Smikkelbakje/Drone-FabAcademy-2025
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add code to read buttons and to read joystick X axises as 0 or 1

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This commit is contained in:
Sam Hos
2025-05-01 16:40:03 +02:00
parent d588ab6c6e
commit 2d060cbb15
3 changed files with 178 additions and 35 deletions
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2
src/controller/drone controller/platformio.ini
View File

@@ -12,8 +12,10 @@
platform = espressif32
board = lolin_c3_mini
framework = arduino
lib_deps = adafruit/Adafruit SSD1306@^2.5.13
[env:Xiao_c3]
board = seeed_xiao_esp32c3
framework = arduino
platform = espressif32
lib_deps = adafruit/Adafruit SSD1306@^2.5.13

154
src/controller/drone controller/src/main.cpp
View File

@@ -2,19 +2,12 @@
#include <WiFi.h>
#include <esp_now.h>
// declarations
int normalizePot(int pin, int minValue);
int mapPot(int normalizedValue);
int analogReadMultiPlexer(int addressA, int addressB, int addressC, int addressD, int pin);
void espNow();
void readAllMultiPlexer();
void espNowLoop();
const int MAXPWMVALUE = 1000;
const int MINPWMVALUE = 2000;
const uint8_t broadcastAddress[] = {0x8C, 0xBF, 0xEA, 0xCC, 0x8E, 0x5C};
// Define the struct that will be sent
//=====================================================================================//
// Struct declarations
typedef struct struct_message
{
int PWMCH1;
@@ -26,35 +19,51 @@ struct_message JoystickData; // declare the struct as JoystickData
esp_now_peer_info_t peerInfo; // create a class object of the ESPNow class
struct hardJoystickValues
{
int LXU; // Left joystick X axis up
int LXD; // Left joystick X axis down
int RXU; // Right joystick X axis up
int RXD; // Right joystick X axis down
};
//=====================================================================================//
// declarations
int normalizePot(int pin, int minValue);
int mapPot(int normalizedValue);
int analogReadMultiPlexer(int addressA, int addressB, int addressC, int addressD, int pin);
void espNow();
void readAllMultiPlexer();
void espNowLoop();
void printPWMValues();
int digitalReadMultiPlexer(int addressA, int addressB, int addressC, int addressD, int pin);
hardJoystickValues GUIParser();
void MUXSetup();
void setup()
{
espNow();
MUXSetup(); // Setup the multiplexer
Serial.begin(9600);
pinMode(D3, OUTPUT);
pinMode(D6, OUTPUT);
pinMode(D7, OUTPUT);
pinMode(D8, OUTPUT);
pinMode(D9, OUTPUT);
pinMode(D0, INPUT);
}
void loop()
{
//Debugging
// readAllMultiPlexer();
// printPWMValues();
// Set values to send
JoystickData.PWMCH1 = mapPot(analogReadMultiPlexer(0, 0, 0, 0, A0)); //Right joystick Y
JoystickData.PWMCH2 = mapPot(analogReadMultiPlexer(1, 0, 0, 0, A0)); // Right joystick X
JoystickData.PWMCH3 = mapPot(analogReadMultiPlexer(0, 0, 0, 1, A0)); // left joystick Y
JoystickData.PWMCH4 = mapPot(analogReadMultiPlexer(1, 0, 0, 1, A0)); // left joystick X
Serial.print("PWMCH1: ");
Serial.println(JoystickData.PWMCH1);
Serial.print(" PWMCH2: ");
Serial.println(JoystickData.PWMCH2);
Serial.print(" PWMCH3: ");
Serial.println(JoystickData.PWMCH3);
Serial.print(" PWMCH4: ");
Serial.println(JoystickData.PWMCH4);
GUIParser();
espNowLoop();
delay(10); // delay to avoid hammering the radio and to save power/heat
}
@@ -89,6 +98,16 @@ int analogReadMultiPlexer(int addressA, int addressB, int addressC, int addressD
digitalWrite(D8, addressD);
return analogRead(pin);
}
//For some reason the digitalRead function does not work with the multiplexer. Maybe because the Resistance is too high. Even though analogRead returns 4095
int digitalReadMultiPlexer(int addressA, int addressB, int addressC, int addressD, int pin)
{
digitalWrite(D3, LOW);
digitalWrite(D6, addressA);
digitalWrite(D7, addressB);
digitalWrite(D9, addressC);
digitalWrite(D8, addressD);
return digitalRead(pin);
}
void espNow()
{ // Set device as a Wi-Fi Station
@@ -111,6 +130,71 @@ void espNow()
}
}
void espNowLoop(){
// Send message via ESP-NOW
esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *)&JoystickData, sizeof(JoystickData));
if (result == ESP_OK)
{
// Serial.println("Sent with success");
}
else
{
// Serial.println("Error sending the data");
}
}
void MUXSetup()
{
pinMode(D3, OUTPUT); // MUX enable
pinMode(D6, OUTPUT); // MUX address A
pinMode(D7, OUTPUT); // MUX address B
pinMode(D9, OUTPUT); // MUX address C
pinMode(D8, OUTPUT); // MUX address D
pinMode(A0, INPUT); // MUX input
}
// Function to parse joystick data to hard values
//If joystick is Up then the value is 1 of var A
//If joystick is Down then the value is 1 of var B
//If joystick is in the middle A and B are 0
hardJoystickValues GUIParser(){
// Define joystick offsets (calibrated resting values)
const int offsetPWMCH1 = 1090; // Resting value for PWMCH1 (right joystick Y-axis)
const int offsetPWMCH2 = 1072; // Resting value for PWMCH2 (right joystick X-axis)
const int offsetPWMCH3 = 1043; // Resting value for PWMCH3 (left joystick X-axis)
const int offsetPWMCH4 = 1476; // Resting value for PWMCH4 (left joystick Y-axis)
// Define deadzone threshold
const int deadzone = 120;
// Adjust joystick values by subtracting offsets
int adjustedPWMCH1 = JoystickData.PWMCH1 - offsetPWMCH1;
int adjustedPWMCH2 = JoystickData.PWMCH2 - offsetPWMCH2;
int adjustedPWMCH3 = JoystickData.PWMCH3 - offsetPWMCH3;
int adjustedPWMCH4 = JoystickData.PWMCH4 - offsetPWMCH4;
// Apply deadzone
if (abs(adjustedPWMCH1) < deadzone) adjustedPWMCH1 = 0; //abs to avoid negatives
if (abs(adjustedPWMCH2) < deadzone) adjustedPWMCH2 = 0;
if (abs(adjustedPWMCH3) < deadzone) adjustedPWMCH3 = 0;
if (abs(adjustedPWMCH4) < deadzone) adjustedPWMCH4 = 0;
// Map joystick values to hard values
int LXU = 0; // Left joystick X axis up
int LXD = 0; // Left joystick X axis down
if (adjustedPWMCH1 > 0) {
LXU = 1; // Joystick is up
} else if (adjustedPWMCH1 < 0) {
LXD = 1; // Joystick is down
}
return {LXU, LXD, 0, 0}; // Return the values as a struct
}
/////////////////////////////////////////////
// Debugging Functions //
/////////////////////////////////////////////
void readAllMultiPlexer()
{
// we counting in binary
@@ -148,15 +232,15 @@ void readAllMultiPlexer()
Serial.println(analogReadMultiPlexer(1, 1, 1, 1, A0));
}
void espNowLoop(){
// Send message via ESP-NOW
esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *)&JoystickData, sizeof(JoystickData));
if (result == ESP_OK)
{
// Serial.println("Sent with success");
}
else
{
// Serial.println("Error sending the data");
}
void printPWMValues()
{
Serial.print("PWMCH1: ");
Serial.print(JoystickData.PWMCH1);
Serial.print(" PWMCH2: ");
Serial.print(JoystickData.PWMCH2);
Serial.print(" PWMCH3: ");
Serial.print(JoystickData.PWMCH3);
Serial.print(" PWMCH4: ");
Serial.println(JoystickData.PWMCH4);
}