Dynamic Controls Power chair, RC Boat trailer project

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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 03 Apr 2018, 11:22

When your done throw me your sketch. :thumbup:
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 03 Apr 2018, 16:23

I have tried many things, solenoid still clicking.

Packets are not colliding.

...timing thing is not working for me, not sure why, had to hard code them again or nothing worked at all.
-- Packets are randomly being corrupted mid write....this has not happened with other versions of the code (even the ones putting the chair into limp mode)

I know the board is ok, with the Wii Code its driving like its got the factory joystick.

I will keep working on it, the answer is there somewhere.

Thankfully, one of my friends from Sailability (Brendan Hain) is the last Torch Bearer for the Commonwealth Games and will be on TV live tomorrow...and thankfully, the Computer IS my TV...so i will be here all day waiting to see him and trying different stuff.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 03 Apr 2018, 17:38

I can only re-iterate that my code ...as I sent ...still works fine just for me.

I tried your suggested move of the data back to where it was ... I only got 2 movements from the chair ..then nothing.
I reverted to my original.

Currently trying to figure out the trigger for OFF from your data dump and one of mine.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 03 Apr 2018, 23:52

Tony ..I suspect that your speed problem was the controller entering limp mode ..perhaps due to a missing packet at or just after start up.

I have made one small change to the program .. one line , the sharkOnMode() sequence call , has been moved ... ( I've added some notations that hopefully make sense.) this minor line move MAY solve the problem as it alters the very first timing sequence.
MOVED_DATA_B.zip
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 04 Apr 2018, 02:14

MOVED_DATA_B.zip
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 04 Apr 2018, 04:49

Issue identified.

AltSoftSerial is capable of running up to 31250 baud on 16 MHz AVR
https://www.pjrc.com/teensy/td_libs_AltSoftSerial.html

The Arduino Nano has a 16MHZ ATmega328P, as does the UNO.

The Shark Bus requires 38400 baud.

Seems like the buffer may be over taxed and causing the packet splitting.
Random packet errors.png
I have managed to get the fault out to 1s apart (most of the time)


Issue with max speed.
maxSpeedVal was previously 255 now that it is 1023, the values were wrapping around, limiting the top speed.
Changed needed here
Code: Select all
// Integers for Irvings code
word maxSpeedVal;   // !!! should be 'word' now that the value is above 255 (limit of unsigned char)
word speed;        // int (16 bit) - signed number from -32768 to 32767
word direction;    // int (16 bit) - signed number from -32768 to 32767


Other than the baud limits of the Nano/AltSoftSerial.h, the code tweaks are awesome woody.

If i can invert the signal (not sure that i can) i will try to use hardware serial with jumpers to pins 9/6.

.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 04 Apr 2018, 22:19

If i can invert the signal (not sure that i can) i will try to use hardware serial with jumpers to pins 9/6.
...Ummm not sure why you wish to invert anything.

It's actually as simple as making these changes.... I ASSumed there was a technical reason to not use Serial.

So ...

const int dePin = 7; // D7 .... to DE and RE of Max485
const int roPin = 0; // D0 .......RX of Arduino to RO of Max485
const int diPin = 1; // D1 ..... TX of Arduino to DI Max485 9 ....Jumper the Blue boards Pin 1 to Pin 9

Remove #include <AltSoftSerial.h> and AltSoftSerial sharkSerial;

Use the standard.... Serial.begin (38400);

Then change ALL sharkSerial references to just Serial .
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 04 Apr 2018, 22:55

Jumper the Blue boards Pin 1 to Pin 9
Check the packet timing ...it maybe set @ 18 msecs... adjust to suit yourself.

MOVED_DATA_B..SERIAL.zip
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 05 Apr 2018, 02:16

woodygb wrote:
If i can invert the signal (not sure that i can) i will try to use hardware serial with jumpers to pins 9/6.
...Ummm not sure why you wish to invert anything.

.... I ASSumed there was a technical reason to not use Serial.



The ability to load sketches / use serial monitor during build process, as it is i have gone thru a few USB cables just from the breaks in wire from plugging in and unplugging into the chair.

Now that i have a Logic Analyzer and can test with it all rigged to the chair i am in (with gearbox disengaged).
Using the Serial Monitor would be possible.

-- Somewhere back in the beginning, there was a thought or theory from somewhere that the signal was inverted - i cant remember when or why but the code i use now is set to 'false' so its just a normal signal from software serial (i think)....a lot of revisions and learning...part of which has been forgotten over the duration.

But the ability to debug via the serial monitor was the main reason (especially for analog inputs, calibration, on the fly adjustments to parameters).
The logic analyzer (with my current software, i believe they have a live beta version) will not display in real time like the serial monitor.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 05 Apr 2018, 13:40

- D8 - left spare for neatness with DG485 pins -6-7-x-9-
nano_pins.png
- D10, D11,D12 left empty for the COM ports SS, MOSI, MISO. for future flexibility of inputs / coms with other processors.
- SDA, SCL pins also left free for flexibility.

Serial from PPM RC car receiver.
A7105 Tranciever chip.png
Pretty sure i can solder some wires to the A7105 Chip inside the 2.4Ghz ground Receiver to tap the serial data before it goes to the PPM chip.
A7105 RC receiver board..png
This is the insides of my Hobby King cheap Ground receiver.

So i will try that later, tonight i am working on code to fail safe use with the Wii.
Serial from the RC and software serial will solve the timing issues....and it will be more tidy than the Wii, i will take the RC receiver out of its case and solder it to a header pin and hot glue the wires so vibration does not mess with things.

Wii Fail Safe
Tapping the LED, I've done data captures for the led, connected to Nunchuk and NC.
Using the differences in voltages to trigger the fail safe.

I cant use the flashing, its every .5sec, way to slow but the connected 'on' led - has regular 49ms pulses that i can use.

WCS on the Wii receiver - had no output on the Logic Analyzer, was not able to be utilized.

Is my guess Woody, that our Power Modules have different settings, thus the differences with brake function.
To test it if its in limp mode while its gearbox is disengaged (well how i test), if reverse and forward have the same pitch whine...and get up to full speed in the same amount of time....its in Limp Mode.
Forward has a much higher pitch whine and takes longer to reach top speed (in mine, as its set with a 50% reduced speed for reverse)
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 05 Apr 2018, 18:24

Previous download links deleted ...
Dynamic_Serial_5th_April.zip
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 06 Apr 2018, 12:16

Code is golden, just needs

delay(12); // place after the SR General Information packet at the beginning, before the sharkOnMode() call.
slight tweak to first 0x60 packet needed.png
Gap missing between the packets.

Complete fluke, I dont know if its my RC gear or Interrupts or combination of both.
Found the values jumping to the end point....complete fluke that i found it.
Shark Clicking error found.png


Also causes surges when driving, very very minor and smoothed by the Power Module smoothing.
Massive 200 deadband, pinMode(9, INPUT_PULLUP) ...thought the pin may have been floating.

I will change RC transmitters and see if it goes away.

I will also play with the settings on the Power Module with the 'Wizard' tool and see if it will go away, Woody if you are able could you email me a saved copy of your power chairs settings please ?
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 06 Apr 2018, 12:21

A7105 transceiver chip, direct access library.
https://github.com/andihit/coptermanage ... /a7105.ino
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 06 Apr 2018, 14:43

I will use it as it is, ...which is pretty fantastic :worship

Itching to get the Hobie PA14 rigged up and i will need it to turn the boat around on the trailer so i can get to the other side.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 06 Apr 2018, 15:18

Oddly enough I haven't got a DWIZ-ADAPT ..So no idea what my settings are!

I did notice with the AltSoftSerial version ...as did yourself... a random bad pulse every second or so.

I have ...so far ...ZERO problems with my last posted version.

I am going to modify this last version as the DE pin should.... I think...be able to just stay HIGH permanently...seeing as how RX is not YET needed.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 07 Apr 2018, 01:03

Tony ..re:-Your speed problems ...try removing the >>1 on data 3 after Maxspeed.

Removing it stabalizes data 3 and as a consequence also stabalizes data 8.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 07 Apr 2018, 03:43

Tried it and did serial.print to see result, it just drops the top speed is all.

225, instead of 255.

Reducing the actual top speed value would do the same thing (1023) , with out the possible bit math complications.
Code: Select all
Byte 0: Joystick speed reading (7 MSbs)
Byte 1: Joystick direction reading (7 MSbs)
Byte 2: Speed pot reading (7 MSbs)
Byte 3:
bit 6: Speed pot reading LSb
bits 5-3: Joystick speed reading (3 LSbs)
bits 2-0: Joystick direction reading (3 LSbs)



4. Power-down behaviour
The SR sends the SPM its power button state. When the SPM receives a button state that it interprets as a request to power
down, it shall set the "Power Down Now" bit in its General Information packet to the SR. Note that the "power down now" bit
shall not be set until the power button is released. The SPM may also set the "Power Down Now" bit for other reasons, such as
sleep.
In response to the SPM's Power Down Now bit, the SR shall set its "Power Down / Sleep Mode Confirm" bit.
When the SPM sees the SR's "Power Down / Sleep Mode Confirm" bit, it shall physically power down.
If communication is lost with the SR without the "power down now" bit set, the SPM shall power down after 5000ms.
...for your other , power down , project.

Its working great, i can get about 50meters away before it looses signal, that is with the EMU sitting inside the steel frame (no seat or top).
Extended on a safety flag, i imagine it will be similar. Regardless, it is much further than i need to drive it from the Kayak ramp.

I will finish assembling the motor for the Kayak and hope to be able to post a video of it at work in the next few days. :dance
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 07 Apr 2018, 05:03

Works awesome :dance
Tows the kayak on a steel trailer with me sitting on the power chair(110kg at the moment), over the lip of the driveway/gutter (3cm) no problem (stalling used to happen with older code).
Driving up the ramp of the driveway no problem (again it used to stall when accelerating from stopped).

Weird bug that often when pressing button 3 to send the startup packet, it goes immediately into LIMP mode.

Pressing button 3, waiting a count of 20 and pressing again, to startup, clears the LIMP mode and it works as expected.

...Ive no idea why and its not enough to stop me using it.
For now i will persist with another board in the house to work out the bug, while i wait for better radio gear to arrive or i will keep on with tapping the SCA/SCL from the A7105 chip in the present receiver.

...when i am not trying to catch some squid :D

Video to come sometime very soon, just need a camera man/woman.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 07 Apr 2018, 11:08

Strange that you get a different result on Maxspeed... I get 255.

With the bitwise I get random numbers .

rs485 dynamic.png


Code: Select all
  maxSpeedVal = 1023;     // this is a fixed value ...1023 being full speed on the Shark Remote
    data[0] = (0x60);    // Packet type identifier
    data[1] = 0x80 | ((speed >> 3) & 0x7f);     // Joystick speed reading (7 MSbs)
    data[2] = 0x80 | ((direction >> 3) & 0x7f); // Joystick direction reading (7 MSbs)
    data[3] = 0x80 | ((maxSpeedVal) & 0x7f);  // SpeedVal pot reading (7 MSbs)
    data[4] = 0x80 | ((maxSpeedVal & 0x1) << 6) | ((speed & 0x7) << 3) | (direction & 0x7);
    data[5] = 128;     // default horn off 128 , horn on value is 130
    data[6] = 132;     // Value read during data capture, taken to be the 'on' value.
    data[7] = 128;     // chair mode/ drive 128, tilt/aux output 129
    // Checksum calculations - thanks to Irving,Jim and Tony
    byte sum = 0;
    for (int i = 0; i < 8; i++)
      sum += data[i] & 0x7f;
    data[8] = (255 - (sum & 127));
    data[9] = 15;       // all packets end with this identifier
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 07 Apr 2018, 11:20

I also had the same "problem" with shutdown in that it enters limp mode on restart and the subsequent pause ON/OFF to restart at full speed.
However I can now just toggle ON/OFF immediately after limp mode and resume at Maxspeed.... No idea how my recoding has achieved this.

Note that the screen shot was taken with the USB-RS485 connected to the A and B lines and thus does away with the need for Serial print.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 07 Apr 2018, 12:57

AH, my code is wrong...well it was right before...sort of and not so right now.
...with respect to the max speed....

From the manual
Type 00 SR General Information
This packet contains the joystick speed and direction ( 10 bit readings), speed pot setting (8 bit reading), and input and status
bits.


Wikipedia
There are 28 (256) different possible values for 8 bits. When unsigned, it has possible values ranging from 0 to 255, when signed, it has -128 to 127.


So...i thought i made a mistake and changed it from 'unsigned' to 'word/1023' but it was "less wrong" before.

Ive changed it back now.
Code: Select all
// Integers for Irvings code
unsigned char maxSpeedVal;   // unsigned char, same as byte (8 bit) - unsigned number from 0-255
....................................................................................................
 // Code thanks to Irvings bit genius.
    maxSpeedVal = 255;     // this is a fixed value ...255 being the highest 8bit number it will accept
    data[0] = (0x60);    // Packet type identifier
    data[1] = 0x80 | ((speed >> 3) & 0x7f);     // Joystick speed reading (7 MSbs) 10bit number
    data[2] = 0x80 | ((direction >> 3) & 0x7f); // Joystick direction reading (7 MSbs) 10bit number
    data[3] = 0x80 | ((maxSpeedVal >> 1) & 0x7f);  // SpeedVal pot reading (7 MSbs) 8bit number



Dynamic_Serial_7th_April.zip
(5.04 KiB) Downloaded 333 times


I am using the same pins as you Woody for the RC inputs so this should just plug right into your setup, its 10pm here.
Too late to go out and try it out unfortunately.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 07 Apr 2018, 13:32

...maxspeed might need to be 254...mmm not sure, cant test at the moment.
Its normally one less/more than the max/min tho eg 1-254

I'll plug in the original SR and see what it spits out at the different max speed settings.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 08 Apr 2018, 00:07

With the Bitwise (( maxSpeed >> 1) .... 255 returns 255, 254 returns 255.
With ((maxSpeed ) .... 254 returns 254

Still Getting Limp mode after doing a software power up (if Arduino has already booted up)

I have tried making the variables 'volatile'
Software reboot (this involves it starting 'hot') when pressing the RC on button.
taking out the >> 1

Still goes into limp mode if i dont 'start', stop, leave in OFF mode for about 20seconds then press the on key.
...not like 20 seconds is going to kill anyone but its a PITA.

Flipping the code back to the Wii input with no interrupts works flawless every time, the interrupts are the only thing i can think off (throwing a monkey in the works) but Ill keep reading, cant keep wasting monkeys like this...have to run out of them some time..the local zoo is probably wondering who is coding nearby and stealing all their monkeys :argument ...well its Australia, i should be using kangaroo's or a spanner in the works messing things up...or Koala's ....yes, going dotty... czy
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 08 Apr 2018, 10:44

...still trying to get the but out of the code,

I am wondering if the signal just abruptly stopping is the cause of the LIMP mode flag from the Power base...
...and if i shut the bus down as the Power Module is expecting...the LIMP mode will not be flagged ?
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 08 Apr 2018, 10:58

Tested the theory on my house chair, able to replicate the fault.

...so after sooo many tries, its as simple as writing a void sharkTurnOff () routine...arrrr

Thankfully i did the leg work for that the other day.
SR On_Off for Woody2.png
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 09 Apr 2018, 06:16

Still trying to work out a working shut down sequence...thought it would be easier than it turning out to be.

Found these while taking a brain break.
mini joystick banggood.png
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 10 Apr 2018, 11:57

Took the boat for test launch.


youtu.be/UA3P2iZ0Yd4
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 11 Apr 2018, 03:02

Sorry, posted it on the wrong YouTube CH,

This is the link to my 'gcebiker' ch with the other build videos for this contraption.
I was able to drive the (roughly) 1.5km trip to the ramp and back sitting on the chair, hopped off and sat on the grass to reverse it.

I found that with the weight of the trailer (and there is significant weight on the tow ball) the wheels did not get enough traction with out me pushing the front back down or sitting on it.

This was a trial with the full trailer / boat / me to see if the current setup was capable, power base modifications are in the works. A 6 wheel mid drive Jazzy base.
Its likely that in the future i will just have the kayak on the beach wheels (wrapped in the fluro towel in this video) and not on the trailer.

Playlist of the build videos.
https://www.youtube.com/watch?v=KTTHOhhKhhc&list=PLrhSjLKJ_JnqDDK1FXxRpTR9webSF6uDI
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby gcebiker » 11 Apr 2018, 13:39

...gave up trying to read serial/decode/reply banghead

Just wrote the packets, took a while to figure it out...a lot of data in a second to sift through.

So it turns out, the OFF button on the joystick is just a ...button, connected to the SR sending a pin high/low.
Sets Byte 4 packet aka data[5](because the packet starts from O and the first one is only the identifier) , to 132 (128 when in ON mode)
In the spreadsheet i uploaded its (2.221455833 Async Serial '132' (0x84))

Woody, I've added a blink sequence to the end of the OFF sequence, so i could see what was going on with the board when the Logic Analyzer was not hooked up.
Also in this code i am working my way to making it a library sketch...or sketch with library...but never done one of them either so this is it before i mess it up trying :?

Link to the Dirty Cheap PCB's also in this sketch for anyone wanting to make a lawnmower or some other thing with a retired Power Chair with a Dynamic Shark Joystick
SR_RC_PCB_Blue_Board_shutdownpacketsinc.zip
No more Limp Mode after power down and immediate power back up.
....if you waited 20seconds or so, its not a problem anyway but this fixes that bug.
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Re: Dynamic Controls Power chair, RC Boat trailer project

Postby woodygb » 11 Apr 2018, 14:29

Tah...I'm busily programming my own home built board with change over relay and R/C Calibration... not quite finished yet as I'm having probs getting the calibration numbers to either stick in the Arduino's memory or I am failing to retrieve them...not sure which.
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