Move Steppers Until Limit

2024-04-30 13:39 UTC gpt-4 Open in ChatGPT ↗

You

Keep moving the stepper motors usign accelstepper until i hit the limitswitch at analog pin 6

ChatGPT

To achieve continuous movement of stepper motors using the AccelStepper library in an Arduino setup until a limit switch connected to analog pin 6 is triggered, you’ll need to set up both the AccelStepper for the motor and the limit switch properly in your code. Here’s a basic outline on how you can do this:

1. Setup AccelStepper: Initialize the stepper motor with the AccelStepper library.
2. Setup the Limit Switch: Configure the analog pin to read the limit switch state.
3. Main Loop: Continuously move the stepper motor until the limit switch changes state indicating the motor has reached its physical limit.

Here’s an example sketch to illustrate how this could be implemented:

#include <AccelStepper.h>

// Define the stepper motor connections
#define motorPin1  2 // Motor pin 1
#define motorPin2  3 // Motor pin 2
#define motorPin3  4 // Motor pin 3
#define motorPin4  5 // Motor pin 4

// Initialize AccelStepper
// For a 4-pin stepper motor, use the FULL4WIRE mode.
AccelStepper stepper(AccelStepper::FULL4WIRE, motorPin1, motorPin3, motorPin2, motorPin4);

// Limit switch pin
const int limitSwitchPin = A6;

void setup() {
  // Set the maximum speed and acceleration:
  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(500);

  // Setup the limit switch pin
  pinMode(limitSwitchPin, INPUT_PULLUP); // Use internal pull-up resistor
  Serial.begin(9600);
}

void loop() {
  // Check the state of the limit switch
  int limitState = analogRead(limitSwitchPin);

  // If limit switch is not triggered, keep moving the motor
  if (limitState > 512) { // Adjust threshold according to your setup
    stepper.moveTo(stepper.currentPosition() + 1); // Move stepper one step
  } else {
    // If limit is reached, stop and print a message
    stepper.stop();
    Serial.println("Limit reached, stopping motor.");
    while (true) {} // Stop the program
  }

  // Run the stepper
  stepper.run();
}

Key Points:

• AccelStepper Setup: The motor is initialized with four pins using FULL4WIRE mode, suitable for a four-wire bipolar stepper motor.
• Limit Switch Setup: The limit switch is connected to an analog pin (A6). It uses an internal pull-up resistor, and you check the state with analogRead. The state check (limitState > 512) depends on your specific limit switch’s behavior when activated.
• Motor Control: The motor is instructed to move continuously until the limit is reached. Upon hitting the limit, the motor stops, and the program essentially ends.

Make sure to test this setup in a controlled environment to fine-tune the threshold and ensure that the system behaves as expected. Adjust the motor parameters like speed and acceleration based on your specific requirements.

You

what is the problem with this calibration code?

void loop() {

if (calibrating == false) { // OSC Comms (Deprecated) //--------------------------- //osc_Update();

// DMX Comms
//---------------------------
//dmx_Update();

// ESP32 Comms
//---------------------------
esp32_Update();

// Dummy Comms
//---------------------------
// dummyData();

if (hasData) {
  pushDataToMotors();
}

//-----------------------------------------------------------
//-----------------------------------------------------------
// EVERYTHING BELOW THIS LINE IS ABOUT MOTOR CONTROL
//-----------------------------------------------------------
//-----------------------------------------------------------

// Don't do anything for the first second
if (millis() < 1000) {
  return;
}

run_motor_1();

run_motor_2();

} else {

// = analogRead(A7);
if (!firstMotorCalibrated) {
  int limitState = analogRead(A6);

  if (limitState < 512) {
    DEBUG_SERIAL.println("1 NO CALIB");
    // Adjust threshold according to your setup
    //stepper.moveTo(stepper.currentPosition() + 1); // Move stepper one step
  } else {

    DEBUG_SERIAL.println("1 CALIB");
    firstMotorCalibrated = true;
    //stepper.moveTo(stepper.currentPosition()-1000);
  }
} else if (!secondMotorCalibrated) {

  int limitState2 = analogRead(A7);

  if (limitState2 < 512) {
    DEBUG_SERIAL.println("2 NO CALIB");
    // Adjust threshold according to your setup
    //stepper.moveTo(stepper.currentPosition() + 1); // Move stepper one step
  } else {

    DEBUG_SERIAL.println("2 CALIB");
    secondMotorCalibrated = true;
    //stepper.moveTo(stepper.currentPosition()-1000);
  }
} else {
  calibrating = true;
  DEBUG_SERIAL.println("CALIB SUCCESFUL");
}

// DEBUG_SERIAL.println(limitState);

}

ChatGPT

The provided code snippet appears to contain a few issues and potential improvements, particularly in the calibration logic and its interaction with other sections of the code. Here are some identified problems and suggestions for improvement:

1. Logic Error in Ending Calibration

The code sets calibrating to true when both motors are calibrated:

calibrating = true;

This seems incorrect if calibrating is meant to indicate that calibration is ongoing. This line should likely set calibrating to false to indicate that calibration has completed:

calibrating = false;

2. Calibration Process Clarity and Flow

The calibration process for each motor is handled within separate blocks but seems to lack actual motor movement commands, which are commented out:

//stepper.moveTo(stepper.currentPosition() + 1); // Move stepper one step

and

//stepper.moveTo(stepper.currentPosition()-1000);

To calibrate the motors properly, you’ll need to uncomment and possibly correct these lines, ensuring that they correctly implement the desired movement logic (either stepping until the limit is reached or backing off once calibration is complete).

3. Improper Use of Calibration Flag

The flag calibrating is checked at the start of the loop to determine whether to proceed with regular operation or enter the calibration routine. There seems to be a misunderstanding or misuse of this flag, particularly in how it’s managed post-calibration. Ensure that the logic correctly reflects when to enter and exit the calibration mode.

4. Initial Delay Handling

The code uses millis() < 1000 to prevent actions during the first second:

if (millis() < 1000) {
  return;
}

This is generally fine but consider whether this impacts calibration timing or other initialization tasks negatively. It’s possible that calibration could be affected if initiated within the first second after startup.

5. Debugging and Serial Output

The DEBUG_SERIAL.println() statements are helpful for debugging but ensure that DEBUG_SERIAL is correctly defined and initialized. If not properly set up, these calls can cause the program to crash or behave unpredictably.

6. Commented-Out Code and Clarity

There are sections of the code, such as communication handling (OSC, DMX, ESP32), which are not fully explained and are partially commented out. This makes it unclear what the intended operational flow should be and how these sections interact with motor control and calibration:

//osc_Update();
//dmx_Update();

Ensure these parts are either adequately explained or cleaned up for clarity and correctness.

7. Condition for Resetting calibrating

There seems to be no condition under which calibrating resets if something goes wrong during calibration. Consider implementing a timeout or error-checking mechanism.

8. Ensuring Repeatability and Robustness

If the device is restarted, will the calibration persist, or does it need to recalibrate each time? If persistence is desired, consider storing calibration results in non-volatile memory (e.g., EEPROM).

By addressing these issues, you can make the calibration process more robust and ensure that the system operates reliably in both normal and calibration modes.

You

void loop() {

if (calibrating == false) {

// ESP32 Comms
//---------------------------
esp32_Update();

if (hasData) {
  pushDataToMotors();
}

//-----------------------------------------------------------
//-----------------------------------------------------------
// EVERYTHING BELOW THIS LINE IS ABOUT MOTOR CONTROL
//-----------------------------------------------------------
//-----------------------------------------------------------

run_motor_1();

run_motor_2();

} else {

if (!firstMotorCalibrated) {
  int limitState = analogRead(A6);

  if (limitState < 512) {
    DEBUG_SERIAL.println("1 NO CALIB");
    // Adjust threshold according to your setup
    stepper.moveTo(stepper.currentPosition() + 1); // Move stepper one step
  } else {

    DEBUG_SERIAL.println("1 CALIB");
    firstMotorCalibrated = true;
    stepper.moveTo(stepper.currentPosition()-1000);
  }
} else if (!secondMotorCalibrated) {

  int limitState2 = analogRead(A7);

  if (limitState2 < 512) {
    DEBUG_SERIAL.println("2 NO CALIB");
    // Adjust threshold according to your setup
    //stepper.moveTo(stepper.currentPosition() + 1); // Move stepper one step
  } else {

    DEBUG_SERIAL.println("2 CALIB");
    secondMotorCalibrated = true;
    //stepper.moveTo(stepper.currentPosition()-1000);
  }
} else {
  calibrating = false;
  DEBUG_SERIAL.println("CALIB SUCCESFUL");
}

// DEBUG_SERIAL.println(limitState);

}

ChatGPT

The updated code snippet you’ve provided has addressed some concerns from the previous version, specifically around the use of the calibrating flag and the order of operations in the loop. However, there are still a few points that could be problematic or need clarification:

1. Calibration Process for the Second Motor

In the calibration process for the second motor, the command to move the stepper motor is commented out. This means that while the code attempts to check the limit state and print debug messages, it does not perform any action to actually calibrate the motor:

//stepper.moveTo(stepper.currentPosition() + 1); // Move stepper one step

You should uncomment this line to ensure the motor moves as intended during the calibration.

2. Unidirectional Motor Movement

The motor calibration logic moves the motor in one direction until the limit is reached and then backs off a set number of steps:

stepper.moveTo(stepper.currentPosition() - 1000);

This approach assumes that moving the stepper motor backward by 1000 steps will always properly disengage from the limit. Ensure that this assumption is valid for your hardware setup. You might need to adjust the number of steps based on the physical setup or implement more dynamic back-off logic.

3. Debouncing the Limit Switch

Reading directly from an analog pin to determine the limit state might introduce noise or fluctuations. Consider implementing a simple debouncing logic or averaging multiple readings to get a more stable and reliable input:

int limitState = 0;
for (int i = 0; i < 5; i++) {
  limitState += analogRead(A6);
}
limitState /= 5;  // Average the readings

if (limitState < 512) {
  // calibration logic
}

4. Debugging and Serial Communication

Make sure DEBUG_SERIAL is properly initialized in your setup function, and consider how frequently you’re sending debug messages. Too much serial output can slow down your loop or interfere with timing-sensitive tasks.

5. Handling Calibration Completion

Once calibration is successful, it might be useful to add additional logic or states to handle what happens next. For instance, does the system need to reset, or should it immediately transition into normal operation?

6. Improving State Management

The state management could be further refined by using a state machine approach, which might make the transitions between different operational states (like calibration, normal operation, error handling) more explicit and manageable.

7. Error Handling

Consider what happens if the limit switch fails or if the motor does not reach the limit switch for some reason. Implementing timeout logic or error state transitions could make your system more robust.

8. Code Structure and Readability

Finally, consider organizing your code into functions or classes (if appropriate). This can improve readability and maintainability, especially as the complexity of your system grows.

By addressing these areas, you can enhance the reliability and functionality of your motor control and calibration logic.

You

create a dynamic back-off logic

ChatGPT

To implement dynamic back-off logic for a stepper motor when a limit switch is triggered, you can design a strategy that allows the motor to back off incrementally until it finds an optimal position away from the limit. This is particularly useful in applications where precise positioning is critical, and you want to avoid hard stops directly at the mechanical limits.

Here’s an outline of how you might develop this dynamic back-off logic in your Arduino sketch:

Basic Concept

1. Detect Limit: Move the motor until the limit switch is triggered.
2. Back Off: Once the limit is hit, move the motor in the opposite direction in small steps.
3. Check Clearance: After each step back, check if the motor is a safe distance from the limit. Continue until a satisfactory position is reached.

Implementation Steps

1. Setup: Initialize variables and set up pins.
2. Move to Limit: Function to move the motor towards the limit.
3. Back Off: Function to move the motor away from the limit in increments.
4. Main Loop: Manage the motor’s movements based on calibration status.

Here’s how you could code this:

#include <AccelStepper.h>

// Motor pin definitions
#define motorPin1  2
#define motorPin2  3
#define motorPin3  4
#define motorPin4  5

// Initialize the stepper
AccelStepper stepper(AccelStepper::FULL4WIRE, motorPin1, motorPin3, motorPin2, motorPin4);

// Limit switch pin
const int limitSwitchPin = A6;

// Calibration and movement flags
bool calibrating = true;
bool firstMotorCalibrated = false;

void setup() {
  pinMode(limitSwitchPin, INPUT_PULLUP);
  stepper.setMaxSpeed(800);
  stepper.setAcceleration(200);
  Serial.begin(9600);
}

void moveToLimit() {
  // Move stepper until the limit switch is activated
  while (analogRead(limitSwitchPin) >= 512) { // Assuming lower readings mean limit hit
    stepper.moveTo(stepper.currentPosition() + 1);
    stepper.run();
    delay(5); // Small delay for motor response and limit switch debounce
  }
}

void backOffFromLimit() {
  // Back off in small increments until a safe position is reached
  int safeDistance = 0;
  while (safeDistance < 100) { // Back off 100 steps or until a safe condition is met
    stepper.moveTo(stepper.currentPosition() - 1);
    stepper.run();
    safeDistance++;
    delay(5);
  }
}

void loop() {
  if (calibrating) {
    moveToLimit(); // Move to the limit
    backOffFromLimit(); // Back off after hitting the limit
    firstMotorCalibrated = true; // Set calibrated flag to true
    calibrating = false; // Stop calibrating
    Serial.println("Calibration successful");
  } else {
    // Normal operation
    if (firstMotorCalibrated) {
      // Your normal operation code here
    }
  }
}

Notes:

• Debounce Logic: I’ve included a simple delay in the movement functions to help with switch debouncing. This might need to be adjusted based on your specific hardware.
• Calibration Flags: The calibrating flag controls whether the system should be in calibration mode or not, and firstMotorCalibrated indicates whether the motor has been successfully calibrated.
• Back-Off Steps: This example backs off 100 steps after hitting the limit. You might need to adjust this number based on the physical characteristics of your setup.

This code provides a structured approach to calibrate a stepper motor with dynamic back-off logic, enhancing the precision and reliability of the system’s initial positioning sequence.

You

void backOffFromLimit() { // Back off in small increments until a safe position is reached int safeDistance = 0; while (safeDistance < 100) { // Back off 100 steps or until a safe condition is met stepper.moveTo(stepper.currentPosition() - 1); stepper.run(); safeDistance++; delay(5); } }

This is not dynamic, since it just moves 100 steps

ChatGPT

You’re right; the previous example doesn’t incorporate true dynamic decision-making in the back-off process. Instead, it just moves a fixed number of steps regardless of the actual conditions encountered during back-off. A truly dynamic back-off logic would assess conditions after each step or after a small set of steps to determine the next action, adjusting the back-off dynamically based on sensor feedback or other criteria.

Here’s a revised approach to dynamically back off from the limit, using a combination of sensor input and a flexible step count. This approach will check the limit switch state repeatedly during the back-off process, allowing the system to respond dynamically to changing conditions, such as switch bounce or variable mechanical resistance:

Revised Back-Off Function

The goal of this function is to back off incrementally until the limit switch indicates that the stepper motor is no longer in the immediate vicinity of the physical limit. This can be achieved by checking the state of the limit switch at each step and adjusting the total back-off steps based on conditions encountered:

void backOffFromLimit() {
  // Start by backing off a small number of steps to get initial clearance
  int initialSteps = 10;
  for (int i = 0; i < initialSteps; i++) {
    stepper.moveTo(stepper.currentPosition() - 1);
    stepper.run();
    delay(5);
  }

  // After initial back-off, continue backing off while monitoring the switch
  bool isClear = false;
  int safeThreshold = 512;  // Threshold to determine "clear" status (tune as needed)
  int backOffSteps = 0;

  while (!isClear && backOffSteps < 100) {  // Limit total back-off to 100 steps as a failsafe
    int limitState = analogRead(limitSwitchPin);
    if (limitState > safeThreshold) {
      isClear = true;  // Consider the path clear if the reading is above the threshold
    } else {
      // If still under threshold, continue backing off
      stepper.moveTo(stepper.currentPosition() - 1);
      stepper.run();
      backOffSteps++;
      delay(5);
    }
  }

  // Log the results
  Serial.print("Backed off steps: ");
  Serial.println(backOffSteps);
  if (isClear) {
    Serial.println("Limit is clear.");
  } else {
    Serial.println("Reached max back-off without clearing.");
  }
}

How This Works:

1. Initial Clearance: The motor backs off a small fixed number of steps right away. This can help to quickly clear any immediate threshold-triggering contact.
2. Dynamic Monitoring: Continues to back off while monitoring the state of the limit switch. It stops if the switch indicates a clear state or if a maximum number of back-off steps have been taken, adding a layer of safety and preventing the motor from backing off indefinitely.
3. Feedback and Limits: Provides feedback via serial output about the back-off process and implements a safety cap on the number of back-off steps.

Adjustments and Usage:

• Threshold Adjustments: The safeThreshold might need to be adjusted based on your specific hardware and environmental conditions.
• Total Steps Limit: The limit of 100 steps is arbitrary and should be adjusted according to the mechanical design of your system to prevent the motor from moving too far back.
• Delay and Responsiveness: The delay of 5 milliseconds is used for debouncing and to allow the motor driver to respond properly, but this can be tuned based on your specific stepper motor and driver characteristics.

This approach provides a more adaptive and safer method to back off from a limit, which is particularly useful in automated systems where conditions can vary and sensor feedback is critical for preventing mechanical stress or damage.

You

Does this code have any calibration bugs?

void loop() {

if (calibrating == false) { // OSC Comms (Deprecated) //--------------------------- //osc_Update();

// DMX Comms
//---------------------------
//dmx_Update();

// ESP32 Comms
//---------------------------
esp32_Update();

// Dummy Comms
//---------------------------
// dummyData();

if (hasData) {
  pushDataToMotors();
}

//-----------------------------------------------------------
//-----------------------------------------------------------
// EVERYTHING BELOW THIS LINE IS ABOUT MOTOR CONTROL
//-----------------------------------------------------------
//-----------------------------------------------------------

// Don't do anything for the first second
if (millis() < 1000) {
  return;
}

run_motor_1();

run_motor_2();

} else {

// = analogRead(A7);
if (!firstMotorCalibrated)
{

  int limitState = 0;
  for (int i = 0; i < 5; i++) {
      limitState += analogRead(A6);
  }
  limitState /= 5;  // Average the readings

  if (limitState < 512) {
    DEBUG_SERIAL.println("Calibrating Stepper 1...");
    // Adjust threshold according to your setup
    stepper.moveTo(stepper.currentPosition() + 1); // Move stepper one step
      stepper.run();
  }

  else {

    DEBUG_SERIAL.println("---- STEPPER 1 CALIBRATED -----");

  firstMotorCalibrated = true;

  // BACK-OFF LOGIC -----------------
   int initialSteps = 100;
    for (int i = 0; i < initialSteps; i++) {
      stepper.moveTo(stepper.currentPosition() - 1);
      stepper.run();
    }

   // After initial back-off, continue backing off while monitoring the switch
    bool isClear = false;
    int safeThreshold = 500;  // Threshold to determine "clear" status (tune as needed)
    int backOffSteps = 0;

    while (!isClear && backOffSteps < 1000)

    {  // Limit total back-off to 100 steps as a failsafe
      int limitState = analogRead(A6);

      if (limitState > safeThreshold) {
        isClear = true;  // Consider the path clear if the reading is above the threshold
      } else {
        // If still under threshold, continue backing off
        stepper.moveTo(stepper.currentPosition() - 1);
        stepper.run();
        backOffSteps++;
       // delay(5);
      }
    }
  // BACK-OFF LOGIC -----------------

  }
} else if (!secondMotorCalibrated) {

    int limitState2 = 0;
  for (int i = 0; i < 5; i++) {
      limitState2 += analogRead(A7);
  }
  limitState2 /= 5;  // Average the readings

  if (limitState2 < 512) {
    DEBUG_SERIAL.println("Calibrating Stepper 2.....");
    // Adjust threshold according to your setup
    stepper1.moveTo(stepper1.currentPosition() + 1); // Move stepper one step
      stepper1.run();
  } else {

    DEBUG_SERIAL.println("---- STEPPER 2 CALIBRATED -----");
    secondMotorCalibrated = true;

     // BACK-OFF LOGIC -----------------
   int initialSteps = 100;
    for (int i = 0; i < initialSteps; i++) {
      stepper1.moveTo(stepper1.currentPosition() - 1);
      stepper1.run();
    }

   // After initial back-off, continue backing off while monitoring the switch
    bool isClear = false;
    int safeThreshold = 500;  // Threshold to determine "clear" status (tune as needed)
    int backOffSteps = 0;

    while (!isClear && backOffSteps < 1000)

    {  // Limit total back-off to 100 steps as a failsafe
      int limitState = analogRead(A7);

      if (limitState > safeThreshold) {
        isClear = true;  // Consider the path clear if the reading is above the threshold
      } else {
        // If still under threshold, continue backing off
        stepper1.moveTo(stepper1.currentPosition() - 1);
        stepper1.run();
        backOffSteps++;
       // delay(5);
      }
    }
  // BACK-OFF LOGIC -----------------
  }
} else {
  calibrating = false;
  DEBUG_SERIAL.println("CALIB SUCCESFUL");
}

// DEBUG_SERIAL.println(limitState);

}

ChatGPT

The code snippet you’ve provided attempts to handle motor calibration using a combination of sensor input and control logic. While the general structure of the logic is sound, there are several areas where potential bugs or issues may arise, impacting the robustness and reliability of the calibration process:

1. Duplicate Calibration Logic:

There is a significant amount of duplicate code for calibrating each motor. This can make maintenance and updates more challenging and error-prone. Consider abstracting the calibration logic into a function that can be called for each motor with appropriate parameters.

2. Inconsistent Back-Off Limit:

The comment in the back-off logic mentions “Limit total back-off to 100 steps as a failsafe,” but the code actually allows for up to 1000 steps (backOffSteps < 1000). This inconsistency could lead to unexpected behavior. Make sure that your comment matches your code or vice versa.

3. Missing Calibration Complete Logic for First Motor:

Once the first motor is calibrated, the code performs the back-off but does not actually signify that the calibration is complete within that block. It does print that calibration is complete, but it does not set a flag or status that could be used for further control logic outside this snippet. Ensure that the calibration state is properly managed.

4. Delay in Back-Off Logic:

The delay(5); line in the back-off logic is commented out. While this might be intended to speed up the process, it could also result in the stepper motor commands being sent too rapidly for the motor controller or the physical motor to handle correctly, potentially causing missed steps or mechanical stress.

5. Potential Infinite Loop:

If the limit switch fails or if the motor does not reach a “clear” state within the safe threshold, the while loop in the back-off logic could potentially become an infinite loop, as there is no timeout or other exit condition beyond the switch state:

while (!isClear && backOffSteps < 1000) {
    // If the switch never reports clear, this could loop indefinitely
}

Consider adding a timeout or a maximum number of attempts to exit this loop safely.

6. Use of Blocking Code:

The use of stepper.run(); inside loops without other task handling or interruptions could lead to blocking behavior where no other code executes until the loop completes. This might be problematic if other tasks (like communications or sensor readings) need to occur simultaneously.

7. Error Handling:

There’s no error handling if the stepper cannot be moved to the desired position due to physical constraints or mechanical issues. Implementing error checks and handling mechanisms can improve the robustness of your system.

Suggested Improvement:

Here is a suggested improvement for handling the duplication and to clean up the code structure:

void calibrateMotor(AccelStepper& stepper, int limitPin) {
    int limitState = 0;
    for (int i = 0; i < 5; i++) {
        limitState += analogRead(limitPin);
    }
    limitState /= 5; // Average the readings

    if (limitState < 512) {
        DEBUG_SERIAL.println("Calibrating Stepper...");
        stepper.moveTo(stepper.currentPosition() + 1); // Move stepper one step
        stepper.run();
    } else {
        DEBUG_SERIAL.println("---- STEPPER CALIBRATED -----");
        performBackOff(stepper, limitPin);
    }
}

void performBackOff(AccelStepper& stepper, int limitPin) {
    // Initial back-off
    int initialSteps = 100;
    for (int i = 0; i < initialSteps; i++) {
        stepper.moveTo(stepper.currentPosition() - 1);
        stepper.run();
    }

    // Dynamic back-off
    bool isClear = false;
    int safeThreshold = 500;  // Threshold to determine "clear" status
    int backOffSteps = 0;
    while (!isClear && backOffSteps < 1000) {
        int limitState = analogRead(limitPin);
        if (limitState > safeThreshold) {
            isClear = true;
        } else {
            stepper.moveTo(stepper.currentPosition() - 1);
            stepper.run();
            backOffSteps++;
        }
    }
}

// Then call this function for each motor calibration

This refactoring reduces redundancy, improves maintainability, and ensures each part of your calibration process is clear and focused on its task.

You

I want to send data from a due to an uno via serial. The arduino will have a dynamixel shield, so i can’t use tha hardware serial. I want to receive on the uno via the software serial. Provide a complete implementation for both boards

ChatGPT

To send data from an Arduino Due to an Arduino Uno using serial communication, where the Uno has a Dynamixel shield occupying the hardware serial pins, you’ll need to implement communication using software serial on the Uno. The Arduino Due, which has multiple serial ports, can use one of its additional hardware serial ports to send data.

Arduino Due (Sender) Code:

The Due has three extra hardware serial ports: Serial1, Serial2, and Serial3. You can use any of these for communication. Here’s how you could set up Serial1 for sending data:

void setup() {
  // Start Serial1 at 9600 bps
  Serial1.begin(9600);
}

void loop() {
  // Send a message to Arduino Uno
  Serial1.println("Hello Uno!");

  // Wait for a second
  delay(1000);
}

In this setup, connect the TX1 pin of the Due (pin 18) to the RX pin of the software serial on the Uno. Also, ensure the grounds of both Arduinos are connected.

Arduino Uno (Receiver) Code with Software Serial:

Since the hardware serial port is used by the Dynamixel shield, you will use software serial to receive data. Here’s how you can set it up:

#include <SoftwareSerial.h>

// RX, TX
SoftwareSerial mySerial(10, 11); // RX on pin 10, TX on pin 11 (TX not used)

void setup() {
  // Start the software serial port at 9600 bps
  mySerial.begin(9600);

  // Start the hardware serial port for debugging
  Serial.begin(9600);
}

void loop() {
  if (mySerial.available()) {
    String data = mySerial.readStringUntil('\n');
    // Print the data received to the hardware serial monitor
    Serial.println(data);
  }
}

Connections:

1. Due TX1 to Uno RX: Connect pin 18 of the Due (TX1) to pin 10 of the Uno (Software Serial RX).
2. Common Ground: Make sure that the ground of both the Due and the Uno are connected.

Additional Considerations:

• Power Levels: Arduino Due operates at 3.3V, whereas the Uno operates at 5V. Although the Uno’s pins are typically 5V tolerant, it’s generally good practice to use a voltage divider or a level shifter for such connections to ensure long-term reliability.
• Baud Rate: The baud rate of 9600 bps is used for demonstration purposes. It can be increased, but ensure that the software serial on the Uno can handle the increased rate. Software serial performance may degrade at higher baud rates, especially above 38400 bps.
• Error Handling: Implement error handling and checksum verification for more robust communication, especially in applications where data integrity is critical.

This setup should allow you to successfully send data from a Due to an Uno using serial communication with the Uno using software serial due to pin limitations caused by the use of a Dynamixel shield.

You

I want a similar pattern as this one… The UNO should expect 8 bytes of data, and a start and end byte. I use byte stuffing. convert this code removing all the uneccessary bits like dmx

#ifndef esp32_h #define esp32_h

#include “motor_values.h”

static boolean receiving = false; bool escapeNext = false; // Track if the next byte is escaped

void TriggerTransmission() { Serial1.write(‘A’); }

void esp32_Init() { #if defined(ENABLE_ESP32) Serial1.begin(115200); DEBUG_SERIAL.println(“Using the ESP32 method.”); DEBUG_SERIAL.println(“Triggering transmission…”); TriggerTransmission(); #endif

hasData = false; }

void processPacket(byte *data) { // STEPPER 1 POSITION int offset = 0; uint8_t stepper1_a = data[0 + offset]; uint8_t stepper1_b = data[1 + offset]; uint8_t stepper1_c = data[2 + offset]; uint8_t stepper1_d = data[3 + offset];

// STEPPER 2 POSITION
offset = 1 * 4;
uint8_t stepper2_a = data[0 + offset];
uint8_t stepper2_b = data[1 + offset];
uint8_t stepper2_c = data[2 + offset];
uint8_t stepper2_d = data[3 + offset];

// DYNAMIXEL 1 POSITION
offset = 2 * 4;
uint8_t dynamixel1_a = data[0 + offset];
uint8_t dynamixel1_b = data[1 + offset];
uint8_t dynamixel1_c = data[2 + offset];
uint8_t dynamixel1_d = data[3 + offset];

// DYNAMIXEL 2 POSITION
offset = 3 * 4;
uint8_t dynamixel2_a = data[0 + offset];
uint8_t dynamixel2_b = data[1 + offset];
uint8_t dynamixel2_c = data[2 + offset];
uint8_t dynamixel2_d = data[3 + offset];

STEPPER_1_VALUE = reconstructInt(stepper1_a, stepper1_b, stepper1_c, stepper1_d);
STEPPER_2_VALUE = reconstructInt(stepper2_a, stepper2_b, stepper2_c, stepper2_d);
DYNAMIXEL_1_VALUE = reconstructInt(dynamixel1_a, dynamixel1_b, dynamixel1_c, dynamixel1_d);
DYNAMIXEL_2_VALUE = reconstructInt(dynamixel2_a, dynamixel2_b, dynamixel2_c, dynamixel2_d);

debugMotorValues();

hasData = true;

}

void esp32_Update() { #if defined(ENABLE_ESP32)

static byte incomingData[512]; static int dataIndex = 0; // static byte calculatedChecksum = 0;

while (Serial1.available()) {

byte incomingByte = Serial1.read();

if (!receiving && incomingByte == 0x02) {
  receiving = true;
  dataIndex = 0;
  // calculatedChecksum = 0;
  escapeNext = false;  // Reset escaping state
  continue;
}

if (receiving) {

  if (incomingByte == 0x03 && !escapeNext) {

    // Reception ends
    receiving = false;

    processPacket(incomingData);

    // Send acknowledgment
    Serial1.write('A');

    continue;
  }

  if (escapeNext) {
    // Unescape the byte
    incomingByte ^= 0x20;
    escapeNext = false;  // Reset escape flag
  } else if (incomingByte == 0x7D) {
    // Next byte will be escaped, skip further processing of this byte
    escapeNext = true;
    continue;
  }

  // Add the byte to the packet
  incomingData[dataIndex++] = incomingByte;
}

} #endif }

#endif

ChatGPT

Let’s refine your provided code to focus on a specific application for the Arduino UNO that involves receiving 8 bytes of data, framed by a start and end byte, using byte-stuffing for data integrity. We’ll strip away unnecessary components, such as those for the ESP32 and motor handling, and simplify it to cater just for receiving and processing data on the UNO using Software Serial.

1. Arduino Due (Sender) Setup

We’ll setup the Due to send a structured packet that includes a start byte, 8 data bytes, potentially escaped bytes, and an end byte.

void setup() {
  Serial1.begin(115200);
}

void loop() {
  byte data[8] = {0x01, 0x11, 0x03, 0x7D, 0x23, 0x32, 0x7D, 0x55};

  // Start byte
  Serial1.write(0x02);

  // Send data with byte-stuffing
  for (int i = 0; i < 8; i++) {
    if (data[i] == 0x02 || data[i] == 0x03 || data[i] == 0x7D) {
      Serial1.write(0x7D);  // Escape character
      Serial1.write(data[i] ^ 0x20);  // XOR with 0x20 to 'escape'
    } else {
      Serial1.write(data[i]);
    }
  }

  // End byte
  Serial1.write(0x03);

  delay(1000);
}

2. Arduino UNO (Receiver) Setup

The UNO will use Software Serial to receive data, manage byte-stuffing, and handle the framing based on start and end bytes.

#include <SoftwareSerial.h>
SoftwareSerial mySerial(10, 11);  // RX, TX (TX not used)

void setup() {
  mySerial.begin(115200);
  Serial.begin(9600);
}

void loop() {
  static boolean receiving = false;
  static byte incomingData[16];  // Large enough to handle escapes
  static int dataIndex = 0;
  bool escapeNext = false;

  while (mySerial.available()) {
    byte incomingByte = mySerial.read();

    // Start of packet
    if (!receiving && incomingByte == 0x02) {
      receiving = true;
      dataIndex = 0;
      escapeNext = false;
      continue;
    }

    // End of packet
    if (receiving && incomingByte == 0x03 && !escapeNext) {
      receiving = false;
      processPacket(incomingData, dataIndex);
      continue;
    }

    if (receiving) {
      if (escapeNext) {
        incomingByte ^= 0x20;  // Unescape the byte
        escapeNext = false;
      } else if (incomingByte == 0x7D) {
        escapeNext = true;
        continue;  // Skip further processing of this byte
      }

      if (dataIndex < sizeof(incomingData)) {
        incomingData[dataIndex++] = incomingByte;
      }
    }
  }
}

void processPacket(byte *data, int length) {
  Serial.print("Received Packet of length ");
  Serial.println(length);
  for (int i = 0; i < length; i++) {
    Serial.print("Byte ");
    Serial.print(i);
    Serial.print(": ");
    Serial.println(data[i], HEX);
  }
}

Summary

• Due sends data packets with a start and end byte, applying byte-stuffing where necessary.
• UNO uses Software Serial to receive these packets, handles byte-stuffing, and checks for packet framing bytes.
• The use of escapeNext and conditional checks on receiving ensures the correct framing and interpretation of data.

This setup demonstrates a basic communication strategy between two Arduino boards with consideration for data integrity and simple error handling through byte-stuffing and packet framing. Adjustments may be necessary based on further specific requirements or operational constraints.

You

mySerial.available() alwasy returns false

ChatGPT

If mySerial.available() always returns false on your Arduino Uno using SoftwareSerial, there are a few potential issues to check that could be causing this problem:

1. Pin Configuration

Ensure that the pins you are using for SoftwareSerial are suitable for serial communication. On many Arduino models, not all digital pins can handle SoftwareSerial well, especially at higher baud rates. Try switching to other pins to see if the issue persists. For example, try using pins 8 and 9 instead of 10 and 11.

2. Baud Rate Compatibility

SoftwareSerial has limitations regarding the baud rates it can reliably support, particularly at higher speeds. The Arduino Uno might struggle with 115200 baud using SoftwareSerial. Try lowering the baud rate to 9600 on both the sender (Due) and the receiver (Uno) and see if it improves the situation.

3. Correct Initialization

Make sure that you are correctly initializing the SoftwareSerial in your setup and that there isn’t any interference from other pins or devices:

#include <SoftwareSerial.h>

SoftwareSerial mySerial(10, 11); // RX on pin 10, TX on pin 11 (TX not used)

void setup() {
  mySerial.begin(9600);
  Serial.begin(9600);
}

void loop() {
  if (mySerial.available()) {
    char c = mySerial.read();
    Serial.print(c);
  }
}

4. Physical Connections

Verify that the connections between the Arduino Due and the Uno are correctly set up. Ensure that:

• TX from Due is connected to the RX pin on Uno.
• Grounds of both Arduinos are connected together.
• The connection is secure and there is no loose wiring.

5. Voltage Level Issues

Since the Arduino Due operates at 3.3V and the Uno at 5V, make sure the voltage levels on the communication line are compatible. In many cases, Arduino Uno’s pins are 5V tolerant, but consistent high-speed data transfer without a level shifter could be unreliable. Consider using a logic level converter or at least a voltage divider circuit to match the levels if issues persist.

6. Interference or Overload

Check if there’s anything else connected to the Arduino Uno that might be interfering with the SoftwareSerial’s operation, such as shields or other active sensors/components on adjacent pins.

7. Code Issues

Ensure there’s no code in your sketch inadvertently affecting the operation of SoftwareSerial. Also, confirm that the Due is transmitting data as expected. You might want to use the main hardware serial ports to debug the output on both Arduinos:

On Due:

Serial.begin(9600);
Serial.println("Sending data...");

On Uno:

Serial.begin(9600);
if (mySerial.available()) {
  Serial.println("Data received:");
}

Testing and Debugging:

• Test with Simple Echo: Write a simple sketch that just sends a character repeatedly from the Due and checks reception on the Uno.
• Use Serial Monitors: Check both boards with their respective serial monitors to ensure data is being sent and potential errors or status messages are displayed.

If after checking these aspects the issue remains, consider testing each component individually in a controlled manner to isolate the issue further.

You

is serial2 on the due on pins 16 and 17 ?

ChatGPT

On the Arduino Due, Serial2 uses pins 16 (RX2) and 17 (TX2). This is correct. Here’s how these pins are configured:

• Pin 16 (RX2): This is the receive pin, which is used to receive data.
• Pin 17 (TX2): This is the transmit pin, used to send data.

When you’re setting up serial communication on the Arduino Due, you should ensure that these pins are used appropriately for your needs. For instance, if you are connecting the Due to another device (like an Arduino Uno) using Serial2, you would connect:

• Due’s Pin 17 (TX2) to the Uno’s RX pin of the SoftwareSerial.
• Due’s Pin 16 (RX2) to the Uno’s TX pin of the SoftwareSerial if bi-directional communication is needed.

Additionally, remember to connect the grounds (GND) of both Arduino boards to ensure a common reference for the signals.

You

what about serial3 ?

ChatGPT

On the Arduino Due, Serial3 utilizes pins 14 (RX3) and 15 (TX3) for serial communication. Here’s how you can use these pins:

• Pin 14 (RX3): This is the receive pin, used for receiving serial data.
• Pin 15 (TX3): This is the transmit pin, used for sending serial data.

When you are setting up communication with Serial3 on the Arduino Due, and you plan to connect it to another device (such as another Arduino), you should:

• Connect the Due’s Pin 15 (TX3) to the RX pin of the receiving device.
• Connect the Due’s Pin 14 (RX3) to the TX pin of the sending device if you need bi-directional communication.
• Ensure that the grounds (GND) of both devices are connected to provide a common reference point for the signals.

This configuration allows for reliable serial communication using the third serial port available on the Arduino Due, which is particularly useful if the primary serial port (Serial0) is occupied by other tasks like debugging or if you need multiple serial interfaces active simultaneously.

You

What other pins apart from 8,9,10,11 can be used for software serial on the uno ?

ChatGPT

On the Arduino Uno, you can technically use almost any of the digital pins for SoftwareSerial, but certain pins are better choices due to the hardware capabilities and potential conflicts with other uses. Pins 8, 9, 10, and 11 are commonly used, but other options are available.

Good Choices for SoftwareSerial on the Uno:

• Pins 2 and 3: These pins are often recommended for SoftwareSerial because they support external interrupts on the Uno, which can help with receiving data more reliably.
• Pins 4 and 5: These can also be used for SoftwareSerial, and there are typically no special considerations or conflicts.
• Pins 6 and 7: Similarly, these pins are suitable and generally free from conflicts with other common uses.

Pins to Avoid:

• Pins 0 and 1: These are used for the hardware serial (Serial) connected to the USB-to-serial converter for programming and debugging via the Arduino IDE. Using these for SoftwareSerial can interfere with uploading sketches and serial communication to the Serial Monitor.
• Pins 13, A4, and A5: Pin 13 is often used for the onboard LED, and A4 and A5 are used for I2C communication (as SDA and SCL, respectively), so using these pins might conflict with other components or shields that utilize these communication protocols.

Example of Setting Up SoftwareSerial on Other Pins:

Here’s how you might set up SoftwareSerial on pins 2 and 3 on an Arduino Uno:

#include <SoftwareSerial.h>

SoftwareSerial mySerial(2, 3); // RX on pin 2, TX on pin 3

void setup() {
  mySerial.begin(9600);  // Set the baud rate for SoftwareSerial
  Serial.begin(9600);    // Set the baud rate for hardware serial (for debugging)
}

void loop() {
  if (mySerial.available()) {
    char inChar = (char)mySerial.read();
    Serial.print("Received: ");
    Serial.println(inChar);
  }

  // Example sending data
  if (millis() % 2000 < 50) {  // Every two seconds
    mySerial.println("Hello from Uno!");
  }
}

This setup allows you to use pins other than 8, 9, 10, and 11 for SoftwareSerial, which can be handy if those pins are occupied by other hardware components or functions in your project. Always make sure to check for pin conflicts in your specific setup, especially if you are using multiple libraries or shields.

You

I have four analog pins A0-A3 that have a switch each. this is meant to be used as an “address” with 16 possible values. I want to use the binary combo of these pins to produce an integer from 0 to 15, and then use it to slice a 512 element array accordingly. each address should correspond to 16 values of the array, but this might vhange so i want it variable

ChatGPT

To achieve your goal, you’ll need to create a program on an Arduino that reads the state of four switches connected to analog pins A0 to A3, interprets these as a binary number, and then uses this number to slice a 512-element array into chunks. Since each ‘address’ from the switches corresponds to a segment of the array, and you mentioned flexibility in the size of each segment, I will include a way to adjust this easily.

Here’s a step-by-step guide on how to implement this:

1. Setup and Initialization

Initialize the pins and define the array. You’ll also set a variable for the segment size, which can be changed to slice the array differently based on the number of values each address should map to.

const int segmentSize = 16; // Change this based on how many elements each address should map
int dataArray[512];         // This is your main data array

void setup() {
  Serial.begin(9600);
  for (int i = 0; i < 512; i++) {
    dataArray[i] = i; // Fill the array with some data, here simply the index
  }

  pinMode(A0, INPUT_PULLUP);  // Assuming switches close to GND
  pinMode(A1, INPUT_PULLUP);
  pinMode(A2, INPUT_PULLUP);
  pinMode(A3, INPUT_PULLUP);
}

int readAddress() {
  int address = 0;
  address += digitalRead(A0) << 0; // Read each switch as a bit
  address += digitalRead(A1) << 1;
  address += digitalRead(A2) << 2;
  address += digitalRead(A3) << 3;
  return address;
}

2. Reading the Address and Slicing the Array

Read the computed address and then use it to slice the array. Each address will map to a segment of the array determined by segmentSize.

void loop() {
  int address = readAddress(); // Get the current address from switches
  int startIndex = address * segmentSize;
  int endIndex = startIndex + segmentSize;

  // Ensure the endIndex does not exceed the array size
  if (endIndex > 512) {
    endIndex = 512;
  }

  // Output the values for this segment
  Serial.print("Address: ");
  Serial.print(address);
  Serial.print(", Array Values: ");
  for (int i = startIndex; i < endIndex; i++) {
    Serial.print(dataArray[i]);
    Serial.print(" ");
  }
  Serial.println();

  delay(1000); // Add delay to slow down the loop for readability
}

3. Flexibility in Segment Size

The variable segmentSize can be adjusted according to your needs. If the total number of entries divided by segmentSize isn’t a whole number, the last segment may be smaller than the others. Ensure your code logic accommodates this, as shown by checking the endIndex against the array size.

Considerations:

• Debouncing: If the switches are mechanical, their state might ‘bounce’ on toggling, leading to multiple rapid changes before settling. You may want to implement a debouncing algorithm or use hardware debouncing.
• Pull-up Configuration: The code assumes you are using pull-up resistors (internal or external), so the pin reads LOW when the switch is pressed. Adjust your setup accordingly if this is not the case.
• Real-Time Updates: The example uses a simple delay for demonstration. For more responsive or complex interactions, consider removing the delay and using non-blocking code techniques.

This approach provides a straightforward way to map switch combinations to segments of an array, which is useful in various applications such as selecting different modes, outputs, or configurations based on user input through a simple hardware interface.

You

how to clamp a number in arduino between 2 extrems?

ChatGPT

Clamping a number between two extremes (a minimum and a maximum value) in Arduino code involves comparing the number to these limits and adjusting it if it falls outside the range. The simplest way to implement clamping in Arduino (or C/C++ in general) is to use conditional statements, though for more readability and reuse, you might encapsulate the logic in a function.

Here’s a simple function to clamp a number between two specified limits:

Clamping Function

// Function to clamp a number between minVal and maxVal
int clamp(int num, int minVal, int maxVal) {
    if (num < minVal) {
        return minVal;
    } else if (num > maxVal) {
        return maxVal;
    } else {
        return num;
    }
}

Usage Example

You can then use this function in your main program or wherever you need to ensure a number stays within a given range:

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

void loop() {
    int sensorValue = analogRead(A0);  // Read some sensor that might exceed expected ranges
    int clampedValue = clamp(sensorValue, 100, 900);  // Clamping sensor value between 100 and 900

    Serial.print("Original Sensor Value: ");
    Serial.print(sensorValue);
    Serial.print(", Clamped Value: ");
    Serial.println(clampedValue);

    delay(1000);  // Delay for 1 second for readability
}

This example assumes you’re reading from an analog sensor connected to pin A0 and you want to clamp the reading so it doesn’t go below 100 or above 900. This can be useful, for example, when you need to remove noise or outliers from raw sensor data.

Alternatives

While the above method using if statements is perfectly fine, another popular and concise approach is to use the min() and max() functions provided by Arduino:

int clamp(int num, int minVal, int maxVal) {
    return max(minVal, min(num, maxVal));
}

This implementation does exactly the same thing but is potentially easier to read and understand at a glance, as it clearly conveys the intent of clamping without the need for conditional branching. The min() and max() functions are part of the standard Arduino library and are widely used for such purposes.

Both approaches are effective, so you can choose based on your preference for readability or convention in your codebase.

You

I want to edit the int4 values from the UnityEditor, but pass all of them from a smoothdamp function before sending to dmx. so we probably need a second set of values

using System; using System.Collections; using System.Collections.Generic; using Unity.Mathematics; using UnityEngine;

public class RobotValuesSender_160 : MonoBehaviour { DP.DMX dmx; public int4[] robots;

void Start()
{
    dmx = FindFirstObjectByType<DP.DMX>();

    if (dmx!= null)
        Debug.Log("DMX Object Found");
}

// Update is called once per frame
void Update()
{
    var cnt = 0;

    // 10 robots
    for (int i = 0; i < robots.Length; i++)
    {

        // 4 angles
        for (int j = 0; j < 4; j++)
        {
            Append(robots[i][j], cnt);
            cnt++;
        }
    }
}

private void Append(int value, int offset) => AppendInteger(value, offset*4, dmx);

private static void AppendInteger(int value, int offset, DP.DMX dmxData)
{
    var bytes = BitConverter.GetBytes(value);

    if (BitConverter.IsLittleEndian)
        Array.Reverse(bytes); // Convert to big-endian if system is little-endian

    for (var i = 0; i < bytes.Length; i++)
    {
        dmxData[1+offset + i] = bytes[i];
    }
}

private void OnApplicationQuit()
{
    var cnt = 0;

    for (int i = 0; i < robots.Length; i++)
    {

        // 4 angles
        for (int j = 0; j < 4; j++)
        {
            Append(0, cnt);
            cnt++;
        }
    }
}

private void OnDestroy()
{
    var cnt = 0;

    for (int i = 0; i < robots.Length; i++)
    {

        // 4 angles
        for (int j = 0; j < 4; j++)
        {
            Append(0, cnt);
            cnt++;
        }
    }
}

}

ChatGPT

To integrate a smoothing function such as SmoothDamp before sending values to the DMX system in Unity, we need to create a mechanism for storing both the target values (editable from the UnityEditor) and the current smoothed values that will actually be sent. Unity’s Mathf.SmoothDamp is typically used for floating point numbers, but since your application appears to use integers, we will adapt the concept to work with integers.

First, let’s adjust your script to include the current smoothed values and the smoothing mechanism:

using System;
using System.Collections;
using System.Collections.Generic;
using Unity.Mathematics;
using UnityEngine;

public class RobotValuesSender_160 : MonoBehaviour
{
    DP.DMX dmx;
    public int4[] robots;  // Target values set in UnityEditor
    private int4[] currentRobots;  // Current smoothed values

    // Smoothing parameters
    public float smoothTime = 0.3f;
    private float[] velocities;

    void Start()
    {
        dmx = FindFirstObjectByType<DP.DMX>();

        if (dmx != null)
            Debug.Log("DMX Object Found");

        // Initialize the current values and velocities
        currentRobots = new int4[robots.Length];
        velocities = new float[robots.Length * 4];  // Each int4 has 4 values
    }

    void Update()
    {
        var cnt = 0;

        for (int i = 0; i < robots.Length; i++)
        {
            for (int j = 0; j < 4; j++)
            {
                // Smooth each value before appending
                int targetValue = robots[i][j];
                float currentValue = currentRobots[i][j];
                float velocity = velocities[cnt];

                // Perform smooth damp
                currentValue = Mathf.SmoothDamp(currentValue, targetValue, ref velocity, smoothTime);

                // Update the smoothed current value and the corresponding velocity
                currentRobots[i][j] = (int)currentValue;
                velocities[cnt] = velocity;

                Append(currentRobots[i][j], cnt);
                cnt++;
            }
        }
    }

    private void Append(int value, int offset) => AppendInteger(value, offset * 4, dmx);

    private static void AppendInteger(int value, int offset, DP.DMX dmxData)
    {
        var bytes = BitConverter.GetBytes(value);

        if (BitConverter.IsLittleEndian)
            Array.Reverse(bytes); // Convert to big-endian if system is little-endian

        for (var i = 0; i < bytes.Length; i++)
        {
            dmxData[1 + offset + i] = bytes[i];
        }
    }

    private void OnApplicationQuit()
    {
        ResetRobots();
    }

    private void OnDestroy()
    {
        ResetRobots();
    }

    private void ResetRobots()
    {
        var cnt = 0;

        for (int i = 0; i < robots.Length; i++)
        {
            for (int j = 0; j < 4; j++)
            {
                Append(0, cnt);
                cnt++;
            }
        }
    }
}

Explanation:

• New Variables: Added currentRobots to store the real-time values that are being smoothly transitioned towards the targets set in robots. The velocities array holds the velocity for each component of each int4, used by the Mathf.SmoothDamp function.
• Smooth Damping: Each component of the robot configurations (robots[i][j]) is smoothly damped towards its target using Mathf.SmoothDamp. The method has been adapted to work with integers by casting the float result back to int.
• On Quit and Destroy: When the application quits or this component is destroyed, it resets all DMX values to zero.

This setup ensures that all target values you set in the Unity Editor are transitioned smoothly in real time, adding a more dynamic and less mechanical feel to the values being sent to the DMX system.

You

Checkout this code. It was working fine, and then one day any value received that was above 512 was translated it as a very different (larger) integer. therefore i adjusted it to handle values up to 512, but i still need to understand why i got the error

#include <SoftwareSerial.h> #include <DynamixelShield.h>

//This namespace is required to use Control table item names using namespace ControlTableItem;

// Shield object DynamixelShield dxl;

// MAX SPEED OF THE SERVOS const int MAX_SPEED = 40; //20 for quiet

//4096 = 1x full turn const int GOAL_THRESHOLD = 50;

// Position offset for Dynamixel 1 const long offset_1 = 2139;

// Position offset for Dynamixel 2 const long offset_2 = 1909;

// First Dynamixel (swivel) const uint8_t DXL_ID1 = 1; // Second Dynamixel (tilt) const uint8_t DXL_ID2 = 2; // Boilerplate const float DXL_PROTOCOL_VERSION = 2.0;

long dmx_01_goal = 0; long dmx_02_goal = 0;

// Get current Dynamixel position int pos(int DXL_ID) { return dxl.getPresentPosition(DXL_ID); }

// Check if the Dynamixel has almost reached the goal bool goal_reached(int DXL_ID, int goal) { return (abs(pos(DXL_ID) - goal) < GOAL_THRESHOLD); }

//============= END OF DYNAMIXEL SETUP ===================/

void dx_Init() { // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate. dxl.begin(57600);

// Set Port Protocol Version. This has to match with DYNAMIXEL protocol version. dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);

// Get DYNAMIXEL information dxl.ping(DXL_ID1); dxl.ping(DXL_ID2);

// DXL1 (turn off torque when configuring items in EEPROM area) dxl.torqueOff(DXL_ID1); dxl.setOperatingMode(DXL_ID1, OP_EXTENDED_POSITION); // dxl.writeControlTableItem(MAX_POSITION_LIMIT, DXL_ID1, DXL_MAX); //1 for sexy // dxl.writeControlTableItem(MIN_POSITION_LIMIT, DXL_ID1, DXL_MIN); //1 for sexy dxl.writeControlTableItem(PROFILE_ACCELERATION, DXL_ID1, 1); //1 for sexy dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID1, MAX_SPEED); dxl.writeControlTableItem(MAX_VOLTAGE_LIMIT, DXL_ID1, 140); //14V dxl.writeControlTableItem(CURRENT_LIMIT, DXL_ID1, 100); //0.25A dxl.writeControlTableItem(VELOCITY_LIMIT, DXL_ID1, 70); //13.74 RPM dxl.writeControlTableItem(MOVING_THRESHOLD, DXL_ID1, 0); //13.74 RPM dxl.writeControlTableItem(TORQUE_LIMIT, DXL_ID1, 5); dxl.torqueOn(DXL_ID1);

// DXL2 (turn off torque when configuring items in EEPROM area) dxl.torqueOff(DXL_ID2); dxl.setOperatingMode(DXL_ID2, OP_EXTENDED_POSITION); // dxl.writeControlTableItem(MAX_POSITION_LIMIT, DXL_ID2, DXL_MAX); //1 for sexy // dxl.writeControlTableItem(MIN_POSITION_LIMIT, DXL_ID2, DXL_MIN); //1 for sexy dxl.writeControlTableItem(PROFILE_ACCELERATION, DXL_ID2, 1); //1 for sexy dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID2, MAX_SPEED); dxl.writeControlTableItem(MAX_VOLTAGE_LIMIT, DXL_ID2, 140); //14V dxl.writeControlTableItem(CURRENT_LIMIT, DXL_ID2, 100); //0.25A dxl.writeControlTableItem(VELOCITY_LIMIT, DXL_ID2, 70); //13.74 RPM dxl.writeControlTableItem(MOVING_THRESHOLD, DXL_ID2, 0); //13.74 RPM dxl.writeControlTableItem(TORQUE_LIMIT, DXL_ID2, 5); dxl.torqueOn(DXL_ID2);

delay(100);

//--------------------------- // DYNAMIXEL SET TO 0 Position //--------------------------- dxl.setGoalPosition(DXL_ID1, offset_1); dxl.setGoalPosition(DXL_ID2, offset_2); }

void move_dynamixel_1(uint32_t value) { dxl.setGoalPosition(DXL_ID1, value + offset_1); }

void move_dynamixel_2(uint32_t value) { dxl.setGoalPosition(DXL_ID2, value + offset_2); }

SoftwareSerial mySerial(9, 10); // RX, TX (TX not used)

void setup() { mySerial.begin(600); Serial.begin(9600);

dx_Init(); delay(2000);

// Serial.println(mySerial.available()); // Serial.println(“Hello UNO”); }

void loop() {

static boolean receiving = false; static byte incomingData[16]; // Large enough to handle escapes static int dataIndex = 0; bool escapeNext = false;

while (mySerial.available()) {

byte incomingByte = mySerial.read();

// Start of packet
if (!receiving && incomingByte == 0x02) {
  receiving = true;
  dataIndex = 0;
  escapeNext = false;
  continue;
}

// End of packet
if (receiving && incomingByte == 0x03 && !escapeNext) {
  receiving = false;
  processPacket(incomingData, dataIndex);

   // Send acknowledgment
   // mySerial.write('A');

  continue;
}

if (receiving) {
  if (escapeNext) {
    incomingByte ^= 0x20;  // Unescape the byte
    escapeNext = false;
  } else if (incomingByte == 0x7D) {
    escapeNext = true;
    continue;  // Skip further processing of this byte
  }

  if (dataIndex < sizeof(incomingData)) {
    incomingData[dataIndex++] = incomingByte;
  }
}

} } int reconstructInt(uint8_t a, uint8_t b, uint8_t c, uint8_t d) { return (a << 24) | (b << 16) | (c << 8) | d; }

void processPacket(byte *data, int length) {

int a = reconstructInt(data[0], data[1], data[2], data[3]);
int b = reconstructInt(data[4], data[5], data[6], data[7]);

float ta = a / 512.0;
float tb = b / 512.0;

if (ta > 1.0)
{
  ta = 1.0;
}

if (ta < -1.0)
{
  ta = -1.0;
}
if (tb > 1.0)
{
  tb = 1.0;
}

if (tb < -1.0)
{
  tb = -1.0;
}

a = ta * 10445;
b = tb * 12810;

move_dynamixel_1(a);
move_dynamixel_2(b);

// Serial.print(a);
// Serial.print(" | ");
// Serial.print(b);
// Serial.println("");

}

ChatGPT

The error in translating received values above 512 into much larger integers likely stemmed from incorrect data handling or type conversion issues in the processPacket function. Let’s review your code and the potential issues:

Key Points to Review:

1. Data Type Handling: The way you reconstruct integers and handle them might cause overflows or interpretation issues, particularly if the data received doesn’t match expected formats or sizes.

2. Integer Reconstruction: Ensure that the way you reconstruct integers from byte arrays is correct and matches the endianess of the data sent.

3. Scaling and Clamping Values: Your scaling and clamping logic might be incorrectly applied or might not handle specific cases well.

4. Baud Rate: mySerial.begin(600); seems unusually low and may be a typo or incorrect setting. Typical baud rates are 9600, 19200, 38400, etc.

Improved and Corrected Code:

Here’s an improved version of your processPacket function with more robust handling for data:

int reconstructInt(uint8_t a, uint8_t b, uint8_t c, uint8_t d) {
    return (int32_t)((a << 24) | (b << 16) | (c << 8) | d);
}

void processPacket(byte *data, int length) {
    if (length < 8) return;  // Ensure there's enough data

    int32_t a = reconstructInt(data[0], data[1], data[2], data[3]);
    int32_t b = reconstructInt(data[4], data[5], data[6], data[7]);

    // Convert and clamp values from -512 to 512 to -1.0 to 1.0 range
    float ta = max(min(a / 512.0f, 1.0f), -1.0f);
    float tb = max(min(b / 512.0f, 1.0f), -1.0f);

    // Scale values to motor-specific ranges
    a = (int)(ta * 10445);
    b = (int)(tb * 12810);

    move_dynamixel_1(a);
    move_dynamixel_2(b);

    // Debug output
    Serial.print("Dynamixel 1 Target: ");
    Serial.print(a);
    Serial.print(" | Dynamixel 2 Target: ");
    Serial.println(b);
}

Explanation:

• Data Integrity: It starts by ensuring that there are at least 8 bytes to process. This check prevents reading beyond the array bounds.
• Scaling and Clamping: Uses min() and max() to clamp values directly within the floating-point calculations, avoiding separate conditional statements.
• Type Conversion: It makes explicit the use of int32_t for integer reconstruction to ensure that the sign and size are handled correctly.
• Baud Rate: Double-check the baud rate you’ve set for SoftwareSerial. If 600 is a mistake, it could be a cause for unreliable communications. Consider changing it to a more standard value like 9600.

Additional Recommendations:

• Validate Endianess: Ensure the byte order in reconstructInt() matches how your data is being sent. The current setup assumes a big-endian format.
• Serial Communication: Verify that the baud rate of 600 bps is correct. If not, adjust it to match the capability of your system and the accuracy required.
• Debugging: Use Serial.print() statements to log intermediate values to help diagnose issues with data handling.

This refactoring aims to address potential pitfalls in type handling and logic that could lead to the problems you’ve experienced. Make sure to test these changes thoroughly with expected and edge case inputs to ensure stability and correctness.

You

What can we do to further safeguard the quality of data. Not interested in a checksum

ChatGPT

To safeguard the quality of data in your Arduino project, especially when dealing with serial communications and robotics control without relying on checksums, there are several strategies you can employ. Here are some effective techniques:

1. Data Validation

Check data values for reasonableness or within expected ranges before using them. This involves setting upper and lower bounds for the data that make sense within the context of your application. For example, if you know a servo should never rotate beyond a certain angle, discard or clamp any data that would command it to do so.

int validateData(int data, int min, int max) {
    if (data < min) return min;
    if (data > max) return max;
    return data;
}

2. Redundancy

Send data multiple times and use voting or averaging to decide on the most likely correct value. This method can reduce the effect of random noise or single-bit errors in the transmission.

void processData(int a1, int a2, int b1, int b2) {
    int finalA = (a1 + a2) / 2;  // Simple average, or implement a more robust median calculation
    int finalB = (b1 + b2) / 2;
    move_dynamixel_1(finalA);
    move_dynamixel_2(finalB);
}

3. Error Detection with Parity Bits

Implement a simple parity bit system where each byte sent is accompanied by a parity bit that describes whether the sum of the bits is even or odd. While not as robust as a checksum, parity can still provide basic error detection capabilities.

bool checkParity(byte data, bool expectedParity) {
    bool parity = 0;
    while (data > 0) {
        parity = !parity;
        data = data & (data - 1);
    }
    return parity == expectedParity;
}

4. Fail-Safe States

Define safe states for the robot or system to revert to upon detecting anomalous data. This could mean stopping all motors, returning to a neutral position, or shutting down systems until manual confirmation or correction.

void safetyShutdown() {
    move_dynamixel_1(0);  // Neutral position
    move_dynamixel_2(0);
    // Other shutdown procedures
}

5. Rate Limiting

Prevent too rapid changes in the data, which can be signs of spikes or data corruption. Implement a function that only allows gradual changes in the control signals sent to the hardware.

int rateLimit(int currentPos, int newPos, int maxChange) {
    if (newPos > currentPos + maxChange) return currentPos + maxChange;
    if (newPos < currentPos - maxChange) return currentPos - maxChange;
    return newPos;
}

6. Hardware Filters

If noise in the data lines is an issue, consider using hardware filters or shielded cables. Hardware debounce circuits for switches or a low-pass filter for analog sensors can significantly improve data quality before it even reaches the microcontroller.

7. Quality of Service Monitoring

Regularly monitor the quality of data transmissions or sensor readings by keeping statistics on lost transmissions, retries, or out-of-bound values. Alerts or logs can help identify when the data quality is degrading.

Implementing a combination of these strategies can significantly enhance the robustness of your data handling in an embedded or robotic system. Each method can be tailored based on the specific requirements and constraints of your project.

You

Do a thorough code review of this. It’s the counterpart to the code i pasted earlier

void pushDataToMotors() { // Reset the flag hasData = false;

// Send value to STEPPER 1 QUEUE commandQueue.push(&STEPPER_1_VALUE);

// Send value to STEPPER 2 QUEUE commandQueue1.push(&STEPPER_2_VALUE);

// SEND TO THE ARDUINO RUNNING THE DYNAMIXELS if (millis()-waitTime2 >= 250) {

byte data[8] = {dmx_1_a, dmx_1_b, dmx_1_c, dmx_1_d, dmx_2_a, dmx_2_b, dmx_2_c, dmx_2_d};

//if (!waitingForConfirmation) {

// Start byte
Serial2.write(0x02);

// Send data with byte-stuffing
for (int i = 0; i < 8; i++) {
  if (data[i] == 0x02 || data[i] == 0x03 || data[i] == 0x7D) {
    Serial2.write(0x7D);  // Escape character
    Serial2.write(data[i] ^ 0x20);  // XOR with 0x20 to 'escape'
  } else {
    Serial2.write(data[i]);
  }

  //  DEBUG_SERIAL.print(data[i]);
 //   DEBUG_SERIAL.print(" ");
}

// DEBUG_SERIAL.println("");

// End byte
Serial2.write(0x03);

// waitingForConfirmation = true; // }

waitTime2 = millis();

}

// NOT YET IMPLEMENTED // STEPPER 1 SPEED // stepper.setMaxSpeed(STEPPER_1_SPEED); // Adjust as needed

// STEPPER 2 SPEED // stepper1.setMaxSpeed(STEPPER_2_SPEED); // Adjust as needed

// STEPPER 1 ACCELERATION // stepper.setAcceleration(STEPPER_1_ACCEL); // Adjust as needed

// STEPPER 2ACCELERATION // stepper.setAcceleration(STEPPER_2_ACCEL); // Adjust as needed }

ChatGPT

Your function pushDataToMotors() seems designed to handle sending data sequences to stepper motors and Dynamixel motors via a serial connection with byte-stuffing. Here’s a thorough review addressing code style, functionality, and potential issues:

Code Review Points

1. Variable Initialization and Scope

The code snippet starts with references to hasData, STEPPER_1_VALUE, and STEPPER_2_VALUE, among others. It’s important to ensure these variables are properly declared, initialized, and scoped within your application. In large projects, global variables should be managed carefully to avoid unexpected behavior or conflicts.

2. Queue Usage

You’re pushing addresses of variables (&STEPPER_1_VALUE and &STEPPER_2_VALUE) to what appears to be command queues (commandQueue and commandQueue1). This might lead to undefined behavior if:

• The values of STEPPER_1_VALUE and STEPPER_2_VALUE change before they are used from the queue.
• The queues are expected to manage copies of the data, not references.

Consider confirming whether pushing values (copies) instead of addresses would be more appropriate based on your application’s architecture.

3. Serial Communication Throttling

You throttle serial communication to at least 250 milliseconds between transmissions:

if (millis()-waitTime2 >= 250)

This is a good practice to avoid flooding the serial buffer. However, ensure waitTime2 is correctly managed and initialized before it’s used. It should be of a suitable data type (unsigned long) to handle the millis overflow correctly.

4. Data Byte-stuffing

The byte-stuffing logic looks correct. You’re escaping 0x02, 0x03, and 0x7D appropriately:

if (data[i] == 0x02 || data[i] == 0x03 || data[i] == 0x7D) {
  Serial2.write(0x7D);  // Escape character
  Serial2.write(data[i] ^ 0x20);  // XOR with 0x20 to 'escape'
} else {
  Serial2.write(data[i]);
}

This is crucial for maintaining the integrity of framed data packets over serial connections.

5. Debugging Comments

The commented out debug statements (DEBUG_SERIAL.print(data[i]); and others) suggest you are in a debugging or development phase. It’s good practice to either:

• Remove or clean up these comments before final deployment.
• Implement a debugging mode that can be toggled on or off, which controls whether these statements are active.

6. Commented Motor Settings

The motor speed and acceleration settings are commented out:

// stepper.setMaxSpeed(STEPPER_1_SPEED); // Adjust as needed

If these are necessary for the operation of your motors, ensure they are correctly implemented and uncommented in production code. If they are parameters that are being tuned or adjusted during development, consider adding functionality to adjust these settings dynamically through your application’s interface.

7. Error Handling

Consider adding error handling around critical operations. For instance, check if Serial2 is available or if there’s a timeout or error in sending data. This will help in making the system more robust and responsive to failure scenarios.

8. Magic Numbers

There are magic numbers (0x02, 0x03, 0x7D, 250) used in the code. These should ideally be defined as named constants at the top of your script or in a configuration header file to improve readability and maintainability.

Suggestions for Improvement

• Define Constants: Use constants for special characters and timings.
• Improve Queue Management: Ensure you’re handling the queue elements safely, potentially changing from pointers to actual copied values.
• Debug Mode: Implement a debug mode for easier toggling of verbose output.
• Robust Error Handling: Add error checks and more nuanced management of serial state and potential communication errors.

Overall, the function is structured logically but needs refinement to ensure robustness, maintainability, and clarity.

You

Provide a more correct version

ChatGPT

Let’s refine the function pushDataToMotors() with the considerations outlined in the code review, addressing the issues related to data handling, readability, robustness, and efficiency. This version will incorporate best practices for variable management, timing control, and debugging.

Revised Function Code

Here’s an improved version of your function, with added comments and adjustments for clarity and functionality:

#include <Arduino.h>

// Define constants for special characters and timing
const byte START_BYTE = 0x02;
const byte END_BYTE = 0x03;
const byte ESCAPE_BYTE = 0x7D;
const byte XOR_MASK = 0x20;
const unsigned long TRANSMIT_INTERVAL_MS = 250;

// Assume these variables are defined globally
extern int STEPPER_1_VALUE;
extern int STEPPER_2_VALUE;
extern bool hasData;
extern HardwareSerial Serial2;  // Using HardwareSerial as an example

// Queue instances for command queues
QueueHandle_t commandQueue;
QueueHandle_t commandQueue1;

unsigned long lastTransmitTime = 0;  // For throttling the transmission

void setup() {
    commandQueue = xQueueCreate(10, sizeof(int));  // Example queue creation
    commandQueue1 = xQueueCreate(10, sizeof(int));
}

void pushDataToMotors() {
    // Reset the flag
    hasData = false;

    // Send value to STEPPER queues as copies instead of addresses
    xQueueSend(commandQueue, &STEPPER_1_VALUE, portMAX_DELAY);
    xQueueSend(commandQueue1, &STEPPER_2_VALUE, portMAX_DELAY);

    // Check if it's time to send data to the Arduino running the Dynamixels
    if (millis() - lastTransmitTime >= TRANSMIT_INTERVAL_MS) {
        byte data[8] = {
            (byte)(STEPPER_1_VALUE >> 24), (byte)(STEPPER_1_VALUE >> 16),
            (byte)(STEPPER_1_VALUE >> 8), (byte)STEPPER_1_VALUE,
            (byte)(STEPPER_2_VALUE >> 24), (byte)(STEPPER_2_VALUE >> 16),
            (byte)(STEPPER_2_VALUE >> 8), (byte)STEPPER_2_VALUE
        };

        // Start byte
        Serial2.write(START_BYTE);

        // Send data with byte-stuffing
        for (int i = 0; i < 8; i++) {
            if (data[i] == START_BYTE || data[i] == END_BYTE || data[i] == ESCAPE_BYTE) {
                Serial2.write(ESCAPE_BYTE);  // Escape character
                Serial2.write(data[i] ^ XOR_MASK);  // XOR with mask to 'escape'
            } else {
                Serial2.write(data[i]);
            }
        }

        // End byte
        Serial2.write(END_BYTE);

        // Update the last transmit time
        lastTransmitTime = millis();
    }

    // Debugging output can be controlled via a debugging flag
    #ifdef DEBUG
    Serial.print("Data sent: ");
    for (int i = 0; i < 8; i++) {
        Serial.print(data[i], HEX);
        Serial.print(" ");
    }
    Serial.println();
    #endif
}

void loop() {
    // Example usage of function
    pushDataToMotors();
    delay(100); // Just an example delay
}

Key Changes and Improvements:

1. Constants for Magic Numbers: All special characters and timing values are defined as constants for easier adjustments and clarity.
2. Queue Handling: Changed from pointer to actual value sending to ensure that data integrity is maintained even if the original value changes after being queued.
3. Timing Control: Utilized a variable to store the last transmit time to manage the transmission interval effectively.
4. Debugging: Added a compile-time debug flag to control verbose output, making it easy to enable or disable debugging information.
5. Data Handling: This code correctly handles the conversion of integers to bytes, taking into consideration potential endianess issues explicitly.

This version aims to be more maintainable, readable, and robust, addressing potential issues with data handling and providing a clear structure for further modifications or debugging.