Arduino controlled wheelchair

[LROBBINS]

Charles has said that he's working with a DX bus. I'm pretty sure that the DX is a (modified, proprietary) CAN protocol.

[gcebiker]

Lenny... depends on which power module.

the Dynamic Shark uses RS485,
All of these power modules
DK-PMB40 (40A) DK-PMB50 (50A) DK-PMB60 (60A) DK-PMB01 (75A) DK-PMC01 (90A)
DK-PMB60AL (60A, 2 Act.) DK-PMB11 (75A, 1 Act.) DK-PMB21 (75A, 2 Act.) DK-PMC21 (90A, 2 Act.)
DK-PMB31 (75A)
DK-PMB60AL (60A, 2Act) DK-PMB21 (75A, 2Act.) DK-PMC21 (90A, 2Act.)

you seem fixated on this thru many replies,
Have you not read or seen the videos i have posted on the emulator i built for the DX Bus on my Jazzy ?

If its the SPxx joystick , that looks to me like a Shark from the pictures. Not sure about the other one in the manual.

[channe]

Thanks,

I will go through it again. from the first part of the video I see your joystick is a different model to the older one I have.

What I was looking for was the connection point as such, do you have a three pin charging plug on the front of the joystick that you connect to, or do you break into the data bus at the four pin plug for the data high and data low signals: I also there was an issue with the Max485 and 24 volts that the unit runs on.

Thanks again

[gcebiker]

Thanks,

I will go through it again. from the first part of the video I see your joystick is a different model to the older one I have.

What I was looking for was the connection point as such, do you have a three pin charging plug on the front of the joystick that you connect to, or do you break into the data bus at the four pin plug for the data high and data low signals: I also there was an issue with the Max485 and 24 volts that the unit runs on.

Thanks again

Then it may or may not be RS485, please post a picture.
The MAX485 does not run on 24v..it runs on 5V
Please see the schematic i have posted and the most recent video, I dont spell it out but all the info is there.

I tap the data wires internal to the joystick and have some wires poking out the side with JST connectors, i used this to connect it to the Logic Analyzer when i was nutting it out.

Power i draw from the XLR at the front of the joystick.

[gcebiker]

I took to long last post timed out, pictures in this edit.

Thanks,

I will go through it again. from the first part of the video I see your joystick is a different model to the older one I have.

What I was looking for was the connection point as such, do you have a three pin charging plug on the front of the joystick that you connect to, or do you break into the data bus at the four pin plug for the data high and data low signals: I also there was an issue with the Max485 and 24 volts that the unit runs on.

Thanks again

Then it may or may not be RS485, please post a picture.
The MAX485 does not run on 24v..it runs on 5V
Please see the schematic i have posted and the most recent video, I dont spell it out but all the info is there.
This is the underneath of the Shark Emulator board i designed, by the looks of it thats one of the earlier builds, its missing the Diodes i put in later.


This is the data wires that connect to the Computer for data capture


I tap the data wires internal to the joystick and have some wires poking out the side with JST connectors, i used this to connect it to the Logic Analyzer when i was nutting it out.


Power i draw from the XLR at the front of the joystick.

Finished Shark DX Bus, RS485 this is the one in my YouTube video -- > https://www.youtube.com/watch?v=6x7QHqmzDK8


I don't presently use that Analog input connector but its there in case i want to filp back to an earlier version of code or for debugging.

[channe]

Great thanks I will go through and come back to you later if that is OK

[LROBBINS]

Do not confuse DX and DK; they are decidedly different. Charles said DX.

[channe]

I understood the bus is a Dynamics DX bus. The joystick is a DK-REMB11 with a 4 pin square data cable to the controller.
I managed to find out the following from a service manual, but of course no diagrams were supplied to make this easy

Pin 1 Battery Positive
Pin 2 SHARK Communications BUS High
Pin 3 SHARK Communications BUS Low
Pin 4 Battery Negative

There is the three pin on the front for charging which I understand can be connected to a testing device via the inhibit pin, the other two pins being +24 Volt and 0VE .

What I'm hoping to get here is the ability to control movement as well as feedback on the voltage of the batteries and any fault status. Some models of controller also feedback on the current draw of the motors which will be very handy, not sure if the one I have does that though

[gcebiker]

You could then 'intercept them' and relay on to Power Module after you modify the joystick response to suit your need.

Less complicated to just replace the joystick with your own Arduino one as i did, possibly using an XBEE or RF2401 module to send you the data you are interested in.

You will need a logic analyzer to see the data packets between the Joystick and Power Module and go from there.

Or one of Woody's BT / RC units to inject the joystick data directly via the Digi Pots and the JC2000, this would mean replacing the joystick/power module/actuator modules.

I have a complete Qlogic joystick/Power Module and Actuator module if you would like to do down this road.
Where do you live Charles ?

Cheers
Tony

[channe]

Tony,

Thanks, I live in Hamilton New Zealand.

I have just pulled a joystick down, looks like the bus is driven by a LM339 and a couple of tranis. The processor is an ATMEGA B 64 pin version so I'm doing a trace at the present to see what is what with it. Hopefully the Lm339 will be feed by one of the ports on the ATMEGA so it will be just a case of trying to work out the data pattern after that.

by the by, I do love the inductor arrangement for the joystick itself, very safe from noise like you would get from a pot ad quite precise in its action.

I will try to draw the circuit out if I can so I can replicate it, but it does look like the joystick I have here is an older version of the one you have, so I suspect the controller is older also.

I will keep you posted as to progress

[LROBBINS]

Aha, if the modules are DK and not DX they ARE Shark, and what gcebiker has done is exactly what you want to follow.

[gcebiker]

Tony,

Thanks, I live in Hamilton New Zealand.

I have just pulled a joystick down, looks like the bus is driven by a LM339 and a couple of tranis. The processor is an ATMEGA B 64 pin version so I'm doing a trace at the present to see what is what with it. Hopefully the Lm339 will be feed by one of the ports on the ATMEGA so it will be just a case of trying to work out the data pattern after that.

by the by, I do love the inductor arrangement for the joystick itself, very safe from noise like you would get from a pot ad quite precise in its action.

I will try to draw the circuit out if I can so I can replicate it, but it does look like the joystick I have here is an older version of the one you have, so I suspect the controller is older also.

I will keep you posted as to progress

Any developments ?

I've invested in a new joystick / Power module for my chair, still uses the same Shark Protocol.

Shark Remote PMB21.jpg (27.59 KiB) Viewed 13303 times

DCI plug and pins came in the mail today, ill be wiring it up to a 24v-12v converter and putting 12v leds on it over the weekend.

[channe]

No update yet sorry to say, I had to do some extensive renovations around the house first, I've started back into the robot again last night.

I have drawn out a part of the joystick controller that interfaces with the power controller, most of the work is indeed done by an LM339 and several transistors. The lm339 goes off to and ATMega chip via a transistor so there is a break in point if the other way shown does not work

[gcebiker]

Anyone with a spare Dynamic Shark Battery to Power Module wiring loom ?

I would settle for just the plug or anyone knowing what plug it is and i can just order one from Element14

[gcebiker]

Anyone with a spare Dynamic Shark Battery to Power Module wiring loom ?

I would settle for just the plug or anyone knowing what plug it is and i can just order one from Element14

Got it sorted, Aus distributor for Dynamic was able to supply a DX2 Power Module Connection kit.
Over night delivery...i am stoked, i know what ill be doing this weekend

[vendis]

Hi gcebiker.
You could upload the DG419 - MAX485 connection scheme on the shark bus.
Greetings from catalunya.

[gcebiker]

Hi gcebiker.
You could upload the DG419 - MAX485 connection scheme on the shark bus.
Greetings from catalunya.

viewtopic.php?f=2&t=6503&start=80#p99378

Thats all i have for now, the fritzing file is there on that thread.
Mike has shown some interest in drawing up an eagle file to make up some PCB's for people. If it pans out i will post info for it.

[vendis]

Hi gcebiker.
You could upload the DG419 - MAX485 connection scheme on the shark bus.
Greetings from catalunya.

viewtopic.php?f=2&t=6503&start=80#p99378

Thats all i have for now, the fritzing file is there on that thread.
Mike has shown some interest in drawing up an eagle file to make up some PCB's for people. If it pans out i will post info for it.

Okay, thanks for your help

[vendis]

Wheelchair is already moving. With ESP8266 (arduino wifi)
Second phase android control app.

[gcebiker]

The wheelchair is already moving. With ESP8266 (arduino wifi)
Second phase android control app.

Awesome, please do post up your code for the ESP8266...ive a few here and it was on my to do list but never got past just using the Nano V3.0's

And pictures, we love pictures. Just use the 'Upload attachment' tab at the bottom of the 'post a reply' page.

[vendis]

The wheelchair is already moving. With ESP8266 (arduino wifi)
Second phase android control app.

Awesome, please do post up your code for the ESP8266...ive a few here and it was on my to do list but never got past just using the Nano V3.0's

And pictures, we love pictures. Just use the 'Upload attachment' tab at the bottom of the 'post a reply' page.

This weekend I will prepare code (comments) to share.
And photos of course.

[vendis]

First tests ESP8266 and windows app.

https://www.dropbox.com/sh/rmoby8gjx9w1smg/AAB_NuKPrDqCAgElSNtJADK0a?dl=0

Folder "_win_client" app client windows.

oscarMobility.ino: main program arduino.
Folder "docs" aux files arduino.

Folder "_img" Photos and videos.

Saludos desde Catalunya.

[vendis]

Next step Iris control:
http://www.irisbond.com/en

[gcebiker]

First tests ESP8266 and windows app.

https://www.dropbox.com/sh/rmoby8gjx9w1smg/AAB_NuKPrDqCAgElSNtJADK0a?dl=0

Folder "_win_client" app client windows.

oscarMobility.ino: main program arduino.
Folder "docs" aux files arduino.

Folder "_img" Photos and videos.

Saludos desde Catalunya.

Very cool.

[vendis]

Android app available.

https://www.dropbox.com/s/6o4ixyam3nyzzur/silla.mp4?dl=0
https://www.dropbox.com/s/onfm3id1e9tgpag/silla_2.mp4?dl=0

Code: Select all

package com.knet.oscarmobility;

import android.content.pm.ActivityInfo;
import android.content.res.ColorStateList;
import android.graphics.Color;
import android.support.v7.app.AppCompatActivity;
import android.os.Bundle;
import android.view.MotionEvent;
import android.view.View;
import android.view.WindowManager;
import android.widget.ImageView;
import android.widget.ProgressBar;
import android.widget.TextView;

import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.nio.channels.DatagramChannel;
import java.util.Timer;
import java.util.TimerTask;

public class MainActivity extends AppCompatActivity
{
  TextView txtSpeedDir;
  TextView txtIndMarcha;
  ImageView imgTouchPad;

  int posx = 0;
  int posy = 0;
  int forwardRear = 1;   // 1: forward  -1: rear
  int marcha = 1;        // 1: lenta ..  4: rapida


  @Override
  public void onStop()
  {
    super.onStop();
    posx = 0;
    posy = 0;
  }

  private void showMarcha()
  {
    if (forwardRear == 1)
      switch (marcha)
      {
        case 1 : imgTouchPad.setImageResource(R.drawable.forward_01); break;
        case 2 : imgTouchPad.setImageResource(R.drawable.forward_02); break;
        case 3 : imgTouchPad.setImageResource(R.drawable.forward_03); break;
        case 4 : imgTouchPad.setImageResource(R.drawable.forward_04); break;
      }

    if (forwardRear == -1)
      switch (marcha)
      {
        case 1 : imgTouchPad.setImageResource(R.drawable.rear_01); break;
        case 2 : imgTouchPad.setImageResource(R.drawable.rear_02); break;
        case 3 : imgTouchPad.setImageResource(R.drawable.rear_03); break;
        case 4 : imgTouchPad.setImageResource(R.drawable.rear_04); break;
      }

    switch (marcha)
    {
      case 1 : txtIndMarcha.setText("marxa: molt lenta"); break;
      case 2 : txtIndMarcha.setText("marxa: lenta"); break;
      case 3 : txtIndMarcha.setText("marxa: ràpida"); break;
      case 4 : txtIndMarcha.setText("marxa: molt ràpida"); break;
    }
  }

  public void onClickVelMas (View v)
  {
    if (marcha < 4) marcha++;
    showMarcha();
  }

  public void onClickVelMenos (View v)
  {
    if (marcha > 1) marcha--;
    showMarcha();
  }


  public void onClickForward (View v)
  {
    forwardRear = 1;
    showMarcha();
  }

  public void onClickRear (View v)
  {
    forwardRear = -1;
    showMarcha();
  }

  @Override

  protected void onCreate(Bundle savedInstanceState)
  {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.activity_main);

    this.getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, WindowManager.LayoutParams.FLAG_FULLSCREEN);
    setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);

    txtSpeedDir = (TextView)findViewById(R.id.textUser);
    txtIndMarcha = (TextView)findViewById(R.id.txtIndMarcha);

    imgTouchPad = (ImageView)findViewById(R.id.imageView);

    imgTouchPad.setOnTouchListener(new View.OnTouchListener()
    {
      @Override
      public boolean onTouch(View v, MotionEvent event)
      {
        int touchHeight = v.getHeight();
        int touchWidth  = v.getWidth();
        int touchX = touchWidth / 2;
        int touchY = touchHeight;

        int eventAction = event.getAction();

        switch (eventAction)
        {
          case MotionEvent.ACTION_UP :
            posx = 0;
            posy = 0;
            txtSpeedDir.setText("cadira parada");

            return true;

          case MotionEvent.ACTION_DOWN :
          case MotionEvent.ACTION_MOVE :
            touchX = (int)event.getX() - v.getLeft();
            touchY = (int)event.getY() - v.getTop(); // + pb01.getHeight();
            break;
        }

        if (touchX < 0) touchX = 0;
        if (touchY < 0) touchY = 0;

        if (touchX > touchWidth) touchX = touchWidth;
        if (touchY > touchHeight) touchY = touchHeight;

        posx = -(((touchWidth - touchX) * 64 / touchWidth) - 32);
        posy = ((touchHeight - touchY) * 60 / touchHeight);

        if ((posx >= 0) && (posx < 7))
          posx = 0;
        else
          posx -= 7;

        if ((posx < 3) && (posx > -3)) posx = 0;
        if (posy < 5) posy = 0;

        posy = (posy * forwardRear);
        posx = (posx * forwardRear);

        txtSpeedDir.setText("Vel: " + String.valueOf(posy*100/60) + "  Dir: " + String.valueOf(posx));
        return true;
      }
    });

    showMarcha();
    new UDPSendThread().start();
  }

  private class UDPSendThread extends Thread
  {
    private boolean stoped = true;
    private byte[] send_data = { (byte)0x60, (byte)0xC0, (byte)0xC0, (byte)0xA0, (byte)0x80, (byte)0x80, (byte)0x84, (byte)0x80, (byte)0x00, (byte)0x0F };

    private byte checkSum (byte[] pBuffer, int len)
    {
      byte result = 0;

      for (int id = 0; id < len; id++)
        result += pBuffer[id];

      return (byte)(~result | (byte)0x80);
    }

    private void sendMessage()
    {
      try
      {
        DatagramSocket dgSocket = new DatagramSocket();
        InetAddress sillaIP = InetAddress.getByName("192.168.100.1");   // 192.168.1.7

        send_data[1] = (byte) ((byte) 0xFF - (byte) 63 + posy);
        send_data[2] = (byte) ((byte) 0xFF - (byte) 63 + posx);
        send_data[4] = (byte) ((byte) 0x80 | ((posy & 0x7) << 3) | (posx & 0x7));

        switch (marcha)
        {
          case 1:
            send_data[3] = (byte) 0x90;
            break;
          case 2:
            send_data[3] = (byte) 0xA0;
            break;
          case 3:
            send_data[3] = (byte) 0xD0;
            break;
          case 4:
            send_data[3] = (byte) 0xFF;
            break;
        }

        send_data[8] = checkSum(send_data, 8);
        DatagramPacket send_packet = new DatagramPacket(send_data, 10, sillaIP, 4100);

        dgSocket.send(send_packet);
        Thread.sleep(25);
      }
      catch (Exception e)
      {
      }
    }

    public void run()
    {
      while (true)
      {
        if ((posx == 0) && (posy == 0))
        {
          if (stoped == false)
          {
            for (int id = 0; id < 4; id++)
              sendMessage();

            stoped = true;
          }
        }
        else
        {
          stoped = false;
          sendMessage();
        }
      }
    }
  }
}


Saludos desde Catalunya.

[sirmike]

Hello gcebiker, I've been watching your progress for over a year on the Arduino controlled wheelchair project..
I've just aquired a gently used Jazzy 600 with Shark Bus controller. Thanks for doing the heavy lifting on figuring out how to
interface a nano to the bus and simulate the correct messages on the motor controller.. Well done!

I plan to follow in your track-marks once I take in all of the that you've posted..

Did you ever get a satisfying board layout done using PCB CAD software, or is this still something you are looking for help with?

[gcebiker]

Ty, yes still looking for help, there is also a new thread called the RC boat project.

[sirmike]

Ok, here's a first attempt at a schematic.. please look it over for accuracy and completeness.. (need resistor values amongst other things..)

[woodygb]

You need to replace the 7805 with a Tracopower TSR 1-2450 and feed it 24v.... the Traco is an All in One....so the caps can go.
http://au.element14.com/tracopower/tsr- ... dp/1696320

I think that there is a 10k resistor on the feed to D3 and the resistor value across A-B is 22k.

[woodygb]

As I recall ....from previous drawings ...Pin 7 of the DG419 goes to GND via a diode and pin 3 goes direct ...8-4 also has a diode.