0,255));
 analogWrite(fade_LED, atoi(subStr(serialbuf, "," , 2)));

 brightness = brightness + fadeAmount;
 // reverse the direction of the fading at the ends of the fade:
 if (brightness == 0 || brightness == 255) {
 fadeAmount = -fadeAmount ;
 }

 //output, sent to vehicle
 //joystick1_ledval,joystick2_ledval,fade_LED.
 analogRemap();
 xbee_serial.print(joystick_x); // Value that it sends over the serial
 xbee_serial.print(",");
 xbee_serial.print(joystick_y); //This second byte is for the purpose of the program, it is not being used.
 xbee_serial.print(",");
 xbee_serial.print(brightness);
 xbee_serial.print("."); //EOP marker
 delay(10);
}

void debug_handshake(){

}

void analogRemap(){
 joystick_x = readMux(15);
 joystick_y = readMux(14);
}
char* subStr (char* input_string, char *separator, int segment_number) {
 char *act, *sub, *ptr;
 static char copy[MAX_STRING_LEN];
 int i;

 strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

 sub = strtok_r(act, separator, &ptr);
 if (sub == NULL) break;
 }
 return sub;
}

int readMux(int channel){
 int controlPin[] = {s0, s1, s2, s3};
 int muxChannel[16][4]={
 {0,0,0,0}, //channel 0
 {1,0,0,0}, //channel 1
 {0,1,0,0}, //channel 2
 {1,1,0,0}, //channel 3
 {0,0,1,0}, //channel 4
 {1,0,1,0}, //channel 5
 {0,1,1,0}, //channel 6
 {1,1,1,0}, //channel 7
 {0,0,0,1}, //channel 8
 {1,0,0,1}, //channel 9
 {0,1,0,1}, //channel 10
 {1,1,0,1}, //channel 11
 {0,0,1,1}, //channel 12
 {1,0,1,1}, //channel 13
 {0,1,1,1}, //channel 14
 {1,1,1,1} //channel 15
 };

//loop through the 4 sig
 for(int i = 0; i < 4; i ++){
 digitalWrite(controlPin[i], muxChannel[channel][i]);
 }

//read the value at the SIG pin
 int val = analogRead(SIG_pin);

//return the value
 return val;
}

void clearRegisters(){
 for(int i = numOfRegisterPins - 1; i >= 0; i--){
 registers[i] = LOW;
 }
}

void writeRegisters(){
 digitalWrite(RCLK_Pin, LOW);
 for(int i = numOfRegisterPins - 1; i >= 0; i--){
 digitalWrite(SRCLK_Pin, LOW);
 int val = registers[i];
 digitalWrite(SER_Pin, val);
 digitalWrite(SRCLK_Pin, HIGH);
 }
 digitalWrite(RCLK_Pin, HIGH);
}

//set an individual pin HIGH or LOW
void setRegisterPin(int index, int value){
 registers[index] = value;
}

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//Serial Handshake declaration

#include <string.h> // we'll need this for subString

#define MAX_STRING_LEN 20 // like 3 lines above, change as needed.

const char EOPmarker = '.'; //This is the end of packet marker

char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming.

//SoftwareSerial declaration

#include <SoftwareSerial.h>

SoftwareSerial xbee_serial(2, 3);

//Mux control pins declarations

int s0 = 8;

int s1 = 9;

int s2 = 10;

int s3 = 11;

int SIG_pin = 0;

//Shift Register Pins declaration

int SER_Pin = 5; //pin 14 on the 75HC595

int RCLK_Pin = 6; //pin 12 on the 75HC595

int SRCLK_Pin = 7; //pin 11 on the 75HC595

#define number_of_74hc595s 1 //How many of the shift registers - change this

#define numOfRegisterPins number_of_74hc595s * 8 //do not touch

boolean registers[numOfRegisterPins];

//Servo declarations

int left_servo_val;

int rght_servo_val;

//Misc Pin declaration

//inputs

int debug_switch1 = 4;

//outputs

int pot_LED = 5;

int fade_LED = 6;

int debug_switch1_LED = 2;

//Misc Integer Declarations

int joystick_x;

int joystick_y;

int brightness = 0; // how bright the LED is

int fadeAmount = 20; // how many points to fade the LED by

void setup(){

Serial.begin(9600);

xbee_serial.begin(9600);

//mux setup

pinMode(s0, OUTPUT);

pinMode(s1, OUTPUT);

pinMode(s2, OUTPUT);

pinMode(s3, OUTPUT);

digitalWrite(s0, LOW);

digitalWrite(s1, LOW);

digitalWrite(s2, LOW);

digitalWrite(s3, LOW);

//shift register setup

pinMode(SER_Pin, OUTPUT);

pinMode(RCLK_Pin, OUTPUT);

pinMode(SRCLK_Pin, OUTPUT);

pinMode(0, INPUT);

clearRegisters();

writeRegisters();

//Misc Pin Declarations

pinMode(pot_LED, OUTPUT);

xbee_serial.print("0,0,0."); // this is very important as it starts of the loop because it makes "xbee_serial.avalible() > 0.

}

void loop(){

if (xbee_serial.available() > 0) {

static int bufpos = 0;

char inchar = xbee_serial.read();

if (inchar != EOPmarker) {

serialbuf[bufpos] = inchar;

bufpos++;

}

else {

serialbuf[bufpos] = 0; //restart the buff

bufpos = 0; //restart the position of the buff

handshake();

}

void handshake(){

//input, recived from vehicle

//led1.

analogWrite(pot_LED, map(atoi(subStr(serialbuf, "," , 1)),0,1023,0,255));

analogWrite(fade_LED, atoi(subStr(serialbuf, "," , 2)));

brightness = brightness + fadeAmount;

// reverse the direction of the fading at the ends of the fade:

if (brightness == 0 || brightness == 255) {

fadeAmount = -fadeAmount ;

}

//output, sent to vehicle

//joystick1_ledval,joystick2_ledval,fade_LED.

analogRemap();

xbee_serial.print(joystick_x); // Value that it sends over the serial

xbee_serial.print(",");

xbee_serial.print(joystick_y); //This second byte is for the purpose of the program, it is not being used.

xbee_serial.print(",");

xbee_serial.print(brightness);

xbee_serial.print("."); //EOP marker

delay(10);

}

void debug_handshake(){

}

void analogRemap(){

joystick_x = readMux(15);

joystick_y = readMux(14);

}

char* subStr (char* input_string, char *separator, int segment_number) {

char *act, *sub, *ptr;

static char copy[MAX_STRING_LEN];

int i;

strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

sub = strtok_r(act, separator, &ptr);

if (sub == NULL) break;

}

return sub;

}

int readMux(int channel){

int controlPin[] = {s0, s1, s2, s3};

int muxChannel[16][4]={

{0,0,0,0}, //channel 0

{1,0,0,0}, //channel 1

{0,1,0,0}, //channel 2

{1,1,0,0}, //channel 3

{0,0,1,0}, //channel 4

{1,0,1,0}, //channel 5

{0,1,1,0}, //channel 6

{1,1,1,0}, //channel 7

{0,0,0,1}, //channel 8

{1,0,0,1}, //channel 9

{0,1,0,1}, //channel 10

{1,1,0,1}, //channel 11

{0,0,1,1}, //channel 12

{1,0,1,1}, //channel 13

{0,1,1,1}, //channel 14

{1,1,1,1} //channel 15

};

//loop through the 4 sig

for(int i = 0; i < 4; i ++){

digitalWrite(controlPin[i], muxChannel[channel][i]);

}

//read the value at the SIG pin

int val = analogRead(SIG_pin);

//return the value

return val;

}

void clearRegisters(){

for(int i = numOfRegisterPins - 1; i >= 0; i--){

registers[i] = LOW;

}

void writeRegisters(){

digitalWrite(RCLK_Pin, LOW);

for(int i = numOfRegisterPins - 1; i >= 0; i--){

digitalWrite(SRCLK_Pin, LOW);

int val = registers[i];

digitalWrite(SER_Pin, val);

digitalWrite(SRCLK_Pin, HIGH);

}

digitalWrite(RCLK_Pin, HIGH);

}

//set an individual pin HIGH or LOW

void setRegisterPin(int index, int value){

registers[index] = value;

}

All of the parts listed in this video can be seen here which is the parts list.

That was a huge post! Thanks for reading and leave a comment if you have any questions.

PiPlanter | Graphing With PHP

February 12, 2013 / Leave a comment

Again, short post. This php code:

<?php
session_start();
require_once "/srv/www/lib/pChart/class/pDraw.class.php";
require_once "/srv/www/lib/pChart/class/pImage.class.php";
require_once "/srv/www/lib/pChart/class/pData.class.php";

$squareSeries = array();
$cubeSeries = array();
$fourthSeries = array();

for ($i = 0; $i <= 4; $i++){ 	$squareSeries[$i] = pow($i,2); 	$cubeSeries[$i] = pow($i,3); 	$fourthSeries[$i] = pow($i, 4); } $myPowersData = new pData(); $myPowersData -> addPoints($squareSeries,"Square");
$myPowersData -> addPoints($cubeSeries,"Cube");
$myPowersData -> addPoints($fourthSeries,"Fourth");

$myPowersData-> setPalette("Square",
	array("R" => 240, "G" => 16, "B" => 16, "Alpha" => 100));
$myPowersData-> setPalette("Cube",
	array("R" => 16, "G" => 240, "B" => 16, "Alpha" => 100));
$myPowersData-> setPalette("Forth",
	array("R" => 16, "G" => 16, "B" => 240, "Alpha" => 100));

$myPowersImage = new pImage(500,300, $myPowersData);
$myPowersImage -> setFontProperties(array(
	"FontName" => "/srv/www/lib/pChart/fonts/verdana.ttf",
	"FontSize" => 12));

$myPowersImage->setGraphArea(40,40, 460,260);
$myPowersImage->drawScale();

$myPowersImage->drawLineChart();
header("Content-Type: image/png");
$myPowersImage->Render(null);

<?php

session_start();

require_once "/srv/www/lib/pChart/class/pDraw.class.php";

require_once "/srv/www/lib/pChart/class/pImage.class.php";

require_once "/srv/www/lib/pChart/class/pData.class.php";

$squareSeries = array();

$cubeSeries = array();

$fourthSeries = array();

for ($i = 0; $i <= 4; $i++){ $squareSeries[$i] = pow($i,2); $cubeSeries[$i] = pow($i,3); $fourthSeries[$i] = pow($i, 4); } $myPowersData = new pData(); $myPowersData -> addPoints($squareSeries,"Square");

$myPowersData -> addPoints($cubeSeries,"Cube");

$myPowersData -> addPoints($fourthSeries,"Fourth");

$myPowersData-> setPalette("Square",

array("R" => 240, "G" => 16, "B" => 16, "Alpha" => 100));

$myPowersData-> setPalette("Cube",

array("R" => 16, "G" => 240, "B" => 16, "Alpha" => 100));

$myPowersData-> setPalette("Forth",

array("R" => 16, "G" => 16, "B" => 240, "Alpha" => 100));

$myPowersImage = new pImage(500,300, $myPowersData);

$myPowersImage -> setFontProperties(array(

"FontName" => "/srv/www/lib/pChart/fonts/verdana.ttf",

"FontSize" => 12));

$myPowersImage->setGraphArea(40,40, 460,260);

$myPowersImage->drawScale();

$myPowersImage->drawLineChart();

header("Content-Type: image/png");

$myPowersImage->Render(null);

will produce this graph:

I learned this using this resource:

http://phpmaster.com/charting-with-pchart/

Simple ADC with Raspberry Pi using MCP3008

February 9, 2013 / Leave a comment

Hello!

So for my own benefit, here’s the steps you need to take to get analog inputs working with a Raspberry Pi.

I’m grabbing most of this from: http://scruss.com/blog/2013/02/02/simple-adc-with-the-raspberry-pi/

The first thing you’ll need is an MCP3008. Using jumper wires, hook it up to your pi using this diagram.

Power your RPi up and run the following commands to get it all set up.

First thing’s first, you’ll need to enable SPI in the kernel so:

sudo vi /etc/modprobe.d/raspi-blacklist.conf

1	sudo vi /etc/modprobe.d/raspi-blacklist.conf

Comment out the spi-bcm2708 line so it looks like this:

#blacklist spi-bcm2708

1	#blacklist spi-bcm2708

Then run this to make it more permanent.

sudo modprobe spi-bcm2708

1	sudo modprobe spi-bcm2708

Now for the real meat of it. You’ll need these packages for SPI and the WiringPi library makes things a whole lot easier for us.

sudo apt-get install python-imaging python-imaging-tk python-pip python-dev git
sudo pip install spidev
sudo pip install wiringpi

sudo apt-get install python-imaging python-imaging-tk python-pip python-dev git

sudo pip install spidev

sudo pip install wiringpi

Now everything should be good to go, now for the python.

You can debug this any way you like, but my favorite way to do it is using the program geany. I like to start up a VNC server with root so I don’t get into any trouble with the GPIO permissions.

But here’s the program.

#!/usr/bin/python
# -*- coding: utf-8 -*-

import spidev
import time

spi = spidev.SpiDev()
spi.open(0, 0)
count = 0

def readadc(adcnum):
# read SPI data from MCP3008 chip, 8 possible adc's (0 thru 7)
    if adcnum > 7 or adcnum < 0:
        return -1
    r = spi.xfer2([1, 8 + adcnum << 4, 0])
    adcout = ((r[1] & 3) << 8) + r[2]
    return adcout

while True:
    tmp1 = int(round(readadc(0)/10.24))
    print "in1:",tmp1
    count = count +1
    time.sleep(0.2)

#!/usr/bin/python

# -*- coding: utf-8 -*-

import spidev

import time

spi = spidev.SpiDev()

spi.open(0, 0)

count = 0

def readadc(adcnum):

# read SPI data from MCP3008 chip, 8 possible adc's (0 thru 7)

if adcnum > 7 or adcnum < 0:

return -1

r = spi.xfer2([1, 8 + adcnum << 4, 0])

adcout = ((r[1] & 3) << 8) + r[2]

return adcout

while True:

tmp1 = int(round(readadc(0)/10.24))

print "in1:",tmp1

count = count +1

time.sleep(0.2)

And that’s pretty much it, the result should look something like this:

There you go!

Plane | Powering the entire system – Proof of concept

January 31, 2013 / Leave a comment

The code is all the same, here’s a video as there isn’t much to be said:

Plane | Working Handshake Code

January 20, 2013 / Leave a comment

This works so I want to write it down:

#include <SoftwareSerial.h>
SoftwareSerial xbee_serial(2, 3); 
#include <string.h> // we'll need this for subString
#define MAX_STRING_LEN 20 // like 3 lines above, change as needed. 

int in_LED = 10;
int out_LED = 11;

int input = 2;

int sendval;


//serial stuff
const char EOPmarker = '.';  //This is the end of packet marker
char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming.

void setup(){
  pinMode(in_LED, OUTPUT);
  pinMode(out_LED, OUTPUT);
  pinMode(input, INPUT);
  
  Serial.begin(9600);
  xbee_serial.begin(9600);
  
  xbee_serial.print("0,0,0.");
}

void loop(){
  if (xbee_serial.available() > 0) { 
    static int bufpos = 0;
    char inchar = xbee_serial.read();
      if (inchar != EOPmarker) { 
        serialbuf[bufpos] = inchar; 
        bufpos++; 
      }
      else {
        serialbuf[bufpos] = 0; //restart the buff
        bufpos = 0; //restart the position of the buff

        Serial.println(atoi(subStr(serialbuf, "," , 1)));
        analogWrite(in_LED, atoi(subStr(serialbuf, "," , 1)));
        
         sendval = map(analogRead(input), 0, 1023, 0, 255);
         xbee_serial.print(sendval); // Value that it sends over the serial
         xbee_serial.print(",");
         xbee_serial.print("100"); //This second byte is for the purpose of the program, it is not being used. 
         xbee_serial.print("."); //EOP marker
         analogWrite(out_LED , sendval);
        
    }
  }
  
  delay(10);
}

char* subStr (char* input_string, char *separator, int segment_number) {
 char *act, *sub, *ptr;
 static char copy[MAX_STRING_LEN];
 int i;
 
 strcpy(copy, input_string);
 
for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {
 
 sub = strtok_r(act, separator, &ptr);
 if (sub == NULL) break;
 }
 return sub;
}

#include <SoftwareSerial.h>

SoftwareSerial xbee_serial(2, 3);

#include <string.h> // we'll need this for subString

#define MAX_STRING_LEN 20 // like 3 lines above, change as needed.

int in_LED = 10;

int out_LED = 11;

int input = 2;

int sendval;

//serial stuff

const char EOPmarker = '.'; //This is the end of packet marker

char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming.

void setup(){

pinMode(in_LED, OUTPUT);

pinMode(out_LED, OUTPUT);

pinMode(input, INPUT);

Serial.begin(9600);

xbee_serial.begin(9600);

xbee_serial.print("0,0,0.");

}

void loop(){

if (xbee_serial.available() > 0) {

static int bufpos = 0;

char inchar = xbee_serial.read();

if (inchar != EOPmarker) {

serialbuf[bufpos] = inchar;

bufpos++;

}

else {

serialbuf[bufpos] = 0; //restart the buff

bufpos = 0; //restart the position of the buff

Serial.println(atoi(subStr(serialbuf, "," , 1)));

analogWrite(in_LED, atoi(subStr(serialbuf, "," , 1)));

sendval = map(analogRead(input), 0, 1023, 0, 255);

xbee_serial.print(sendval); // Value that it sends over the serial

xbee_serial.print(",");

xbee_serial.print("100"); //This second byte is for the purpose of the program, it is not being used.

xbee_serial.print("."); //EOP marker

analogWrite(out_LED , sendval);

}

delay(10);

}

char* subStr (char* input_string, char *separator, int segment_number) {

char *act, *sub, *ptr;

static char copy[MAX_STRING_LEN];

int i;

strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

sub = strtok_r(act, separator, &ptr);

if (sub == NULL) break;

}

return sub;

}

Plane | Transmitting Analog Values with Xbee

January 19, 2013 / Leave a comment

I made some progress today, here’s a video:

Basically this is a proof of concept. The transmitter is sending a line of data very similar to the one that will be sent by the final controller (as seen in the controller code) the receiving end with be receiving in the same way the vehicle code does (same as above).

Here are a few pictures, this first one is a top down view of my prototyping area:

This second one shows all components involved:

This is the code running on the transmitter side, the side with the pot that’s transmitting it’s analog value:

</div>
<div>

#include <SoftwareSerial.h>
SoftwareSerial xbee_serial(2, 3);

int pot_1 = 0;
int LED_1 = 5; //this will serve as an LED to compare to
int sendval;

void setup(){
 pinMode(pot_1, INPUT);
 pinMode(LED_1, OUTPUT);
 Serial.begin(9600);
 xbee_serial.begin(9600);
}

void loop(){
 Serial.println(analogRead(pot_1));
 sendval = map(analogRead(pot_1), 0, 1023, 0, 255);
 xbee_serial.print(sendval); // Value that it sends over the serial
 xbee_serial.print(",");
 xbee_serial.print("100"); //This second byte is for the purpose of the program, it is not being used.
 xbee_serial.print("."); //EOP marker
 analogWrite(LED_1,sendval);
 //delay(100);
}

</div>

<div>

#include <SoftwareSerial.h>

SoftwareSerial xbee_serial(2, 3);

int pot_1 = 0;

int LED_1 = 5; //this will serve as an LED to compare to

int sendval;

void setup(){

pinMode(pot_1, INPUT);

pinMode(LED_1, OUTPUT);

Serial.begin(9600);

xbee_serial.begin(9600);

}

void loop(){

Serial.println(analogRead(pot_1));

sendval = map(analogRead(pot_1), 0, 1023, 0, 255);

xbee_serial.print(sendval); // Value that it sends over the serial

xbee_serial.print(",");

xbee_serial.print("100"); //This second byte is for the purpose of the program, it is not being used.

xbee_serial.print("."); //EOP marker

analogWrite(LED_1,sendval);

//delay(100);

}

This second half is on the receiving end. It may seem way overkill for what it does, but it’s all expandable to a pretty much infinite amount of data to be transmitted. For an example of what it’s capable of see this video:

</div>
<div>

#include <SoftwareSerial.h>
SoftwareSerial xbee_serial(2, 3);
#include <string.h> // we'll need this for subString
#define MAX_STRING_LEN 20 // like 3 lines above, change as needed.

int LED_1 = 5;

int led_val;

//serial stuff
const char EOPmarker = '.'; //This is the end of packet marker
char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming.

void setup(){
 pinMode(LED_1, OUTPUT);
 Serial.begin(9600);
 xbee_serial.begin(9600);
}

void loop(){
 if (xbee_serial.available() > 0) {
 static int bufpos = 0;
 char inchar = xbee_serial.read();
 if (inchar != EOPmarker) {
 serialbuf[bufpos] = inchar;
 bufpos++;
 }
 else {
 serialbuf[bufpos] = 0; //restart the buff
 bufpos = 0; //restart the position of the buff

Serial.println(atoi(subStr(serialbuf, "," , 1)));
 analogWrite(LED_1, atoi(subStr(serialbuf, "," , 1)));
 }
 }
}

char* subStr (char* input_string, char *separator, int segment_number) {
 char *act, *sub, *ptr;
 static char copy[MAX_STRING_LEN];
 int i;

 strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

 sub = strtok_r(act, separator, &ptr);
 if (sub == NULL) break;
 }
 return sub;

}

</div>

<div>

#include <SoftwareSerial.h>

SoftwareSerial xbee_serial(2, 3);

#include <string.h> // we'll need this for subString

#define MAX_STRING_LEN 20 // like 3 lines above, change as needed.

int LED_1 = 5;

int led_val;

//serial stuff

const char EOPmarker = '.'; //This is the end of packet marker

char serialbuf[32]; //This gives the incoming serial some room. Change it if you want a longer incoming.

void setup(){

pinMode(LED_1, OUTPUT);

Serial.begin(9600);

xbee_serial.begin(9600);

}

void loop(){

if (xbee_serial.available() > 0) {

static int bufpos = 0;

char inchar = xbee_serial.read();

if (inchar != EOPmarker) {

serialbuf[bufpos] = inchar;

bufpos++;

}

else {

serialbuf[bufpos] = 0; //restart the buff

bufpos = 0; //restart the position of the buff

Serial.println(atoi(subStr(serialbuf, "," , 1)));

analogWrite(LED_1, atoi(subStr(serialbuf, "," , 1)));

}

char* subStr (char* input_string, char *separator, int segment_number) {

char *act, *sub, *ptr;

static char copy[MAX_STRING_LEN];

int i;

strcpy(copy, input_string);

for (i = 1, act = copy; i <= segment_number; i++, act = NULL) {

sub = strtok_r(act, separator, &ptr);

if (sub == NULL) break;

}

return sub;

}

esologic

Category: Uncategorized

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Plane | List of things to do [Documentation]

Plane | Powering and Dual Motor Speed + Direction Control [Documentation]

PiPlanter | Graphing With PHP

Simple ADC with Raspberry Pi using MCP3008

Plane | Powering the entire system – Proof of concept

Plane | Working Handshake Code

Plane | Transmitting Analog Values with Xbee