Evolved control scheme
- Correct hub1 port map: A is the left arm, C is the head tilt. - Arms: L2/R2 raise proportionally, L3/R3 lower at reduced power. - Head turn onto L1/R1, head tilt onto d-pad left/right, body lift onto d-pad up/down. All move while held. - Square is now the panic stop; Cross toggles 50/100% track speed. - Circle and Triangle toggle two GPIO LED circuits on pins 25 and 26. - Latching controls are edge-detected; frames arrive at ~50Hz so a held button would otherwise toggle continuously.
This commit is contained in:
+100
-47
@@ -1,7 +1,8 @@
|
||||
/*
|
||||
* receiver.ino -- UART -> two LEGO Powered Up hubs (ESP32 "B")
|
||||
*
|
||||
* Model: Johnny 5 (Short Circuit) MOC, 7 motors across 2 Technic hubs.
|
||||
* Model: Johnny 5 (Short Circuit) MOC - "Evolved" control scheme.
|
||||
* 7 motors across 2 Technic hubs, plus 2 GPIO-driven LED circuits.
|
||||
*
|
||||
* Board package: esp32 (the normal Espressif one), core 2.0.17
|
||||
* Libraries: Legoino + NimBLE-Arduino 1.4.x (both via Library Manager)
|
||||
@@ -9,17 +10,16 @@
|
||||
* Core 3.x will not build Legoino - you get 'std::string does not name a type'
|
||||
* and a ReadUInt32LE declaration mismatch. Stay on 2.0.17 for this board.
|
||||
*
|
||||
* Listens for gamepad frames from the Bluepad32 board on Serial2 and drives
|
||||
* both hubs over BLE using Legoino. This board must NOT have the Bluepad32
|
||||
* board package selected - keeping BTstack and NimBLE on separate chips is
|
||||
* the entire reason there are two boards.
|
||||
*
|
||||
* Wiring to the transmitter board:
|
||||
* RX GPIO16 <- TX GPIO17 on transmitter
|
||||
* TX GPIO17 -> RX GPIO16 on transmitter
|
||||
* GND -> GND (mandatory - common ground)
|
||||
*
|
||||
* Control scheme is tank drive: every input drives exactly one motor.
|
||||
* LED circuits (see LED_1_PIN / LED_2_PIN below):
|
||||
* GPIO25 -> resistor -> LED pair -> GND
|
||||
* GPIO26 -> resistor -> LED pair -> GND
|
||||
* Pins output 3.3V, not 3V. ~12mA per pin is comfortable, 40mA is the hard
|
||||
* limit. Anything drawing more than ~20mA per circuit needs a transistor.
|
||||
*
|
||||
* FILE ORDER MATTERS:
|
||||
* The Arduino IDE injects generated function prototypes immediately before
|
||||
@@ -38,10 +38,10 @@
|
||||
// Hub BLE addresses. Run tools/hub_scanner to find them - do not guess.
|
||||
//
|
||||
// hub 0 - lower body hub 1 - upper body
|
||||
// A right track A head tilt
|
||||
// A right track A left arm
|
||||
// B left track B head turn
|
||||
// D body lift C left arm
|
||||
// D right arm
|
||||
// C (free) C head tilt
|
||||
// D body lift D right arm
|
||||
static const char *HUB0_ADDR = "90:84:2b:61:f2:d7";
|
||||
static const char *HUB1_ADDR = "90:84:2b:61:e6:8c";
|
||||
|
||||
@@ -51,8 +51,12 @@ static const byte PORT_B = 0x01;
|
||||
static const byte PORT_C = 0x02;
|
||||
static const byte PORT_D = 0x03;
|
||||
|
||||
// LED circuits. Safe GPIOs - no boot strapping or flash duties, unlike 0, 2,
|
||||
// 12 and 15.
|
||||
static const int LED_1_PIN = 25; // Circle toggles this pair
|
||||
static const int LED_2_PIN = 26; // Triangle toggles this pair
|
||||
|
||||
// Technic / Control+ motors are tacho motors -> leave this at 1.
|
||||
// Plain train motors and the simple Powered Up motors -> set it to 0.
|
||||
#define USE_TACHO_MOTORS 1
|
||||
|
||||
// Set to 1 to log every motor command that goes out. Useful for proving which
|
||||
@@ -61,9 +65,7 @@ static const byte PORT_D = 0x03;
|
||||
|
||||
static const int DEADZONE = 40; // raw stick counts ignored around centre
|
||||
|
||||
// Motor directions. Flip to -1 if an axis runs backwards - mirrored mountings
|
||||
// are normal on a symmetric model, and this is cheaper than editing signs
|
||||
// scattered through applyFrame().
|
||||
// Motor directions. Flip to -1 if an axis runs backwards.
|
||||
static const int DIR_LEFT_TRACK = 1;
|
||||
static const int DIR_RIGHT_TRACK = -1;
|
||||
static const int DIR_BODY_LIFT = 1;
|
||||
@@ -75,15 +77,15 @@ static const int DIR_RIGHT_ARM = 1;
|
||||
// Per-axis power caps. Everything except the tracks runs into a mechanical end
|
||||
// stop and there is no position feedback, so holding a direction at a stop
|
||||
// stalls the motor. Lower these if an axis feels forceful.
|
||||
static const int TRACK_MAX = 100; // LEGO speed range is -100..100
|
||||
static const int HEAD_MAX = 45;
|
||||
static const int LIFT_MAX = 60;
|
||||
static const int ARM_MAX = 45;
|
||||
static const int TRACK_MAX = 100; // LEGO speed range is -100..100
|
||||
static const int HEAD_MAX = 45;
|
||||
static const int LIFT_MAX = 60;
|
||||
static const int ARM_UP_MAX = 45;
|
||||
static const int ARM_DOWN_MAX = 30; // gravity helps on the way down
|
||||
|
||||
// Track scaling: normal, L1 held (precision), R1 held (full).
|
||||
static const int SCALE_NORMAL = 75;
|
||||
static const int SCALE_PRECISION = 40;
|
||||
static const int SCALE_FULL = 100;
|
||||
// Track speed, toggled by Cross.
|
||||
static const int SPEED_SLOW = 50;
|
||||
static const int SPEED_FAST = 100;
|
||||
|
||||
// Bluepad32 button masks. Verify against your own pad with DEBUG_BUTTONS in
|
||||
// the transmitter sketch if any of these seem wrong.
|
||||
@@ -93,12 +95,17 @@ static const unsigned BTN_X = 0x0004; // Square
|
||||
static const unsigned BTN_Y = 0x0008; // Triangle
|
||||
static const unsigned BTN_L1 = 0x0010;
|
||||
static const unsigned BTN_R1 = 0x0020;
|
||||
static const unsigned BTN_L3 = 0x0100; // left stick click
|
||||
static const unsigned BTN_R3 = 0x0200; // right stick click
|
||||
|
||||
static const unsigned DPAD_U = 0x01;
|
||||
static const unsigned DPAD_D = 0x02;
|
||||
static const unsigned DPAD_R = 0x04;
|
||||
static const unsigned DPAD_L = 0x08;
|
||||
|
||||
// Triggers rest at 0 and are noisy near the bottom of their travel.
|
||||
static const int TRIGGER_DEADZONE = 60;
|
||||
|
||||
static const unsigned long MOTOR_MIN_GAP_MS = 100; // per port
|
||||
static const unsigned long HUB_MIN_GAP_MS = 25; // per hub, ~40 cmd/sec
|
||||
static const unsigned long LINK_TIMEOUT_MS = 400; // failsafe
|
||||
@@ -139,14 +146,21 @@ static HubLink gHubs[2] = {
|
||||
{Lpf2Hub(), HUB1_ADDR, "hub1", false, 0, 0},
|
||||
};
|
||||
|
||||
// Indexes: 0 rightTrack, 1 leftTrack, 2 bodyLift,
|
||||
// 3 headTilt, 4 headTurn, 5 leftArm, 6 rightArm
|
||||
// Indexes follow physical ports, not functions:
|
||||
// 0 hub0/A 1 hub0/B 2 hub0/D
|
||||
// 3 hub1/A 4 hub1/B 5 hub1/C 6 hub1/D
|
||||
static PortState gPort[7] = {{999, 0}, {999, 0}, {999, 0}, {999, 0},
|
||||
{999, 0}, {999, 0}, {999, 0}};
|
||||
|
||||
static unsigned long lastFrameAt = 0;
|
||||
static bool failsafeEngaged = true;
|
||||
|
||||
// Latched state, changed on button press rather than while held.
|
||||
static int gTrackSpeed = SPEED_SLOW;
|
||||
static bool gLed1On = false;
|
||||
static bool gLed2On = false;
|
||||
static unsigned gPrevButtons = 0;
|
||||
|
||||
// ================================================================= helpers
|
||||
|
||||
// Deadzone, then rescale so the remaining travel still reaches full speed.
|
||||
@@ -159,6 +173,15 @@ static int stickToSpeed(int raw, int maxSpeed) {
|
||||
return sign * (int)scaled;
|
||||
}
|
||||
|
||||
// Analog trigger, 0..1023, to a 0..maxSpeed power with a deadzone at the bottom.
|
||||
static int triggerToSpeed(int raw, int maxSpeed) {
|
||||
if (raw <= TRIGGER_DEADZONE) return 0;
|
||||
long scaled = ((long)(raw - TRIGGER_DEADZONE) * maxSpeed) /
|
||||
(1023L - TRIGGER_DEADZONE);
|
||||
if (scaled > maxSpeed) scaled = maxSpeed;
|
||||
return (int)scaled;
|
||||
}
|
||||
|
||||
static void driveMotor(HubLink &hl, byte port, int speed, PortState &st) {
|
||||
if (!hl.hub.isConnected()) return;
|
||||
|
||||
@@ -244,43 +267,68 @@ static bool parseFrame(char *line, Frame &f) {
|
||||
&f.buttons, &f.dpad, &f.l2, &f.r2) == 8;
|
||||
}
|
||||
|
||||
// Latching controls fire once per press, not continuously while held. Frames
|
||||
// arrive at ~50 Hz, so without edge detection a single press would toggle
|
||||
// twenty times.
|
||||
static void handleLatchingButtons(unsigned buttons) {
|
||||
unsigned pressed = buttons & ~gPrevButtons;
|
||||
gPrevButtons = buttons;
|
||||
|
||||
if (pressed & BTN_A) { // Cross - alternate track speed
|
||||
gTrackSpeed = (gTrackSpeed == SPEED_FAST) ? SPEED_SLOW : SPEED_FAST;
|
||||
Serial.printf("track speed %d%%\n", gTrackSpeed);
|
||||
}
|
||||
if (pressed & BTN_B) { // Circle - LED pair 1
|
||||
gLed1On = !gLed1On;
|
||||
digitalWrite(LED_1_PIN, gLed1On ? HIGH : LOW);
|
||||
}
|
||||
if (pressed & BTN_Y) { // Triangle - LED pair 2
|
||||
gLed2On = !gLed2On;
|
||||
digitalWrite(LED_2_PIN, gLed2On ? HIGH : LOW);
|
||||
}
|
||||
}
|
||||
|
||||
// Tank drive. One input per motor - nothing is mixed.
|
||||
static void applyFrame(const Frame &f) {
|
||||
// Both shoulders together is the panic stop.
|
||||
if ((f.buttons & BTN_L1) && (f.buttons & BTN_R1)) {
|
||||
handleLatchingButtons(f.buttons);
|
||||
|
||||
// Square is the panic stop. LEDs are left alone - they are not motion.
|
||||
if (f.buttons & BTN_X) {
|
||||
stopEverything();
|
||||
return;
|
||||
}
|
||||
|
||||
int scale = SCALE_NORMAL;
|
||||
if (f.buttons & BTN_L1) scale = SCALE_PRECISION;
|
||||
if (f.buttons & BTN_R1) scale = SCALE_FULL;
|
||||
int leftTrack = stickToSpeed(-f.ly, TRACK_MAX) * gTrackSpeed / 100
|
||||
* DIR_LEFT_TRACK;
|
||||
int rightTrack = stickToSpeed(-f.ry, TRACK_MAX) * gTrackSpeed / 100
|
||||
* DIR_RIGHT_TRACK;
|
||||
|
||||
int leftTrack = stickToSpeed(-f.ly, TRACK_MAX) * scale / 100 * DIR_LEFT_TRACK;
|
||||
int rightTrack = stickToSpeed(-f.ry, TRACK_MAX) * scale / 100 * DIR_RIGHT_TRACK;
|
||||
// L1 / R1 swing the head while held.
|
||||
int headTurn = ((f.buttons & BTN_R1) ? HEAD_MAX
|
||||
: (f.buttons & BTN_L1) ? -HEAD_MAX : 0) * DIR_HEAD_TURN;
|
||||
|
||||
int headTilt = ((f.dpad & DPAD_U) ? HEAD_MAX
|
||||
: (f.dpad & DPAD_D) ? -HEAD_MAX : 0) * DIR_HEAD_TILT;
|
||||
int headTurn = ((f.dpad & DPAD_R) ? HEAD_MAX
|
||||
: (f.dpad & DPAD_L) ? -HEAD_MAX : 0) * DIR_HEAD_TURN;
|
||||
// D-pad: up/down lifts the body, left/right tilts the head. Both move
|
||||
// while held.
|
||||
int bodyLift = ((f.dpad & DPAD_U) ? LIFT_MAX
|
||||
: (f.dpad & DPAD_D) ? -LIFT_MAX : 0) * DIR_BODY_LIFT;
|
||||
int headTilt = ((f.dpad & DPAD_R) ? HEAD_MAX
|
||||
: (f.dpad & DPAD_L) ? -HEAD_MAX : 0) * DIR_HEAD_TILT;
|
||||
|
||||
// R2 raises, L2 lowers. Both analog 0..1023, so the lift stays proportional.
|
||||
int bodyLift = constrain((f.r2 - f.l2) * LIFT_MAX / 1023,
|
||||
-LIFT_MAX, LIFT_MAX) * DIR_BODY_LIFT;
|
||||
// Arms: analog trigger raises proportionally, stick click lowers.
|
||||
int leftRaise = triggerToSpeed(f.l2, ARM_UP_MAX);
|
||||
int rightRaise = triggerToSpeed(f.r2, ARM_UP_MAX);
|
||||
|
||||
// Square raises the left arm, Circle lowers it.
|
||||
int leftArm = ((f.buttons & BTN_X) ? ARM_MAX
|
||||
: (f.buttons & BTN_B) ? -ARM_MAX : 0) * DIR_LEFT_ARM;
|
||||
// Cross raises the right arm, Triangle lowers it.
|
||||
int rightArm = ((f.buttons & BTN_A) ? ARM_MAX
|
||||
: (f.buttons & BTN_Y) ? -ARM_MAX : 0) * DIR_RIGHT_ARM;
|
||||
int leftArm = ((f.buttons & BTN_L3) ? -ARM_DOWN_MAX : leftRaise)
|
||||
* DIR_LEFT_ARM;
|
||||
int rightArm = ((f.buttons & BTN_R3) ? -ARM_DOWN_MAX : rightRaise)
|
||||
* DIR_RIGHT_ARM;
|
||||
|
||||
driveMotor(gHubs[0], PORT_A, rightTrack, gPort[0]);
|
||||
driveMotor(gHubs[0], PORT_B, leftTrack, gPort[1]);
|
||||
driveMotor(gHubs[0], PORT_D, bodyLift, gPort[2]);
|
||||
driveMotor(gHubs[1], PORT_A, headTilt, gPort[3]);
|
||||
driveMotor(gHubs[1], PORT_A, leftArm, gPort[3]);
|
||||
driveMotor(gHubs[1], PORT_B, headTurn, gPort[4]);
|
||||
driveMotor(gHubs[1], PORT_C, leftArm, gPort[5]);
|
||||
driveMotor(gHubs[1], PORT_C, headTilt, gPort[5]);
|
||||
driveMotor(gHubs[1], PORT_D, rightArm, gPort[6]);
|
||||
}
|
||||
|
||||
@@ -293,7 +341,12 @@ void setup() {
|
||||
pinMode(STATUS_LED_PIN, OUTPUT);
|
||||
digitalWrite(STATUS_LED_PIN, LOW);
|
||||
|
||||
Serial.println("LEGO hub receiver starting");
|
||||
pinMode(LED_1_PIN, OUTPUT);
|
||||
pinMode(LED_2_PIN, OUTPUT);
|
||||
digitalWrite(LED_1_PIN, LOW);
|
||||
digitalWrite(LED_2_PIN, LOW);
|
||||
|
||||
Serial.println("LEGO hub receiver starting (Johnny 5 Evolved)");
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
Reference in New Issue
Block a user