Need hint to get mBot Ranger to move through libraries

#1

Team,

I’ve been enjoying combing through the forums and web to learn about my mBot Ranger. I’ve gotten the lights and buzzer to work through the libraries, but I’m stuck on getting the motors to run.

Can someone point me to the right example and port settings to get the tracks to move?

I can load the firmware and control it with my iPhone so I know the bot is working fine.

#2

The motors on Ranger are encoder motors and the mainboard is Me Auriga board, so you can try the example programs marked on picture below or you can program it with mBlock software directly and refer to its generated arduino code:

blob.jpg828x743 191 KB

#3

Thanks for the quick response.

I guess I missed these examples because I was looking for something with the word ‘motor’ in it. I’ve tried all of these examples and written the program below in mBlock, but still have no track motion. When I run the examples above and look at the serial monitor I can see the encoders are working if I move the tracks manually. I’ve added Serial.println() statements into the loop so I can see that my serial input it triggering the correct case statements in the switch statement.

##Summary of what is working and what isn’t:
###Working:

  1. Robot works correctly when I load the firmware and control from iPhone.
  2. Can write programs and successfully load them on mBot Ranger to control the LEDs
  3. Receive encoder information in serial monitor when I run the example code
    ###Not Working:
  4. Any motor operation from programs I’ve written and loaded directly in Arduino IDE or mBlock.
#include <Arduino.h>
#include <Wire.h>
#include <SoftwareSerial.h>

#include <MeAuriga.h>

//Encoder Motor
MeEncoderOnBoard Encoder_1(SLOT1);
MeEncoderOnBoard Encoder_2(SLOT2);

void isr_process_encoder1(void)
{
      if(digitalRead(Encoder_1.getPortB()) == 0){
            Encoder_1.pulsePosMinus();
      }else{
            Encoder_1.pulsePosPlus();
      }
}

void isr_process_encoder2(void)
{
      if(digitalRead(Encoder_2.getPortB()) == 0){
            Encoder_2.pulsePosMinus();
      }else{
            Encoder_2.pulsePosPlus();
      }
}

void move(int direction, int speed)
{
      int leftSpeed = 0;
      int rightSpeed = 0;
      if(direction == 1){
            leftSpeed = -speed;
            rightSpeed = speed;
      }else if(direction == 2){
            leftSpeed = speed;
            rightSpeed = -speed;
      }else if(direction == 3){
            leftSpeed = -speed;
            rightSpeed = -speed;
      }else if(direction == 4){
            leftSpeed = speed;
            rightSpeed = speed;
      }
      Encoder_1.setTarPWM(leftSpeed);
      Encoder_2.setTarPWM(rightSpeed);
}
void moveDegrees(int direction,long degrees, int speed_temp)
{
      speed_temp = abs(speed_temp);
      if(direction == 1)
      {
            Encoder_1.move(-degrees,(float)speed_temp);
            Encoder_2.move(degrees,(float)speed_temp);
      }
      else if(direction == 2)
      {
            Encoder_1.move(degrees,(float)speed_temp);
            Encoder_2.move(-degrees,(float)speed_temp);
      }
      else if(direction == 3)
      {
            Encoder_1.move(-degrees,(float)speed_temp);
            Encoder_2.move(-degrees,(float)speed_temp);
      }
      else if(direction == 4)
      {
            Encoder_1.move(degrees,(float)speed_temp);
            Encoder_2.move(degrees,(float)speed_temp);
      }
}

double angle_rad = PI/180.0;
double angle_deg = 180.0/PI;
MeRGBLed rgbled_0(0, 12);



void setup(){
    //Set Pwm 8KHz
    TCCR1A = _BV(WGM10);
    TCCR1B = _BV(CS11) | _BV(WGM12);
    TCCR2A = _BV(WGM21) | _BV(WGM20);
    TCCR2B = _BV(CS21);
    
     rgbled_0.setpin(44);
    attachInterrupt(Encoder_2.getIntNum(), isr_process_encoder2, RISING);
    Encoder_2.setPulse(9);
    Encoder_2.setRatio(39.267);
    Encoder_2.setPosPid(1.8,0,1.2);
    Encoder_2.setSpeedPid(0.18,0,0);
    
    rgbled_0.setColor(0,0,0,0);
    rgbled_0.show();
    
}

void loop(){
    
    rgbled_0.setColor(0,0,20,0);
    rgbled_0.show();

    // Expect the motor to run here.   The LEDs have turned to green.
    Encoder_2.runSpeed(100);
    _delay(1);
    rgbled_0.setColor(0,20,0,0);
    rgbled_0.show();

    // Expect the motor to stop here.  The LEDs have turned to red.
    Encoder_2.runSpeed(0);
    _delay(1);
    
    _loop();
}

void _delay(float seconds){
    long endTime = millis() + seconds * 1000;
    while(millis() < endTime)_loop();
}

void _loop(){
    Encoder_2.loop();
    
    
}
#4

I think I got it sorted out. Not sure why the examples weren’t running earlier, but they are now.

Thanks again for your help with this.

#5