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#DonLucElectronics #DonLuc #Robotics #Arduino #Fio #XBee #Stepper #EasyDriver #Project #Fritzing #Programming #Electronics #Microcontrollers #Consultant
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Joystick
A joystick is an input device consisting of a stick that pivots on a base and reports its angle or direction to the device it is controlling. A joystick, also known as the control column, is the principal control device in the cockpit of many civilian and military aircraft, either as a centre stick or side-stick. It often has supplementary switches to control various aspects of the aircraft’s flight.
Pololu Adjustable Step-Up Voltage Regulator U1V11A
This compact U1V11A switching step-up voltage regulator efficiently boosts input voltages as low as 0.5 V to an adjustable output voltage between 2 V and 5.25 V. Unlike most boost regulators, the U1V11A offers a true shutdown option that turns off power to the load, and it automatically switches to a linear down-regulation mode when the input voltage exceeds the output.
DL2112Mk05
2 x Fio v3 – ATmega32U4
2 x XBee S1
2 x Lithium Ion Battery – 850mAh
1 x Thumb Joystick
1 x SparkFun Thumb Joystick Breakout
1 x Slide Pot (Small)
1 x Slide Potentiometer Knob
1 x LED Green
1 x Pololu Adjustable Step-Up Voltage Regulator U1V11A
2 x EasyDriver
2 x Small Stepper
1 x Nine Volt Battery
1 x 9V Battery Connector
1 x Half-Size Breadboard
1 x Full-Size Breadboard
1 x SparkFun Cerberus USB Cable
Fio v3 – ATmega32U4 – Transmitter
XBee S1: Transmitter
CH Channel: C
PAN Id: 3333
SH Serial Number: 13A200
SL Serial Number: 40717A1F
CE Coordinator: Coordinator
BD: 9600
RX0 – Digital 0
TX0 – Digital 1
PO0 – Analog A0
JY0 – Analog A1
JY1 – Analog A2
SE0 – Digital 16
VIN – +3.3V
GND – GND
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DL2112Mk05t.ino
/* ***** Don Luc Electronics © *****
Software Version Information
Project #12: Robotics - XBee S1 - Transmitter - Mk15
12-05
DL2112Mk05t.ino
1 x Fio v3 - ATmega32U4
1 x XBee S1
1 x Lithium Ion Battery - 850mAh
1 x Thumb Joystick
1 x SparkFun Thumb Joystick Breakout
1 x Slide Pot (Small)
1 x Slide Potentiometer Knob
1 x SparkFun Cerberus USB Cable
*/
// Include the Library Code
// EEPROM library to read and write EEPROM with unique ID for unit
#include <EEPROM.h>
// Communication
unsigned long dTime = 50;
// Slide Pot (Small)
// Select the input pin for the slide pot
// Power
const int iSP1 = A0;
// Power to store the value
int iPower = 0;
// Connections to joystick
// Vertical
const int VERT = A1;
// Horizontal
const int HORIZ = A2;
// Pushbutton
const int SEL = 16;
// Initialize variables for analog and digital values
int vertical;
int horizontal;
int select;
// Software Version Information
// Version
String sver = "12-15t";
// Unit ID Information
// UID
String uid = "";
void loop()
{
// Thumb Joystick
isThumbJoystick();
// Process Message
isProcessMessage();
delay( dTime );
}
getEEPROM.ino
// EEPROM
// is UID
void isUID()
{
// Is Unit ID
// UID
uid = "";
for (int x = 0; x < 5; x++)
{
uid = uid + char(EEPROM.read(x));
}
}
getProcessMessage.ino
// Process Message
// isProcessMessage
void isProcessMessage() {
// Loop through serial buffer
// Print = "<" + vertical + "|" + horizontal + "|" + select + "|" + iValue + "|" + sver + "|" + uid + "*"
Serial1.print( '<' );
Serial1.print( vertical );
Serial1.print( '|' );
Serial1.print( horizontal );
Serial1.print( '|' );
Serial1.print( select );
Serial1.print( '|' );
Serial1.print( iPower );
Serial1.print( '|' );
Serial1.print( sver );
Serial1.print( '|' );
Serial1.print( uid );
Serial1.println( '*' );
}
getThumbJoystick.ino
// Thumb Joystick
void isThumbJoystick() {
// Read all values from the joystick
// Joystick was sitting around 520 for the vertical and horizontal values
// Will be 0-1023
vertical = analogRead(VERT);
// Will be 0-1023
horizontal = analogRead(HORIZ);
// Will be HIGH (1) if not pressed, and LOW (0) if pressed
select = digitalRead(SEL);
// Read the value
// Power be 0-1023
iPower = analogRead( iSP1 );
}
setup.ino
// Setup
void setup()
{
// EEPROM Unit ID
isUID();
// Pause
delay(5);
// Make the SEL line an input
pinMode(SEL, INPUT_PULLUP);
// Open Serial1 port at 9600 baud
Serial1.begin( 9600 );
// Pause
delay(5);
}
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Fio v3 – ATmega32U4 – Receiver
XBee S1: Receiver
CH Channel: C
PAN Id: 3333
SH Serial Number: 13A200
SL Serial Number: 4076E2C5
CE Coordinator: End Device
BD: 9600
RX0 – Digital 0
TX0 – Digital 1
DR0 – Digital 2
ST0 – Digital 3
DR1 – Digital 4
ST1 – Digital 5
LED – Digital 6
VIN – +3.3V
GND – GND
——
DL2112Mk05r.ino
/* ***** Don Luc Electronics © *****
Software Version Information
Project #12: Robotics - Vertical - Mk15
12-05
DL2112Mk04r.ino
1 x Fio v3 - ATmega32U4
1 x XBee S1
1 x Lithium Ion Battery - 850mAh
1 x LED Green
1 x Pololu Adjustable Step-Up Voltage Regulator U1V11A
2 x EasyDriver
2 x Small Stepper
1 x Nine Volt Battery
1 x 9V Battery Connector
1 x Half-Size Breadboard
1 x Full-Size Breadboard
1 x SparkFun Cerberus USB Cable
*/
// Include the library code:
// EEPROM library to read and write EEPROM with unique ID for unit
#include <EEPROM.h>
// LED Green
int iLEDGreen = 6;
// 2 x EasyDriver - 2 x Stepper
// EasyDriver Right
int dirPinR = 2;
// stepPin Right
int stepPinR = 3;
// EasyDriver Left
int dirPinL = 4;
// stepPin Left
int stepPinL = 5;
// Microsteps
int i = 0;
// Power be 0-1023
int iPower = 0;
String POW = "";
// Joystick was sitting around 520 for the vertical and horizontal values
// Will be 0-1023
// Vertical
int vertical;
String VER = "";
// Horizontal
// Will be 0-1023
int horizontal;
String HOR = "";
// Select
// Will be HIGH (1) if not pressed, and LOW (0) if pressed
int select;
String SEL = "";
int firstClosingBracket = 0;
// Map Vertical and Horizontal
int mapVer = 0;
int mapHor = 0;
// Process Message
// Start
bool bStart = false;
// End
bool bEnd = false;
// Variable to store the incoming byte
int incb = 0;
// Message
String msg = "";
// Index
byte in = 0;
int x = 0;
// Software Version Information
String sver = "12-15r";
// Unit ID information
String uid = "";
void loop() {
// Check for serial messages
isProcessMessage();
}
getEEPROM.ino
// EEPROM
// isUID
void isUID()
{
// Is Unit ID
uid = "";
for (int x = 0; x < 5; x++)
{
uid = uid + char(EEPROM.read(x));
}
}
getProcessMessage.ino
// ProcessMessage
// isProcessMessage
void isProcessMessage() {
// Loop through serial buffer one byte at a time until you reach * which will be end of message
while ( Serial1.available() > 0 )
{
// Read the incoming byte:
incb = Serial1.read();
// Start the message when the '<' symbol is received
if(incb == '<')
{
bStart = true;
in = 0;
msg = "";
}
// End the message when the '*' symbol is received
else if(incb == '*')
{
bEnd = true;
x = msg.length();
msg.remove( x , 1);
// Done reading
break;
}
// Read the message
else
{
msg = msg + char(incb);
in++;
//Serial.println( msg );
}
}
// Start - End
if( bStart && bEnd)
{
// isStepper => msg
isStepper();
digitalWrite(iLEDGreen, HIGH);
in = 0;
msg = "";
bStart = false;
bEnd = false;
vertical;
horizontal;
iPower;
}
}
getStepper.ino
// Stepper
// isStepperSetup
void isStepperSetup() {
// 2 x EasyDriver
pinMode(dirPinR, OUTPUT);
pinMode(stepPinR, OUTPUT);
pinMode(dirPinL, OUTPUT);
pinMode(stepPinL, OUTPUT);
}
// isStepper
void isStepper() {
// msg = vertical + "|" + horizontal + "|" + select + "|" + iValue + "|" + sver + "|" + uid
firstClosingBracket = 0;
// Vertical
firstClosingBracket = msg.indexOf('|');
VER = msg;
VER.remove(firstClosingBracket);
vertical = VER.toInt();
// Horizontal
firstClosingBracket = firstClosingBracket + 1;
msg.remove(0, firstClosingBracket );
firstClosingBracket = msg.indexOf('|');
HOR = msg;
HOR.remove(firstClosingBracket);
horizontal = HOR.toInt();
// Select
firstClosingBracket = firstClosingBracket + 1;
msg.remove(0, firstClosingBracket );
firstClosingBracket = msg.indexOf('|');
SEL = msg;
SEL.remove(firstClosingBracket);
// Power
firstClosingBracket = firstClosingBracket + 1;
msg.remove(0, firstClosingBracket );
firstClosingBracket = msg.indexOf('|');
POW = msg;
POW.remove(firstClosingBracket);
iPower = POW.toInt();
// EasyDriver Right
// Set the direction
// Joystick was sitting around 520 for the vertical and horizontal values
// Will be 0-1023
mapVer = map(vertical, 0, 1023, -512, 512);
mapHor = map(horizontal, 0, 1023, -512, 512);
// Vertical
if ( mapVer <= 12 ) {
// Set the direction HIGH
digitalWrite(dirPinR, HIGH);
delay(5);
digitalWrite(dirPinL, HIGH);
delay(5);
} else {
// Set the direction LOW
digitalWrite(dirPinR, LOW);
delay(5);
digitalWrite(dirPinL, LOW);
delay(5);
}
// Iterate for 200 microsteps
for (i = 0; i<200; i++)
{
// This LOW to HIGH change is what creates the
digitalWrite(stepPinR, LOW);
// "Rising Edge" so the easydriver knows to when to step.
digitalWrite(stepPinR, HIGH);
// This delay time is close to top speed.
delayMicroseconds(iPower);
// This LOW to HIGH change is what creates the
digitalWrite(stepPinL, LOW);
// "Rising Edge" so the easydriver knows to when to step.
digitalWrite(stepPinL, HIGH);
// This delay time is close to top speed.
delayMicroseconds(iPower);
}
}
setup.ino
// Setup
void setup() {
// Open the serial port at 9600 bps:
Serial1.begin( 9600 );
// Pause
delay(5);
// EEPROM Unit ID
isUID();
// Pause
delay(5);
// 2 x EasyDriver
isStepperSetup();
// Pause
delay(5);
// LED Green
pinMode(iLEDGreen, OUTPUT);
digitalWrite(iLEDGreen, LOW);
}
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