diff --git a/Code/Control/Feather Code - Aaron/Motor_Basic_Test/Motor_Basic_Test.ino b/Code/Control/Feather Code - Aaron/Motor_Basic_Test/Motor_Basic_Test.ino
index d00e1d346785f97d53d2eec735b01c9362f1151a..b110a9cdf0bd3226dc6cd39e6af9f0a546a15b4f 100644
--- a/Code/Control/Feather Code - Aaron/Motor_Basic_Test/Motor_Basic_Test.ino
+++ b/Code/Control/Feather Code - Aaron/Motor_Basic_Test/Motor_Basic_Test.ino
@@ -1,4 +1,4 @@
-// Motor Test Code - Aaron
+// Motor Basic Test Code - Aaron
#include <Wire.h>
#include <Adafruit_MotorShield.h>
@@ -11,37 +11,75 @@ Adafruit_DCMotor *motorVL = AFMS.getMotor(1);
Adafruit_DCMotor *motorVR = AFMS.getMotor(2);
Adafruit_DCMotor *motorHL = AFMS.getMotor(3);
Adafruit_DCMotor *motorHR = AFMS.getMotor(4);
+
void setup() {
+ Serial.begin(115200);
AFMS.begin();
}
void loop() {
+ Serial.println("-- START LOOP ---");
+ Serial.println();
+ Serial.println(" Vertical Left - Forward Fast");
motorHR->setSpeed(0);
motorVL->setSpeed(largeVal);
motorVL->run(FORWARD);
- delay(5000);
+ delay(2000);
+<<<<<<< Updated upstream
+ Serial.println(" Vertical Left - Backward Slow");
+ motorVL->setSpeed(smallVal);
+ motorVL->run(BACKWARD);
+ delay(2000);
+ Serial.println(" Vertical Right - Forward Fast");
+=======
motorVL->setSpeed(smallVal);
motorVL->run(BACKWARD);
- delay(5000);
+ delay(2000);
+>>>>>>> Stashed changes
motorVL->setSpeed(0);
motorVR->setSpeed(largeVal);
motorVR->run(FORWARD);
- delay(5000);
+ delay(2000);
+<<<<<<< Updated upstream
+ Serial.println(" Vertical Right - Backward Slow");
+ motorVR->setSpeed(smallVal);
+ motorVR->run(BACKWARD);
+ delay(2000);
+ Serial.println(" Horizontal Left - Forward Fast");
+=======
motorVR->setSpeed(smallVal);
motorVR->run(BACKWARD);
- delay(5000);
+ delay(2000);
+>>>>>>> Stashed changes
motorVR->setSpeed(0);
motorHL->setSpeed(largeVal);
motorHL->run(FORWARD);
- delay(5000);
+ delay(2000);
+<<<<<<< Updated upstream
+ Serial.println(" Horizontal Left - Backward Slow");
motorHL->setSpeed(smallVal);
motorHL->run(BACKWARD);
- delay(5000);
+ delay(2000);
+ Serial.println(" Horizontal Right - Forward Fast");
+=======
+ motorHL->setSpeed(smallVal);
+ motorHL->run(BACKWARD);
+ delay(2000);
+>>>>>>> Stashed changes
motorHL->setSpeed(0);
motorHR->setSpeed(largeVal);
motorHR->run(FORWARD);
- delay(5000);
+ delay(2000);
+<<<<<<< Updated upstream
+ Serial.println(" Horizontal Right - Backward Slow");
+ motorHR->setSpeed(smallVal);
+ motorHR->run(BACKWARD);
+ delay(2000);
+ Serial.println();
+ Serial.println();
+=======
motorHR->setSpeed(smallVal);
motorHR->run(BACKWARD);
- delay(5000);
+ delay(2000);
+>>>>>>> Stashed changes
}
diff --git a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
index b642da5d681b7b1dbe90e8a5790c85d423950f15..a6e02a93bad5438b0a415d92c04c6fa8ee775fe2 100644
--- a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
+++ b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
@@ -11,8 +11,8 @@
// MAC Address of the receiver (MASTER)
//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBD, 0xF8}; // #2
-//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x8A, 0x98}; // #3
-uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
+uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x8A, 0x98}; // #3
+// uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
String success;
// Define variables to store incoming readings
@@ -108,7 +108,7 @@ void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
count = 0;
print_count=0;
change_count = 0;
- control_motion();
+ // control_motion();
}
// =============================== All the setup ===========================================
@@ -228,7 +228,7 @@ void loop()
print_received_Data();
//-------------------------------------------------------------------------------------
- // control_motion();
+ control_motion();
//-------------------------------------------------------------------------------------
}
// ================================== ^ Main loop ^ ===================================================
diff --git a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino b/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
index 37ad6f5c7f4bcd50ae532aab066443392d39e8dc..1b97e0dc276f0e16e4eb636cefd2c4674e4de737 100644
--- a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
+++ b/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
@@ -5,9 +5,11 @@
// ==================================== broadcast address ============================================
// MAC Address of the receiver (SLAVE)
//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
- uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBD, 0xF8}; // #2
+// uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBD, 0xF8}; // #2
//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x8A, 0x98}; // #3
//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
+// uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xC0, 0xD8}; // #5
+uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xDE, 0xE0}; // #6
// ==================================== global data =================================================
String success;
// Define variables to store BME280 readings to be sent
diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/main_keyboard.py
index 8e2540abcf6e1bd1006da15d0daa60396b2c2048..757c83833bbe7a9ae71737881cd0067760f6f9f6 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/main_keyboard.py
@@ -407,7 +407,12 @@ def manual_control(Ctl_com,serial_port):
def dynamic_variable(str_name_v):
- global kpx,kix,kdx,start_speed
+ global start_speed
+ global kpx,kix,kdx
+ global kpy,kiy,kdy
+ global kpx_g,kix_g,kdx_g
+ global kpy_g,kiy_g,kdy_g
+
if str_name_v == "kpx":
kpx = input("Enter your value: ")
print("kpx:{}".format(kpx))
@@ -420,6 +425,33 @@ def dynamic_variable(str_name_v):
elif str_name_v == "stsp":
start_speed = input("Enter your value: ")
print("start_speed:{}".format(start_speed))
+ elif str_name_v == "kpy":
+ kpx = input("Enter your value: ")
+ print("kpy:{}".format(kpy))
+ elif str_name_v == "kiy":
+ kix = input("Enter your value: ")
+ print("kiy:{}".format(kiy))
+ elif str_name_v == "kdy":
+ kdx = input("Enter your value: ")
+ print("kdy:{}".format(kdy))
+ if str_name_v == "kpx":
+ kpx = input("Enter your value: ")
+ print("kpx:{}".format(kpx))
+ elif str_name_v == "kix_g":
+ kix = input("Enter your value: ")
+ print("kix_g:{}".format(kix_g))
+ elif str_name_v == "kdx":
+ kdx = input("Enter your value: ")
+ print("kdx_g:{}".format(kdx_g))
+ elif str_name_v == "kpy_g":
+ kpx = input("Enter your value: ")
+ print("kpy_g:{}".format(kpy_g))
+ elif str_name_v == "kiy_g":
+ kix = input("Enter your value: ")
+ print("kiy_g:{}".format(kiy_g))
+ elif str_name_v == "kdy_g":
+ kdx = input("Enter your value: ")
+ print("kdy_g:{}".format(kdy_g))
def variables_change_once():
@@ -504,6 +536,3 @@ if __name__ == '__main__':
if print_count is not 0:
print("No subsystem is running")
print_count = 0
-
-
-
diff --git a/Code/Control/test_motor/test_motor.ino b/Code/Control/test_motor/test_motor.ino
index 62e70e124187f994842168699f721f50903317aa..c60db5f17b46774eb86270feca7490dbf52c7bd8 100644
--- a/Code/Control/test_motor/test_motor.ino
+++ b/Code/Control/test_motor/test_motor.ino
@@ -41,8 +41,7 @@ void motor_control(int pwm1,int pwm2,int pwm3,int pwm4){
void loop() {
// put your main code here, to run repeatedly:
int t_speed = 50;
-
-
+
motorVertical_L->setSpeed(t_speed);
motorVertical_R->setSpeed(t_speed);