Marcus Pham
/
ElectroBoatCAN2PWM
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Revision 0:032a5658acdc, committed 2021-03-16
- Comitter:
- MarcusEA
- Date:
- Tue Mar 16 04:00:51 2021 +0000
- Commit message:
- Base Joystick CANBus to PWM
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Tue Mar 16 04:00:51 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jdenkers/code/Servo/#352133517ccc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Mar 16 04:00:51 2021 +0000
@@ -0,0 +1,170 @@
+// Keep sweeping servo from left to right
+#include "mbed.h"
+#include "Servo.h"
+
+#define JOYSTICK_ID 0x0cfdd633 //can also be 0x0CFDD633
+#define CAN_TD D2
+#define CAN_RD D10
+
+//PWM Outputs
+Servo leftESC(D3);
+Servo rightESC(A6);
+
+int leftDuty = 1500;
+int rightDuty = 1500;
+
+bool deadMan = false;
+
+//CANBus
+CAN can(CAN_RD, CAN_TD);
+
+//**FOR SERIAL OUTPUT USING PUTTY using 64-bit avaialble from https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+Ticker ticker;
+
+ //Function to read the CANbus and decode the data
+ void readCAN(void) {
+ CANMessage msg;
+ if(can.read(msg)) {
+
+ if((int)msg.id == JOYSTICK_ID) {
+ // pc.printf("RX CANPAcket\r\n");
+ int rightStatus = (int)(msg.data[0]>>4)%4;
+ int leftStatus = (int)(msg.data[0]>>2)%4;
+ int centerXStatus = (int)msg.data[0]%4;
+
+ int xAxisRaw = (int)(msg.data[0]>>6) + (msg.data[1]<<2);
+
+ int forwardStatus = (int)(msg.data[2]>>4)%4;
+ int backwardStatus = (int)(msg.data[2]>>2)%4;
+ int centerYStatus = (int)msg.data[2]%4;
+
+ int yAxisRaw = (int)(msg.data[2]>>6) + (msg.data[3]<<2);
+
+ //note button 1 = top left, button 2 = top right
+ int button1 = (int)(msg.data[5]>>6)%4;
+ int button2 = (int)(msg.data[5]>>4)%4;
+ int button3 = (int)(msg.data[5]>>2)%4;
+ int button4 = (int)msg.data[5]%4;
+
+ //note button 8 = dead-man switch
+ int button5 = (int)(msg.data[6]>>6)%4;
+ int button6 = (int)(msg.data[6]>>4)%4;
+ int button7 = (int)(msg.data[6]>>2)%4;
+ int button8 = (int)msg.data[6]%4;
+
+ int button9 = (int)(msg.data[7]>>6)%4;
+ int button10 = (int)(msg.data[7]>>4)%4;
+ int button11 = (int)(msg.data[7]>>2)%4;
+ int button12 = (int)msg.data[7]%4;
+
+ //pc.printf("RightStatus:%d,LeftStatus:%d,CenterXStatus:%d,XAxisRaw:%d\n\r", rightStatus, leftStatus, centerXStatus, xAxisRaw);
+ //pc.printf("ForwardStatus:%d,BackwardStatus:%d,CenterYStatus:%d,YAxisRaw:%d\n\r", forwardStatus, backwardStatus, centerYStatus, yAxisRaw);
+
+ //pc.printf("Button1:%d,Button2:%d,Button3:%d,Button4:%d\n\r", button1, button2, button3, button4);
+ //pc.printf("Button5:%d,Button6:%d,Button7:%d,Button8:%d\n\r", button5, button6, button7, button8);
+ //pc.printf("Button1:%d,Button2:%d,Button3:%d,Button3:%d\n\r", button1, button2, button3, button4);
+
+ deadMan = button8;
+ //modifying duties
+ if(!deadMan) {
+ leftDuty = 1500;
+ rightDuty = 1500;
+ pc.printf("DeadMan:OFF, LeftDuty:%d,RightDuty:%d\n\r", leftDuty, rightDuty);
+ }
+ else {
+ int signedXAxis = xAxisRaw;
+ if(leftStatus==1) {
+ signedXAxis = -1*signedXAxis;
+ }
+
+ int signedYAxis = yAxisRaw;
+ if(backwardStatus==1) {
+ signedYAxis = -1*signedYAxis;
+ }
+
+ //scale between 1000-2000
+ //left
+ //leftDuty = 1500 - signedXAxis/2 + signedYAxis/2;
+ //leftDuty = 1500 -signedXAxis/2 -signedYAxis/2;
+ leftDuty = 1500 +signedXAxis/2 +signedYAxis/2;
+
+
+ if(leftDuty>2000) {
+ leftDuty = 2000;
+ }
+ else if(leftDuty<1000) {
+ leftDuty = 1000;
+ }
+
+ //rightDuty = 1500 + signedXAxis/2 + signedYAxis/2;
+ //rightDuty = 1500 + signedXAxis/2 - signedYAxis/2;
+ rightDuty = 1500 - signedXAxis/2 + signedYAxis/2;
+ if(rightDuty>2000) {
+ rightDuty = 2000;
+ }
+ else if(rightDuty<1000) {
+ rightDuty = 1000;
+ }
+
+ pc.printf("DeadMan:ON, LeftDuty:%d,RightDuty:%d\n\r", leftDuty, rightDuty);
+ }
+ }
+ }
+ }
+
+ //Sends message over the CANbus
+ //- used in operationMode1()
+ void writeCAN()
+ {
+ CANMessage msgOut;
+ msgOut.format = CANExtended;
+ msgOut.id = 0x71; //messageID
+ msgOut.len = 8; //length in bytes
+
+ msgOut.data[0] = (leftDuty>>8)%0xFF;
+ msgOut.data[1] = leftDuty&0xFF;
+ msgOut.data[2] = (rightDuty>>8)&0xFF;
+ msgOut.data[3] = rightDuty&0xFF;
+ msgOut.data[4] = deadMan;
+ msgOut.data[5] = 0;
+ msgOut.data[6] = 0;
+ msgOut.data[7] = 0;
+ can.write(msgOut);
+ }
+
+int main() {
+ pc.baud(115200);
+ pc.printf("\r\n Starting CANBus Joystick to ESC PWM \r\n");
+
+ //PWM Enable @ 1500 default, 20000 period
+ leftESC.Enable(1500,20000);
+ rightESC.Enable(1500,20000);
+
+ //CANBus @250kb/s
+ can.frequency(250000);
+ // can.filter(0x70,0x70,CANExtended); //CANbus filtering to only accept 0x70
+
+ wait(1.0);
+
+ ticker.attach(&writeCAN, 0.1);
+
+ while(true) {
+
+ readCAN(); //read Joystick CANBus and adjust duty
+
+ leftESC.SetPosition(leftDuty); //set duties for left
+ rightESC.SetPosition(rightDuty); //set duties for right
+
+ wait(0.01);
+
+ //pc.printf("R: %d, L: %d\r\n", rightDuty, leftDuty);
+ //wait(1);
+ }
+
+}
+
+
+
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 16 04:00:51 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file