MicroTrac Controller v17.10/Code

Goals

• Establish serial communication over xbee radio
• Transmit commands from the "remote controller" box to "onboard controller" box.
• Attempt to run identical arduino control software on both boxes.
  • Will run in onboard mode if jumper set between defined pins.
• When in onboard mode, transmit GPS location.
• Boxes will ping each other and will shut down if connection lost.
• Store radio information in EEPROM. Update on startup.
  • Create a program to define the EEPROM
• Operate relay switches when "HAND" switch is on
• Test different turning methods.
  • stop and turn
  • fether on/off to turn on a curve
    • is this too jerky
  • determine turn radius at specified duty cycles

Terms, Pins and Variables

Each Solenoid and corresponding relay switch will be defined by a single alphabet letter.

A - Left Track Forward

B - Left Track Backward

C - Right Track Forward

D - Right Track Backward

E - Arms Up

F - Arms Down

G - Bucket Up

H - Bucket Down

AT Commands

xbee AT Command PDF

ATIDXXXX - set radio network ID

ATWR - save settings to long term memory

Code Theory

When a switch is thrown, its letter followed by a 1 or 0 will be transmitted over serial.

example: "E1" will engage the solenoid to raise the arms. "E0" will turn off the solenoid and will stop raising the arms.

While "F1" will lower the arms and "F0" will stop lowering the arms.

If vehicle is stopped, gather and transmit position and orientation data. otherwise briefly stop vehicle every X minutes.

Code

Controller Box

void setup() {

//SET PINS AS INPUT FROM TOGGLE SWITCHES
pinMode(39,INPUT_PULLUP); //LF
pinMode(41,INPUT_PULLUP); //LB
pinMode(43,INPUT_PULLUP); //RF
pinMode(45,INPUT_PULLUP); //RB
pinMode(47,INPUT_PULLUP); //AU
pinMode(49,INPUT_PULLUP); //AD
pinMode(51,INPUT_PULLUP); //BU
pinMode(53,INPUT_PULLUP); //BD

int sLF = digitalRead(39); //left track forward
int sLB = digitalRead(41); //left track backward
int sRF = digitalRead(43); //right track forward
int sRB = digitalRead(45); //right track backward
int sAU = digitalRead(47); //arms up
int sAD = digitalRead(49); //arms down
int sBU = digitalRead(51); //bucket up
int sBD = digitalRead(53); //bucket down

//SET PINS AS OUTPUT TO RELAY MODULE

pinMode(38, OUTPUT);
pinMode(40, OUTPUT);
pinMode(42, OUTPUT);
pinMode(44, OUTPUT);
pinMode(46, OUTPUT);
pinMode(48, OUTPUT);
pinMode(50, OUTPUT);
pinMode(52, OUTPUT);

//START COMMUNICATING WITH XBEE
Serial.begin(9600);
}

void loop() {

int sLF = digitalRead(39);
if (sLF == LOW) {
    Serial.print('A')
  } else {
    Serial.print('a')
  }
if (sLF == LOW) {
    digitalWrite(38, HIGH);
  } else {
    digitalWrite(38, LOW);
  }

int sLB = digitalRead(41);
if (sLB == LOW) {
    Serial.print('B')
  } else {
    Serial.print('b')
  }
if (sLB == LOW) {
    digitalWrite(40, HIGH);
  } else {
    digitalWrite(40, LOW);
  }

int sRF = digitalRead(43);
if (sRF == LOW) {
    Serial.print('C')
  } else {
    Serial.print('c')
  }
if (sRF == LOW) {
    digitalWrite(42, HIGH);
  } else {
    digitalWrite(42, LOW);
  }

int sRB = digitalRead(45);
if (sRB == LOW) {
    Serial.print('D')
  } else {
    Serial.print('d')
  }
if (sRB == LOW) {
    digitalWrite(44, HIGH);
  } else {
    digitalWrite(44, LOW);
  }

int sAU = digitalRead(47);
if (sAU == LOW) {
    Serial.print('E')
  } else {
    Serial.print('e')
  }
if (sAU == LOW) {
    digitalWrite(46, HIGH);
  } else {
    digitalWrite(46, LOW);
  }

int sAD = digitalRead(49);
if (sAD == LOW) {
    Serial.print('F')
  } else {
    Serial.print('f')
  }
if (sAD == LOW) {
    digitalWrite(48, HIGH);
  } else {
    digitalWrite(48, LOW);
  }

int sBU = digitalRead(51);
if (sBU == LOW) {
    Serial.print('G')
  } else {
    Serial.print('g')
  }
if (sBU == LOW) {
    digitalWrite(50, HIGH);
  } else {
    digitalWrite(50, LOW);
  }

int sBD = digitalRead(53);
if (sBD == LOW) {
    Serial.print('H')
  } else {
    Serial.print('h')
  }
if (sBD == LOW) {
    digitalWrite(52, HIGH);
  } else {
    digitalWrite(52, LOW);
  }

 

Onboard Box

void setup() {

//SET PINS AS OUTPUT TO RELAY MODULE

pinMode(38, OUTPUT);
pinMode(40, OUTPUT);
pinMode(42, OUTPUT);
pinMode(44, OUTPUT);
pinMode(46, OUTPUT);
pinMode(48, OUTPUT);
pinMode(50, OUTPUT);
pinMode(52, OUTPUT);

//START COMMUNICATING WITH XBEE
Serial.begin(9600);
}

void loop() {

while (Serial.available()>0){

char RXbyte = char(Serial.read());

if (RXbyte == 'A') {
    digitalWrite(38, HIGH);
  }
if (RXbyte == 'a') {
    digitalWrite(38, LOW);
  }
if (RXbyte == 'B') {
    digitalWrite(40, HIGH);
  }
if (RXbyte == 'b') {
    digitalWrite(40, LOW);
  }
if (RXbyte == 'C') {
    digitalWrite(42, HIGH);
  }
if (RXbyte == 'c') {
    digitalWrite(42, LOW);
  }
if (RXbyte == 'D') {
    digitalWrite(44, HIGH);
  }
if (RXbyte == 'd') {
    digitalWrite(44, LOW);
  }
if (RXbyte == 'E') {
    digitalWrite(46, HIGH);
  }
if (RXbyte == 'e') {
    digitalWrite(46, LOW);
  }
if (RXbyte == 'F') {
    digitalWrite(48, HIGH);
  }
if (RXbyte == 'f') {
    digitalWrite(48, LOW);
  }
if (RXbyte == 'G') {
    digitalWrite(50, HIGH);
  }
if (RXbyte == 'g') {
    digitalWrite(50, LOW);
  }
if (RXbyte == 'H') {
    digitalWrite(52, HIGH);
  }
if (RXbyte == 'h') {
    digitalWrite(52, LOW);
  }
}