feat(WIP): ground work for serial ctrl

controller/controller.ino

@@ -30,55 +30,136 @@ byte switchPin = 7;  // ON/OFF switch (safety feature)
 Servo ESC1;
 Servo ESC2;
 
-// Attach ESC to their pins
+// Declare constants
+const float maxFreq = 10.0;  // Maximum frequency
+const float minFreq = 1.0;   // Minimum frequency
+const int maxRPM = 6000; // Motor maximum RPM (set in ESC)
+const int minRPM = 1000; // Motor minimum RPM (set in ESC)
+
+// Declare global variables
+float freq = 0;
+String mode;
+
 void setup() {
+  // Initialize components
   Serial.begin(9600);
-  ESC1.attach(servoPin1);
-  ESC2.attach(servoPin2);
+
+  ESC1.attach(servoPin1, 1000, 2000); // (pin, min pulse width, max pulse width)
+  ESC2.attach(servoPin2, 1000, 2000); // (pin, min pulse width, max pulse width)
   pinMode(switchPin,INPUT);
+
   delay(1000); // Ensure proper initialization
+
+  // Set type of operation and related parameters if applicable
+  int switchState = digitalRead(switchPin);
+  if(switchState == LOW){
+    mode = "MANUAL";
+    Serial.println("<MANUAL MODE>: Control motors using potentiometer");
+  } else{
+    mode = "SERIAL";
+    Serial.println("<SERIAL MODE>: Control motors using serial");
+    freq = promptfreq();
+  }
 }
 
 
 void loop() {
-  // Read ON/OFF switch state
-  int switchState = digitalRead(switchPin);
-  String armed;
 
-  // Read and map potentiometer
-  int potAnal = analogRead(A0); // value between 0 and 1023
-  int potVal = map(potAnal, 0, 1023, 0, 180); // scale potentiometer value to use with servo lib
 
-  // [TEST] Write sine values for visualization in serial-studio
-  float freq = 10;
-  float angleL = sin(millis()*1000*freq);
-  float angleR = cos(millis()*1000*freq);
-
-  // Send values to ESCs (currently both receive the same input)
-  if (switchState == LOW){
-    armed = "OFF";
-    ESC1.write(0);
-    ESC2.write(0);
-  } else {
-    armed = "ON";
-    ESC1.write(potVal);
-    ESC2.write(potVal);
+  // Get proper value to send to ESC
+  /*if(mode =="SERIAL"){
+   * If nothing new, just continue
+   * If serial input, change value
+   * If serial is 0, stop
+
+    int escVal = freqtoesc(freq);
   }
+  else{*/
+    // Read and map potentiometer
+    int potAnal = analogRead(A0); // value between 0 and 1023
+    int escVal = map(potAnal, 0, 1023, 0, 180); // scale potentiometer value to use with servo lib
+  //}
+
+  ESC1.write(escVal);
+  ESC2.write(escVal);
+
+  // [TEST] Write sine values for visualization in serial-studio
+  freq = 10;
+  float angleL = sin(millis()*1000*freq*2*PI);
+  float angleR = cos(millis()*1000*freq*2*PI);
 
   // Print all useful data to serial for processing in serial-studio
   Serial.print("/*");                // Frame start sequence  [/*]
-  Serial.print(millis()/1000.0);     // %1, MCU runtime       [s]
+  Serial.print(mode);                // %1, Mode
   Serial.print(",");
-  Serial.print(potAnal*5.0/1023.0);  // %2, Tension of potentiometer [V]
+  Serial.print(millis()/1000.0);     // %2, MCU runtime       [s]
   Serial.print(",");
-  Serial.print(potVal);              // %3, Mapped value of potentiometer [-]
+  Serial.print(potAnal*5.0/1023.0);  // %3, Tension of potentiometer [V]
   Serial.print(",");
-  Serial.print(angleL);              // %4, Left wing angle [deg]
+  Serial.print(escVal);              // %4, Value sent to ESCs [-]
   Serial.print(",");
-  Serial.print(angleR);              // %5, Right wing angle [deg]
+  Serial.print(angleL);              // %5, Left wing angle [deg]
   Serial.print(",");
-  Serial.print(armed);               // %6, Armed status
+  Serial.print(angleR);              // %6, Right wing angle [deg]
   Serial.println("*/");              // Frame finish sequence [*/]
-  delay(50); // Reduce number of data to output
+  //delay(1); // Reduce number of data to output
+
+}
+
+
+// Prompt user to input the frequency
+float promptfreq() {
+  float input;
+
+  Serial.print("Input a flapping frequency between ");
+  Serial.print(minFreq);
+  Serial.print(" and ");
+  Serial.print(maxFreq);
+  Serial.println(" [Hz]");
+
+  while (input>maxFreq or input<minFreq){
+    while(Serial.available() == 0)
+    {
+      // Loop indefinitely while waiting for serial input
+    }
+
+    input = Serial.parseFloat();
+    if (input > maxFreq or input < minFreq) {
+      Serial.print("Frequency must be between ");
+      Serial.print(minFreq);
+      Serial.print(" and ");
+      Serial.print(maxFreq);
+      Serial.print(" [Hz]. You entered: ");
+      Serial.println(input);
+    }
+  }
+  Serial.print("Frequency correctly set to ");
+  Serial.print(input);
+  Serial.println(" Hz.");
+  Serial.println("<STARTING PROGRAM>.");
+
+  return input;
+}
+
+
+// Convert frequency to ESC input
+int freqtoesc(float freq) {
+  int ret = 0;
+
+  return ret;
+}
+
+// Stop the motor properly
+void stopmotor(int curEscVal){
+
+  // Slow it down first
+  if (curEscVal > 40){
+    ESC1.write(40);
+    ESC2.write(40);
+    delay(2000);
+  }
 
+  // Shut it off
+  ESC1.write(0);
+  ESC2.write(0);
 }

controller/mechaRaptor.json

@@ -13,8 +13,8 @@
                     "log": false,
                     "max": 0,
                     "min": 0,
-                    "title": "Runtime",
-                    "units": "s",
+                    "title": "Mode",
+                    "units": "",
                     "value": "%1",
                     "widget": ""
                 },
@@ -27,9 +27,9 @@
                     "log": false,
                     "max": 0,
                     "min": 0,
-                    "title": "Ready",
-                    "units": "",
-                    "value": "%6",
+                    "title": "Runtime",
+                    "units": "s",
+                    "value": "%2",
                     "widget": ""
                 }
             ],
@@ -49,7 +49,7 @@
                     "min": 0,
                     "title": "Pot. tension",
                     "units": "V",
-                    "value": "%2",
+                    "value": "%3",
                     "widget": ""
                 },
                 {
@@ -61,9 +61,9 @@
                     "log": false,
                     "max": 180,
                     "min": 0,
-                    "title": "Pot. val",
+                    "title": "ESC val",
                     "units": "",
-                    "value": "%3",
+                    "value": "%4",
                     "widget": "gauge"
                 }
             ],
@@ -83,7 +83,7 @@
                     "min": 0,
                     "title": "Left",
                     "units": "deg",
-                    "value": "%4",
+                    "value": "%5",
                     "widget": ""
                 },
                 {
@@ -97,7 +97,7 @@
                     "min": 0,
                     "title": "Right",
                     "units": "deg",
-                    "value": "%5",
+                    "value": "%6",
                     "widget": ""
                 }
             ],