jessikitty
39bc43a878
- Swap HUB0/HUB1 addresses; they were the wrong way round. - Add DIR_* constants for all seven motors, with DIR_RIGHT_TRACK at -1. - Swap the right arm buttons: Cross raises, Triangle lowers. - Move struct Frame into the types block - the Arduino prototype generator needs it declared above the first function definition. - Pin core 2.0.17 in the header; 3.x will not build Legoino.
337 lines
12 KiB
Arduino
337 lines
12 KiB
Arduino
/*
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* receiver.ino -- UART -> two LEGO Powered Up hubs (ESP32 "B")
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*
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* Model: Johnny 5 (Short Circuit) MOC, 7 motors across 2 Technic hubs.
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*
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* Board package: esp32 (the normal Espressif one), core 2.0.17
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* Libraries: Legoino + NimBLE-Arduino 1.4.x (both via Library Manager)
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*
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* Core 3.x will not build Legoino - you get 'std::string does not name a type'
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* and a ReadUInt32LE declaration mismatch. Stay on 2.0.17 for this board.
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*
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* Listens for gamepad frames from the Bluepad32 board on Serial2 and drives
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* both hubs over BLE using Legoino. This board must NOT have the Bluepad32
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* board package selected - keeping BTstack and NimBLE on separate chips is
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* the entire reason there are two boards.
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*
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* Wiring to the transmitter board:
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* RX GPIO16 <- TX GPIO17 on transmitter
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* TX GPIO17 -> RX GPIO16 on transmitter
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* GND -> GND (mandatory - common ground)
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*
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* Control scheme is tank drive: every input drives exactly one motor.
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*
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* FILE ORDER MATTERS:
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* The Arduino IDE injects generated function prototypes immediately before
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* the FIRST function definition in the file. Any type used in a function
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* signature must be declared above that point - which is why HubLink,
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* PortState and Frame all live in the types block. Move a function above
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* them and you get "'Frame' has not been declared".
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*
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* Created by: Jess Rogerson (yelling commands at Claude.AI)
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*/
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#include "Lpf2Hub.h"
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// ---------------------------------------------------------------- settings
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// Hub BLE addresses. Run tools/hub_scanner to find them - do not guess.
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//
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// hub 0 - lower body hub 1 - upper body
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// A right track A head tilt
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// B left track B head turn
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// D body lift C left arm
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// D right arm
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static const char *HUB0_ADDR = "90:84:2b:61:f2:d7";
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static const char *HUB1_ADDR = "90:84:2b:61:e6:8c";
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// Port numbers are just bytes in the LEGO protocol, same on every hub type.
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static const byte PORT_A = 0x00;
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static const byte PORT_B = 0x01;
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static const byte PORT_C = 0x02;
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static const byte PORT_D = 0x03;
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// Technic / Control+ motors are tacho motors -> leave this at 1.
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// Plain train motors and the simple Powered Up motors -> set it to 0.
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#define USE_TACHO_MOTORS 1
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// Set to 1 to log every motor command that goes out. Useful for proving which
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// port a command actually lands on. Noisy - turn it back off afterwards.
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#define DEBUG_MOTORS 0
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static const int DEADZONE = 40; // raw stick counts ignored around centre
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// Motor directions. Flip to -1 if an axis runs backwards - mirrored mountings
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// are normal on a symmetric model, and this is cheaper than editing signs
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// scattered through applyFrame().
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static const int DIR_LEFT_TRACK = 1;
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static const int DIR_RIGHT_TRACK = -1;
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static const int DIR_BODY_LIFT = 1;
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static const int DIR_HEAD_TILT = 1;
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static const int DIR_HEAD_TURN = 1;
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static const int DIR_LEFT_ARM = 1;
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static const int DIR_RIGHT_ARM = 1;
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// Per-axis power caps. Everything except the tracks runs into a mechanical end
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// stop and there is no position feedback, so holding a direction at a stop
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// stalls the motor. Lower these if an axis feels forceful.
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static const int TRACK_MAX = 100; // LEGO speed range is -100..100
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static const int HEAD_MAX = 45;
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static const int LIFT_MAX = 60;
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static const int ARM_MAX = 45;
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// Track scaling: normal, L1 held (precision), R1 held (full).
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static const int SCALE_NORMAL = 75;
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static const int SCALE_PRECISION = 40;
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static const int SCALE_FULL = 100;
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// Bluepad32 button masks. Verify against your own pad with DEBUG_BUTTONS in
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// the transmitter sketch if any of these seem wrong.
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static const unsigned BTN_A = 0x0001; // Cross
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static const unsigned BTN_B = 0x0002; // Circle
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static const unsigned BTN_X = 0x0004; // Square
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static const unsigned BTN_Y = 0x0008; // Triangle
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static const unsigned BTN_L1 = 0x0010;
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static const unsigned BTN_R1 = 0x0020;
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static const unsigned DPAD_U = 0x01;
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static const unsigned DPAD_D = 0x02;
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static const unsigned DPAD_R = 0x04;
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static const unsigned DPAD_L = 0x08;
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static const unsigned long MOTOR_MIN_GAP_MS = 100; // per port
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static const unsigned long HUB_MIN_GAP_MS = 25; // per hub, ~40 cmd/sec
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static const unsigned long LINK_TIMEOUT_MS = 400; // failsafe
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static const unsigned long RECONNECT_GAP_MS = 2000;
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static const int LINK_RX_PIN = 16;
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static const int LINK_TX_PIN = 17;
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static const long LINK_BAUD = 115200;
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static const int STATUS_LED_PIN = 2;
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// =================================================================== types
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struct HubLink {
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Lpf2Hub hub;
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const char *addr;
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const char *label;
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bool initialised;
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unsigned long retryAt;
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unsigned long lastCmdAt; // per-hub rate limit, shared across its ports
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};
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struct PortState {
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int lastSpeed;
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unsigned long lastSentAt;
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};
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struct Frame {
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int lx, ly, rx, ry;
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unsigned buttons, dpad;
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int l2, r2;
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};
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// ================================================================= globals
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static HubLink gHubs[2] = {
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{Lpf2Hub(), HUB0_ADDR, "hub0", false, 0, 0},
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{Lpf2Hub(), HUB1_ADDR, "hub1", false, 0, 0},
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};
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// Indexes: 0 rightTrack, 1 leftTrack, 2 bodyLift,
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// 3 headTilt, 4 headTurn, 5 leftArm, 6 rightArm
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static PortState gPort[7] = {{999, 0}, {999, 0}, {999, 0}, {999, 0},
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{999, 0}, {999, 0}, {999, 0}};
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static unsigned long lastFrameAt = 0;
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static bool failsafeEngaged = true;
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// ================================================================= helpers
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// Deadzone, then rescale so the remaining travel still reaches full speed.
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static int stickToSpeed(int raw, int maxSpeed) {
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if (raw > -DEADZONE && raw < DEADZONE) return 0;
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int sign = (raw < 0) ? -1 : 1;
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long magnitude = labs((long)raw) - DEADZONE;
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long scaled = (magnitude * maxSpeed) / (512L - DEADZONE);
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if (scaled > maxSpeed) scaled = maxSpeed;
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return sign * (int)scaled;
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}
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static void driveMotor(HubLink &hl, byte port, int speed, PortState &st) {
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if (!hl.hub.isConnected()) return;
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unsigned long now = millis();
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bool stopping = (speed == 0 && st.lastSpeed != 0);
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// Stops always go out immediately. Everything else is rate limited twice:
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// per port, and per hub - hub 1 has four motors on it, and the per-port
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// limit alone lets through more than the hub will swallow.
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if (!stopping) {
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if (speed == st.lastSpeed) return;
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if ((now - st.lastSentAt) < MOTOR_MIN_GAP_MS) return;
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if ((now - hl.lastCmdAt) < HUB_MIN_GAP_MS) return;
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}
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#if DEBUG_MOTORS
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Serial.printf("TX %s port %u speed %d\n", hl.label, port, speed);
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#endif
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#if USE_TACHO_MOTORS
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hl.hub.setTachoMotorSpeed(port, speed);
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#else
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hl.hub.setBasicMotorSpeed(port, speed);
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#endif
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st.lastSpeed = speed;
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st.lastSentAt = now;
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hl.lastCmdAt = now;
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}
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static void stopEverything() {
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driveMotor(gHubs[0], PORT_A, 0, gPort[0]);
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driveMotor(gHubs[0], PORT_B, 0, gPort[1]);
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driveMotor(gHubs[0], PORT_D, 0, gPort[2]);
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driveMotor(gHubs[1], PORT_A, 0, gPort[3]);
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driveMotor(gHubs[1], PORT_B, 0, gPort[4]);
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driveMotor(gHubs[1], PORT_C, 0, gPort[5]);
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driveMotor(gHubs[1], PORT_D, 0, gPort[6]);
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}
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// Connect the hubs one at a time. Kicking off two scans at once upsets the
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// shared NimBLE scanner and you end up with one hub connected and one sulking.
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static void serviceHub(HubLink &hl) {
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if (hl.hub.isConnected()) return;
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if (hl.hub.isConnecting()) {
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hl.hub.connectHub();
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if (hl.hub.isConnected()) {
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Serial.printf("[%s] connected (%s)\n", hl.label, hl.addr);
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hl.hub.setLedColor(GREEN);
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} else {
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Serial.printf("[%s] connect failed, retrying\n", hl.label);
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hl.initialised = false;
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hl.retryAt = millis() + RECONNECT_GAP_MS;
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}
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return;
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}
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if (!hl.initialised && millis() >= hl.retryAt) {
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Serial.printf("[%s] scanning for %s\n", hl.label, hl.addr);
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hl.hub.init(std::string(hl.addr));
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hl.initialised = true;
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}
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}
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static uint8_t xorChecksum(const char *s, size_t len) {
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uint8_t c = 0;
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for (size_t i = 0; i < len; i++) c ^= (uint8_t)s[i];
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return c;
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}
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static bool parseFrame(char *line, Frame &f) {
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char *star = strrchr(line, '*');
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if (!star) return false;
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*star = '\0';
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unsigned expected = 0;
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if (sscanf(star + 1, "%2x", &expected) != 1) return false;
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if (xorChecksum(line, strlen(line)) != (uint8_t)expected) return false;
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return sscanf(line, "G,%d,%d,%d,%d,%u,%u,%d,%d",
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&f.lx, &f.ly, &f.rx, &f.ry,
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&f.buttons, &f.dpad, &f.l2, &f.r2) == 8;
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}
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// Tank drive. One input per motor - nothing is mixed.
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static void applyFrame(const Frame &f) {
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// Both shoulders together is the panic stop.
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if ((f.buttons & BTN_L1) && (f.buttons & BTN_R1)) {
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stopEverything();
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return;
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}
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int scale = SCALE_NORMAL;
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if (f.buttons & BTN_L1) scale = SCALE_PRECISION;
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if (f.buttons & BTN_R1) scale = SCALE_FULL;
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int leftTrack = stickToSpeed(-f.ly, TRACK_MAX) * scale / 100 * DIR_LEFT_TRACK;
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int rightTrack = stickToSpeed(-f.ry, TRACK_MAX) * scale / 100 * DIR_RIGHT_TRACK;
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int headTilt = ((f.dpad & DPAD_U) ? HEAD_MAX
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: (f.dpad & DPAD_D) ? -HEAD_MAX : 0) * DIR_HEAD_TILT;
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int headTurn = ((f.dpad & DPAD_R) ? HEAD_MAX
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: (f.dpad & DPAD_L) ? -HEAD_MAX : 0) * DIR_HEAD_TURN;
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// R2 raises, L2 lowers. Both analog 0..1023, so the lift stays proportional.
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int bodyLift = constrain((f.r2 - f.l2) * LIFT_MAX / 1023,
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-LIFT_MAX, LIFT_MAX) * DIR_BODY_LIFT;
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// Square raises the left arm, Circle lowers it.
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int leftArm = ((f.buttons & BTN_X) ? ARM_MAX
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: (f.buttons & BTN_B) ? -ARM_MAX : 0) * DIR_LEFT_ARM;
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// Cross raises the right arm, Triangle lowers it.
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int rightArm = ((f.buttons & BTN_A) ? ARM_MAX
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: (f.buttons & BTN_Y) ? -ARM_MAX : 0) * DIR_RIGHT_ARM;
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driveMotor(gHubs[0], PORT_A, rightTrack, gPort[0]);
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driveMotor(gHubs[0], PORT_B, leftTrack, gPort[1]);
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driveMotor(gHubs[0], PORT_D, bodyLift, gPort[2]);
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driveMotor(gHubs[1], PORT_A, headTilt, gPort[3]);
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driveMotor(gHubs[1], PORT_B, headTurn, gPort[4]);
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driveMotor(gHubs[1], PORT_C, leftArm, gPort[5]);
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driveMotor(gHubs[1], PORT_D, rightArm, gPort[6]);
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}
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// ==================================================================== main
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void setup() {
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Serial.begin(115200);
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Serial2.begin(LINK_BAUD, SERIAL_8N1, LINK_RX_PIN, LINK_TX_PIN);
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pinMode(STATUS_LED_PIN, OUTPUT);
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digitalWrite(STATUS_LED_PIN, LOW);
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Serial.println("LEGO hub receiver starting");
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}
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void loop() {
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// 1. Keep the hubs connected, hub0 first.
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serviceHub(gHubs[0]);
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if (gHubs[0].hub.isConnected()) serviceHub(gHubs[1]);
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bool ready = gHubs[0].hub.isConnected() && gHubs[1].hub.isConnected();
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digitalWrite(STATUS_LED_PIN, ready ? HIGH : LOW);
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// 2. Pull whole lines off the link.
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static char buf[128];
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static size_t idx = 0;
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while (Serial2.available()) {
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char c = (char)Serial2.read();
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if (c == '\r') continue;
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if (c == '\n') {
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buf[idx] = '\0';
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Frame f;
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if (idx > 0 && parseFrame(buf, f)) {
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lastFrameAt = millis();
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failsafeEngaged = false;
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applyFrame(f);
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}
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idx = 0;
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} else if (idx < sizeof(buf) - 1) {
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buf[idx++] = c;
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} else {
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idx = 0; // overrun, throw the line away
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}
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}
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// 3. Failsafe - link went quiet, stop before something drives off a table.
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if (!failsafeEngaged && (millis() - lastFrameAt) > LINK_TIMEOUT_MS) {
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Serial.println("Link timeout - stopping motors");
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stopEverything();
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failsafeEngaged = true;
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}
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}
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