Tractor PPM controller

2018-04-06 15:20:57 +02:00 · 2018-04-06 15:20:57 +02:00 · 403d6f4aff
commit 403d6f4aff
1 changed files with 136 additions and 0 deletions
--- a/Tractor_ppm.ino
+++ b/Tractor_ppm.ino
@ -0,0 +1,136 @@
+/* [channel out pins]
+ * | action		| pin	| port		| Binary	| Byte	| Range		| TIMER		| OCR
+ * |------------|-------|-----------|-----------|-------|-----------|-----------|---
+ * | forward pwm| 3		| PORTD		| B00001000	| 8		| 1000-2000	| TIMER2B	| OCR2B
+ * | reverse pwm| 5		| PORTD		| B00100000	| 32	| 1000-2000	| TIMER0B	| OCR0B
+ * | left pwm	| 6		| PORTD		| B01000000	| 64	| 1550-2000	| TIMER0A	| OCR0A
+ * | right pwm	| 9		| PORTB		| B00000010	| 2		| 1000-1450	| TIMER1A	| OCR1A
+ * | camera pwm	| 10	| PORTB		| B00000100	| 4		| 1000-2000	| TIMER1B	| OCR1B
+ * | hitch		| 12	| PORTB		| B00010000	| 16	| 1500-2000	| -			| -
+ * | lights		| 11	| PORTB		| B00001000	| 8		| 1500-2000	| TIMER2A	| OCR2A
+ * 
+ * I think (unchecked) the servo library is going to mess with the timer1 duty cycle when attached
+ */
+
+#include <PPMReader.h>
+//#include <Servo.h>
+
+// ppm receive settings
+#define PPM_PIN 2
+#define PPM_CHANNELS 6
+
+// ppm channel numbers
+#define STEERING 1
+#define THROTTLE 3
+#define CAMERA 4
+#define HITCH 5
+#define DIRECTION 6
+#define LIGHTS 7
+
+// output pin numbers
+#define P_THR_F 3	// on problems move to 13
+#define P_THR_R 5
+#define P_STE_L 6
+#define P_STE_R 9	// was 11
+#define P_CAMER 10
+#define P_HITCH 12
+#define P_LIGHT 11	// was 13
+
+// bytes
+#define B_THR_F 8
+#define B_THR_R 32
+#define B_STE_L 64
+#define B_STE_R 2
+#define B_CAMER 4
+#define B_HITCH 16
+#define B_LIGHT 8
+
+// camera servo out
+//Servo servoCamera;
+
+// Attach PPM input
+PPMReader ppm(PPM_PIN, PPM_CHANNELS);
+
+void setup(){
+	Serial.begin(9600);
+	Serial.println("Tractor");
+
+	// SET OUTPUTS
+	// PORTD 0-7
+	DDRD = DDRD | B01101000;
+	// PORTB 8-13
+	DDRB = DDRB | B00011110;
+
+//	servoCamera.attach(P_CAMER);
+
+	// WRITE TO PWM PINS (ONCE)
+	analogWrite(P_THR_F, 0);
+	analogWrite(P_THR_R, 0);
+	analogWrite(P_STE_L, 0);
+	analogWrite(P_STE_R, 0);
+	analogWrite(P_CAMER, 0);
+	analogWrite(P_LIGHT, 0);
+}
+
+void loop(){
+	/* SET VALUES */
+	static uint16_t unThrottleIn;
+	static uint16_t unSteeringIn;
+	static uint16_t unHitchIn;
+	static uint16_t unDirectionIn;
+	static uint16_t unCameraIn;
+
+	unThrottleIn = ppm.latestValidChannelValue(THROTTLE, 1000);
+	unSteeringIn = ppm.latestValidChannelValue(STEERING, 1500);
+	unCameraIn = ppm.latestValidChannelValue(CAMERA, 1500);
+	unHitchIn = ppm.latestValidChannelValue(HITCH, 2000);
+	unDirectionIn = ppm.latestValidChannelValue(DIRECTION, 2000);
+	unLightsIn = ppm.latestValidChannelValue(LIGHTS, 1500);
+
+	/* THROTTLE */
+	if(unThrottleIn < 1020){
+		// no throttle
+		OCR0B = 0;
+		OCR2B = 0;
+	}else{
+		if(unDirectionIn < 1750){
+			// forward
+			OCR0B = 0;
+			OCR2B = map(unThrottleIn, 1000, 2000, 0, 255);
+		}else{
+			// reverse
+			OCR2B = 0;
+			OCR0B = map(unThrottleIn, 1000, 2000, 0, 255);
+		}
+	}
+
+	/* STEERING */
+	if(unSteeringIn < 1450){
+		// go right
+		OCR0A = 0;
+		OCR1A = map(unSteeringIn, 1000, 1450, 255, 0);
+	}else if(unSteeringIn > 1550){
+		// go left
+		OCR1A = 0;
+		OCR0A = map(unSteeringIn, 1550, 2000, 0, 255);
+	}else{
+		// no steer (1450..1550)
+		OCR0A = 0;
+		OCR1A = 0;
+	}
+
+	/* TRAILER HITCH */
+	if(unHitchIn < 1750){
+		// hitch active
+		PORTB |= B_HITCH;
+	}else{
+		// hitch unactive
+		PORTB &= ~B_HITCH;
+	}
+
+	/* LIGHTS */
+	OCR2A = map(unSteeringIn, (1000, 2000, 0, 255);
+
+	/* CAMERA */
+//	servoCamera.writeMicroseconds(unCameraIn);
+}