bluefruit coding quesiton

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Hapka
 
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Joined: Fri Jul 03, 2015 10:52 pm

bluefruit coding quesiton

Post by Hapka »

I am working through a practice project before starting it with students, and I'm stuck on the coding.

For hardware I am using a bluefruit feather and the 8 servo motor wing, a 4 AA battery pack connected to the blue power connector on the motor wing, and 8 of the SG51R microservos (all from Adafruit except the battery pack).

My goal: using the bluefruit app on an iphone, use the control pad screen, each time I tap one of the buttons (four arrows and buttons 1-4), one of 7 servos will move from 0 - 180, the last button will return all of the servos to the 0 position. If I can get one to move, I think I can figure out the rest.

I started with the "controller" example in the bluefruit library and the servo example in the Adafruit PWM servo driver library as starters. Everything connects fine, when I open the app in the controller screen it will print to the serial monitor "button 1 pressed". This is what I thought would move servo 0 when I pressed button 1:

(So I need to know, how to write the condition for my if statement so I know how to say "if button 1 has been pressed", and how to move a servo on position 0 from 0 to 180 degrees.)

Code: Select all

  if (packetbuffer[1] == 1) {
       pwm.setPWM(0, 0, SERVOMAX);
       delay(2000);
       Serial.println("servo 0 should just have moved!");
  }
SERVOMAX is defined as 600, the print statement does not print, but the serial monitor window prints "button 1 pressed", I don't see where that print statement is in the program. I copied my whole code (most of which is the original from the example below. This was the first if statement in the original loop. I watched Becky and Noe's intro to coding bluefruit youtube video which was a huge help, but it was focused on neopixels for the actions. Is there another one that explains the coding for servos using the PWM style of statement? In the past I have used the servo and degree method. Thanks!

Code: Select all

/*********************************************************************
 This is an example for our nRF51822 based Bluefruit LE modules

 This is the program for the bluetooth controller rose for the Beauty and
 the Beast musical. It uses the Bluefruit app for iphone from Adafruit.
*********************************************************************/
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

#include <string.h>
#include <Arduino.h>
#include <SPI.h>
#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
  #include <SoftwareSerial.h>
#endif

#include "Adafruit_BLE.h"
#include "Adafruit_BluefruitLE_SPI.h"
#include "Adafruit_BluefruitLE_UART.h"

#include "BluefruitConfig.h"

/*=========================================================================
    APPLICATION SETTINGS

    FACTORYRESET_ENABLE       Perform a factory reset when running this sketch
   
                              Enabling this will put your Bluefruit LE module
                              in a 'known good' state and clear any config
                              data set in previous sketches or projects, so
                              running this at least once is a good idea.
   
                              When deploying your project, however, you will
                              want to disable factory reset by setting this
                              value to 0.  If you are making changes to your
                              Bluefruit LE device via AT commands, and those
                              changes aren't persisting across resets, this
                              is the reason why.  Factory reset will erase
                              the non-volatile memory where config data is
                              stored, setting it back to factory default
                              values.
       
                              Some sketches that require you to bond to a
                              central device (HID mouse, keyboard, etc.)
                              won't work at all with this feature enabled
                              since the factory reset will clear all of the
                              bonding data stored on the chip, meaning the
                              central device won't be able to reconnect.
    MINIMUM_FIRMWARE_VERSION  Minimum firmware version to have some new features
    MODE_LED_BEHAVIOUR        LED activity, valid options are
                              "DISABLE" or "MODE" or "BLEUART" or
                              "HWUART"  or "SPI"  or "MANUAL"
    -----------------------------------------------------------------------*/
    #define FACTORYRESET_ENABLE         1
    #define MINIMUM_FIRMWARE_VERSION    "0.6.6"
    #define MODE_LED_BEHAVIOUR          "MODE"
/*=========================================================================*/

// Create the bluefruit object, either software serial...uncomment these lines
/*
SoftwareSerial bluefruitSS = SoftwareSerial(BLUEFRUIT_SWUART_TXD_PIN, BLUEFRUIT_SWUART_RXD_PIN);

Adafruit_BluefruitLE_UART ble(bluefruitSS, BLUEFRUIT_UART_MODE_PIN,
                      BLUEFRUIT_UART_CTS_PIN, BLUEFRUIT_UART_RTS_PIN);
*/

/* ...or hardware serial, which does not need the RTS/CTS pins. Uncomment this line */
// Adafruit_BluefruitLE_UART ble(BLUEFRUIT_HWSERIAL_NAME, BLUEFRUIT_UART_MODE_PIN);

/* ...hardware SPI, using SCK/MOSI/MISO hardware SPI pins and then user selected CS/IRQ/RST */
Adafruit_BluefruitLE_SPI ble(BLUEFRUIT_SPI_CS, BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);

/* ...software SPI, using SCK/MOSI/MISO user-defined SPI pins and then user selected CS/IRQ/RST */
//Adafruit_BluefruitLE_SPI ble(BLUEFRUIT_SPI_SCK, BLUEFRUIT_SPI_MISO,
//                             BLUEFRUIT_SPI_MOSI, BLUEFRUIT_SPI_CS,
//                             BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);

// Adding the servo driver

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

#define SERVOMIN  150 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX  600 // this is the 'maximum' pulse length count (out of 4096)

// our servo # counter
uint8_t servonum = 0;
uint8_t pulselength;
uint8_t servodegrees;

// A small helper
void error(const __FlashStringHelper*err) {
  Serial.println(err);
  while (1);
}

// function prototypes over in packetparser.cpp

uint8_t readPacket(Adafruit_BLE *ble, uint16_t timeout);
float parsefloat(uint8_t *buffer);
void printHex(const uint8_t * data, const uint32_t numBytes);

// the packet buffer
extern uint8_t packetbuffer[];


/**************************************************************************/
/*!
    @brief  Sets up the HW an the BLE module (this function is called
            automatically on startup)
*/
/**************************************************************************/
void setup(void)
{
//  while (!Serial);  // required for Flora & Micro
//  delay(500);

  Serial.begin(115200);
  Serial.println(F("Adafruit Bluefruit App Controller Example"));
  Serial.println(F("-----------------------------------------"));

  /* Initialise the module */
  Serial.print(F("Initialising the Bluefruit LE module: "));

// Starting the servo wing.

  pwm.begin();
  pwm.setPWMFreq(60);  // Analog servos run at ~60 Hz updates

  // mapping the frequency to degrees for moving the servo.

  pulselength = map(servodegrees, 0, 180, SERVOMIN, SERVOMAX);

  if ( !ble.begin(VERBOSE_MODE) )
  {
    error(F("Couldn't find Bluefruit, make sure it's in CoMmanD mode & check wiring?"));
  }
  Serial.println( F("OK!") );

  if ( FACTORYRESET_ENABLE )
  {
    /* Perform a factory reset to make sure everything is in a known state */
    Serial.println(F("Performing a factory reset: "));
    if ( ! ble.factoryReset() ){
      error(F("Couldn't factory reset"));
    }
  }


  /* Disable command echo from Bluefruit */
  ble.echo(false);

  Serial.println("Requesting Bluefruit info:");
  /* Print Bluefruit information */
  ble.info();

  Serial.println(F("Please use Adafruit Bluefruit LE app to connect in Controller mode"));
  Serial.println(F("Then activate/use the sensors, color picker, game controller, etc!"));
  Serial.println();

  ble.verbose(false);  // debug info is a little annoying after this point!

  /* Wait for connection */
  while (! ble.isConnected()) {
      delay(500);
  }

  Serial.println(F("******************************"));

  // LED Activity command is only supported from 0.6.6
  if ( ble.isVersionAtLeast(MINIMUM_FIRMWARE_VERSION) )
  {
    // Change Mode LED Activity
    Serial.println(F("Change LED activity to " MODE_LED_BEHAVIOUR));
    ble.sendCommandCheckOK("AT+HWModeLED=" MODE_LED_BEHAVIOUR);
  }

  // Set Bluefruit to DATA mode
  Serial.println( F("Switching to DATA mode!") );
  ble.setMode(BLUEFRUIT_MODE_DATA);

  Serial.println(F("******************************"));

}

/**************************************************************************/
/*!
    @brief  Constantly poll for new command or response data
*/
/**************************************************************************/
void loop(void)
{
  /* Wait for new data to arrive */
  uint8_t len = readPacket(&ble, BLE_READPACKET_TIMEOUT);
  if (len == 0) return;

  /* Got a packet! */
  // printHex(packetbuffer, len);

  // Move servo 0, if button 1 is pressed
  if (packetbuffer[1] == 1) {
       pwm.setPWM(0, 0, SERVOMAX);
       delay(2000);
       Serial.println("servo 0 should just have moved!");
  }

  // Buttons
  if (packetbuffer[1] == 'B') {
    uint8_t buttnum = packetbuffer[2] - '0';
    boolean pressed = packetbuffer[3] - '0';
    Serial.print ("Button "); Serial.print(buttnum);
    if (pressed) {
      Serial.println(" pressed");
    } else {
      Serial.println(" released");
    }
  }

  // GPS Location
  if (packetbuffer[1] == 'L') {
    float lat, lon, alt;
    lat = parsefloat(packetbuffer+2);
    lon = parsefloat(packetbuffer+6);
    alt = parsefloat(packetbuffer+10);
    Serial.print("GPS Location\t");
    Serial.print("Lat: "); Serial.print(lat, 4); // 4 digits of precision!
    Serial.print('\t');
    Serial.print("Lon: "); Serial.print(lon, 4); // 4 digits of precision!
    Serial.print('\t');
    Serial.print(alt, 4); Serial.println(" meters");
  }

  // Accelerometer
  if (packetbuffer[1] == 'A') {
    float x, y, z;
    x = parsefloat(packetbuffer+2);
    y = parsefloat(packetbuffer+6);
    z = parsefloat(packetbuffer+10);
    Serial.print("Accel\t");
    Serial.print(x); Serial.print('\t');
    Serial.print(y); Serial.print('\t');
    Serial.print(z); Serial.println();
  }

  // Magnetometer
  if (packetbuffer[1] == 'M') {
    float x, y, z;
    x = parsefloat(packetbuffer+2);
    y = parsefloat(packetbuffer+6);
    z = parsefloat(packetbuffer+10);
    Serial.print("Mag\t");
    Serial.print(x); Serial.print('\t');
    Serial.print(y); Serial.print('\t');
    Serial.print(z); Serial.println();
  }

  // Gyroscope
  if (packetbuffer[1] == 'G') {
    float x, y, z;
    x = parsefloat(packetbuffer+2);
    y = parsefloat(packetbuffer+6);
    z = parsefloat(packetbuffer+10);
    Serial.print("Gyro\t");
    Serial.print(x); Serial.print('\t');
    Serial.print(y); Serial.print('\t');
    Serial.print(z); Serial.println();
  }

  // Quaternions
  if (packetbuffer[1] == 'Q') {
    float x, y, z, w;
    x = parsefloat(packetbuffer+2);
    y = parsefloat(packetbuffer+6);
    z = parsefloat(packetbuffer+10);
    w = parsefloat(packetbuffer+14);
    Serial.print("Quat\t");
    Serial.print(x); Serial.print('\t');
    Serial.print(y); Serial.print('\t');
    Serial.print(z); Serial.print('\t');
    Serial.print(w); Serial.println();
  }
}
Last edited by adafruit_support_carter on Thu Jan 26, 2017 12:31 pm, edited 1 time in total.
Reason: added code tags

User avatar
adafruit_support_carter
 
Posts: 29189
Joined: Tue Nov 29, 2016 2:45 pm

Re: bluefruit coding quesiton

Post by adafruit_support_carter »

I don't see where that print statement is in the program
It's this code block:

Code: Select all

// Buttons
if (packetbuffer[1] == 'B') {
  uint8_t buttnum = packetbuffer[2] - '0';
  boolean pressed = packetbuffer[3] - '0';
  Serial.print ("Button "); Serial.print(buttnum);
  if (pressed) {
    Serial.println(" pressed");
  } else {
    Serial.println(" released");
  }
}
So you could just reuse that and add conditional logic to call different things for different button presses.
Is there another one that explains the coding for servos using the PWM style of statement?
Read here:
viewtopic.php?f=50&t=103718#p519073

User avatar
Hapka
 
Posts: 89
Joined: Fri Jul 03, 2015 10:52 pm

Re: bluefruit coding quesiton

Post by Hapka »

Thanks! That was very helpful. Just one more question. Now I can move a servo for each button, except whenever I turn on the program servo 0 turns to its maximum position immediately when I connect power (doesn't even matter if I have connected the phone yet). What do you think might be causing that?

To save battery power, after I move a servo is there a way to "turn it off" if there's a portion of the time when I don't need it to hold a position?

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adafruit_support_carter
 
Posts: 29189
Joined: Tue Nov 29, 2016 2:45 pm

Re: bluefruit coding quesiton

Post by adafruit_support_carter »

What do you think might be causing that?
It's just doing what it's told. You need to make sure your code is setup to explicitly control (output known and good PWM signals) at all times.
is there a way to "turn it off"
You can do this by setting the control signal to always low, ex:

Code: Select all

pwm.setPWM(0, 0, 0);

User avatar
Hapka
 
Posts: 89
Joined: Fri Jul 03, 2015 10:52 pm

Re: bluefruit coding quesiton

Post by Hapka »

Thanks! I really appreciate the helpful support folks at Adafruit! It works now.

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