Hexapod/remote
1
0 Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update files

Browse Source
This commit is contained in:
mangavalk committed 2026-10-01 15:09:00 +02:00
1 parent c3958b5eec
commit 492dece106
5 files changed
+291 -65
Download Patch File Download Diff File Expand all files Collapse all files

No files matched your search

Joysticks.h
+5 -3
View File
@@ -1,7 +1,7 @@
#include <EEPROM.h>
// start reading from the first byte (address 0) of the EEPROM
int address = 0;
unsigned int address = 0;
byte value;
// Joystick vars
@@ -11,8 +11,10 @@ int sensorValue = 0;
int outputValue = 0;
//volatile int center[6] = {0, 0, 0, 0, 0, 0};
volatile int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000};
volatile int maxvalue[6] = {0, 0, 0, 0, 0, 0};
//volatile int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000}; //ARDUINO
//volatile int maxvalue[6] = {0, 0, 0, 0, 0, 0}; //ARDUINO
int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000}; //TEENSY
int maxvalue[6] = {0, 0, 0, 0, 0, 0}; //TEENSY
void JoystickInit()
{
Nrf.h
+23 -2
View File
@@ -21,9 +21,10 @@ void NrfInit()
radio.setPALevel(RF24_PA_LOW);
}
dataStruct2 NrfSendData(dataStruct2 data, bool debug = false)
bool NrfSendData(dataStruct2 data, bool debug = false)
//dataStruct2 NrfSendData(dataStruct2 data, bool debug = false)
{
network.update();
// network.update();
if (debug)
Serial.print("Sending...");
@@ -39,5 +40,25 @@ dataStruct2 NrfSendData(dataStruct2 data, bool debug = false)
Serial.println("failed.");
}
return ok;
// return data;
}
dataStruct2 NrfGetData(dataStruct2 data, bool debug = false)
{
// network.update();
int timeout = millis() + 100;
while ( network.available() && timeout > millis() )
{
RF24NetworkHeader header;
network.read(header, &data, sizeof(data));
if (debug)
{
Serial.print("Received packet ");
Serial.println(data.servoPositions[0]);
}
}
return data;
}
SerialPasstrough.h
+107 -31
View File
@@ -1,44 +1,120 @@
#include "TransferDataStructure.h"
dataStruct2 GetSerialData(dataStruct2 dataIn, bool debug = false)
String getValue(String data, char separator, int index)
{
if (Serial.available())
int found = 0;
int strIndex[] = { 0, -1 };
int maxIndex = data.length() - 1;
for (int i = 0; i <= maxIndex && found <= index; i++) {
if (data.charAt(i) == separator || i == maxIndex) {
found++;
strIndex[0] = strIndex[1] + 1;
strIndex[1] = (i == maxIndex) ? i + 1 : i;
}
}
return found > index ? data.substring(strIndex[0], strIndex[1]) : "";
}
dataStruct2 GetSerialData(dataStruct2 &dataIn, bool debug = false)
{
if (Serial.available() && Serial.peek() != -1)
{
String data = Serial.readStringUntil('\r');
int maxIndex = data.length() - 1;
int index = 0;
int next_index;
String data_word;
String channel;
String angle;
do {
next_index = data.indexOf(',', index);
// String data = Serial.readStringUntil('\r');
// while (Serial.read() >= 0);
// int maxIndex = data.length() - 1;
// int index = 0;
// int next_index;
// String data_word;
// String channel;
// String angle;
// do {
// next_index = data.indexOf(',', index);
//
// data_word = data.substring(index, next_index);
// channel = data_word.substring(0, data_word.indexOf('_'));
// angle = data_word.substring(data_word.indexOf('_') + 1);
//
// if (isDigit(angle[0])) // prevent error overwriting first entry.
// dataIn.servoPositions[channel.toInt()] = angle.toFloat();
//
// index = next_index + 1;
// } while ((next_index != -1) && (next_index < maxIndex));
data_word = data.substring(index, next_index);
channel = data_word.substring(0, data_word.indexOf('_'));
angle = data_word.substring(data_word.indexOf('_') + 1);
if (isDigit(angle[0])) // prevent error overwriting first entry.
dataIn.servoPositions[channel.toInt()] = angle.toFloat();
index = next_index + 1;
} while ((next_index != -1) && (next_index < maxIndex));
dataIn.remotePasstroughControl = true;
if (debug)
{
Serial.println("Enabled Servo Passtrough mode!");
Serial.println("Output line: ");
/*String s = Serial.readStringUntil('s');
for (int i = 0; i < 18; i++)
{
Serial.print(i);
Serial.print(", ");
Serial.print(dataIn.servoPositions[i]);
Serial.setTimeout(10);
String c = Serial.readStringUntil('_');
String v = Serial.readStringUntil(',');
String cc = Serial.readStringUntil('=');
int channel = c.toInt();
int value = v.toInt();
int crc = cc.toInt();
if ((crc == (channel) * value) && value >= 0 && value <= 180)
dataIn.servoPositions[channel] = value;*/
//byte recv[18 + 1];
if (Serial.available() >= 18 + 1 + 2 + 30)
{
bool recc = false;
byte recv[256] = {0};
//Serial.readBytesUntil(0xffffff, recv, 255);
Serial.readBytesUntil(0xff, recv, 255);
for (int i = 0; i < 255 - 19; i++)
{
// if (recv[i + 1] == 0xff && recv[i + 2] == 0xff && recv[i + 3] == 0xff)
if (recv[i + 19] == 0xfe)
{
for (int j = 0; j < 18 + 1; j++)
{
recv[j] = recv[(i) + j];
}
recc = true;
break;
}
}
//s.getBytes(recv, s.length());
byte crc = 0x00;
for (int i = 0; i < 18; i++)
{
crc += recv[i];
}
if (crc == recv[18])
{
if (recc)
{
for (int i = 0; i < 18; i++)
{
dataIn.servoPositions[i] = recv[i];
}
}
}
//}
dataIn.remotePasstroughControl = true;
if (debug)
{
Serial.println("Enabled Servo Passtrough mode!");
Serial.println("Output line: ");
for (int i = 0; i < 18; i++)
{
Serial.print(i);
Serial.print(", ");
Serial.print(dataIn.servoPositions[i]);
Serial.println("");
}
Serial.println("");
}
Serial.println("");
}
}
TransferDataStructure.h
+11 -1
View File
@@ -3,6 +3,8 @@
struct __attribute__((__packed__)) dataStruct2
{
bool STOP = false;
float walkSpeed = 10; //step size
float walkSpeed2 = 0; //gate speed
float walkRotation = 0 ;
@@ -13,7 +15,15 @@ struct __attribute__((__packed__)) dataStruct2
float rotation[3] = {0, 0, 0};
bool remotePasstroughControl = 0;
uint16_t servoPositions[18];
float servoPositions[18] = {
90, 90, 90,
90, 90, 90,
90, 90, 90,
90, 90, 90,
90, 90, 90,
90, 90, 90
};
} dataStruct;
remote.ino
+145 -28
View File
@@ -1,7 +1,51 @@
#include "Joysticks.h"
#include "Nrf.h"
#include "SerialPasstrough.h"
#include <TinyMPU6050.h>
#include <Wire.h>
#include <MPU6050_tockn.h>
#include "Nextion.h"
NexPage page0 = NexPage(4, 0, "uploadscreen");
NexText t0 = NexText(1, 6, "t1");
NexText t1 = NexText(3, 22, "t1");
NexButton b2 = NexButton(1, 5, "b2");
NexSlider sliders[18] = {NexSlider(3, 1, "h0"),
NexSlider(3, 2, "h1"),
NexSlider(3, 3, "h2"),
NexSlider(3, 4, "h3"),
NexSlider(3, 5, "h4"),
NexSlider(3, 6, "h5"),
NexSlider(3, 7, "h6"),
NexSlider(3, 8, "h7"),
NexSlider(3, 9, "h8"),
NexSlider(3, 10, "h9"),
NexSlider(3, 11, "h10"),
NexSlider(3, 12, "h11"),
NexSlider(3, 13, "h12"),
NexSlider(3, 14, "h13"),
NexSlider(3, 15, "h14"),
NexSlider(3, 16, "h15"),
NexSlider(3, 17, "h16"),
NexSlider(3, 18, "h17")
};
char buffer[100] = {0};
NexTouch *nex_listen_list[] =
{
&b2,
&page0,
&t0,
&t1,
NULL
};
void b2PopCallback(void *ptr)
{
passtrough();
}
MPU6050 mpu (Wire);
@@ -9,51 +53,124 @@ dataStruct2 data;
joyStickdataStruct joystickData;
void setup() {
Serial.begin(115200);
// Serial.begin(250000, SERIAL_8E1); // ARDUINO
Serial.begin(250000); // TEENSY
// Serial.begin(115200);
Serial1.begin(115200);
// passtrough();
nexInit();
b2.attachPush(b2PopCallback, &b2);
b2.attachPop(b2PopCallback, &b2);
// for (int i = 0; i < 18; i++)
// sliders[i] = NexSlider(3, i++, "h" + i);
// while (true)
// {
// nexLoop(nex_listen_list);
// sliders[0].setValue(30);
// }
// Initialization
mpu.Initialize();
// Wire.begin();
// mpu.begin();
//
// mpu.calcGyroOffsets(true, 300, 1000);
//
// // Calibration
// Serial.println("=====================================");
// Serial.println("Starting calibration...");
// mpu.Calibrate();
// mpu.calcGyroOffsets();
// Serial.println("Calibration complete!");
// Serial.println("Offsets:");
// Serial.print("AccX Offset = ");
// Serial.println(mpu.GetAccXOffset());
// Serial.print("AccY Offset = ");
// Serial.println(mpu.GetAccYOffset());
// Serial.print("AccZ Offset = ");
// Serial.println(mpu.GetAccZOffset());
// Serial.print("GyroX Offset = ");
// Serial.println(mpu.GetGyroXOffset());
// Serial.print("GyroY Offset = ");
// Serial.println(mpu.GetGyroYOffset());
// Serial.print("GyroZ Offset = ");
// Serial.println(mpu.GetGyroZOffset());
JoystickInit();
NrfInit();
}
void loop() {
// mpu.Execute();
// Serial.print("AngX = ");
// Serial.print(mpu.GetAngX());
void passtrough()
{
delay(100);
for (int i = 0; i < 10; i++)
{
// nexLoop(nex_listen_list);
// delay(10);
page0.show();
delay(10);
}
Serial.begin(115200);
Serial1.begin(115200);
do {
if (Serial.available()) { // If anything comes in Serial (USB),
Serial1.write(Serial.read()); // read it and send it out Serial1 (pins 0 & 1)
}
if (Serial1.available()) { // If anything comes in Serial1 (pins 0 & 1)
Serial.write(Serial1.read()); // read it and send it out Serial (USB)
}
} while (true);
}
void loop()
{
nexLoop(nex_listen_list);
network.update();
if (false)
{
mpu.update();
Serial.print("AngX = ");
Serial.print(mpu.getAngleX());
Serial.print(" / AngY = ");
Serial.print(mpu.getAngleY());
Serial.print(" / AngZ = ");
Serial.println(mpu.getAngleZ());
}
// Serial.print(" / AngX = ");
// Serial.print(mpu.getGyroAngleX());
// Serial.print(" / AngY = ");
// Serial.print(mpu.GetAngY());
// Serial.print(mpu.getGyroAngleY());
// Serial.print(" / AngZ = ");
// Serial.println(mpu.GetAngZ());
// Serial.println(mpu.getGyroAngleZ());
joystickData = JoystickGet(false);
joystickData = JoystickGet(true);
data = GetSerialData(data, false);
// test
if (false)
{
data.remotePasstroughControl = true;
data.servoPositions[1] = (joystickData.value[2] * 0.78f);
data.servoPositions[4] = (joystickData.value[2] * 0.78f);
data.servoPositions[7] = (joystickData.value[2] * 0.78f);
data.servoPositions[0] = joystickData.value[0];
data.servoPositions[10] = 180 - (joystickData.value[2] * 0.78f);
data.servoPositions[13] = 180 - (joystickData.value[2] * 0.78f);
data.servoPositions[16] = 180 - (joystickData.value[2] * 0.78f);
}
data = NrfSendData(data, true);
GetSerialData(data, false);
// data = GetSerialData(data, false);
// data.STOP = true;
for (int i = 0; i < 18; i++)
sliders[i].setValue(data.servoPositions[i]);
bool ok = NrfSendData(data, false);
// data = NrfSendData(data, false);
if (ok)
t0.setText("connected");
else
t0.setText("not connected");
if (ok)
t1.setText("connected");
else
t1.setText("not connected");
//test
// data = NrfGetData(data, true);
delay(20);
}