Code/Node isn't working?

aholwi00 · PostJul 01, 2017#12017-07-01T23:10+00:00

Alright, so I'm finally on the verge of getting my project finished. But for whatever reason, my code or my nodes are working. I have a keypad (https://www.adafruit.com/product/419) and I am wanting to tell my Whisper Node to send motor speed and direction to this motor controller (http://www.robotshop.com/en/30a-5-30v-s ... fgodL1QGTA). I already have the code written but it isn't working. Some help troubleshooting would be much appreciated! I hate to ask but I'm about to pull my hair out over it..

Transmitter Code:

Code: Select all

#include <T2WhisperNode.h>

#include <Keypad.h>
#include <RH_RF69.h>

#define joystick_x    A0
#define joystick_sel  A2

RH_RF69 rf69;

const byte ROWS = 4;
const byte COLS = 3;

char keys[ROWS][COLS] = {
  {'1', '2', '3'},
  {'4', '5', '6'},
  {'7', '8', '9'},
  {'#', '0', '*'}
};

byte rowPins[ROWS] = { 8, 7, 6, 5};
byte colPins[COLS] = { 4, 3, 2 };

Keypad myKeypad = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );

int dir = 0;
int speedM = 0;
String input = "";
char previousKey;
uint8_t data = 0;
unsigned long lastMillis = 0;
int count = 0;
boolean record = false;

void setup() {
  Serial.begin(9600);
  Serial.println("Code uploaded.");
  if (!rf69.init())
    Serial.println("init failed");
  if (!rf69.setFrequency(915.0))
    Serial.println("setFrequency failed");

  // The encryption key has to be the same as the one in the server
  uint8_t key[] = { 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08,
                    0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08
                  };
  rf69.setEncryptionKey(key);

  pinMode(joystick_sel , INPUT_PULLUP);
  pinMode(4,  INPUT_PULLUP);
  pinMode(5,  INPUT_PULLUP);
}
void loop(){
  char key1 = myKeypad.getKey();

  if (key1 != NO_KEY || key2 != NO_KEY){
    Serial.print("You pressed: ");
    Serial.print(key1 != NO_KEY ? key1 : "nothing on keypad");
  Serial.print(" and ");
    Serial.print(key2 != NO_KEY ? key2 : "nothing on keypad2");
    Serial.println(".");
  }
}
void loop() {
  char keypressed = myKeypad.getKey();
  Serial.println(keypressed);
  if (keypressed != NO_KEY && keypressed != previousKey)
  {
    input = input + keypressed;
    previousKey = keypressed;
    lastMillis = millis();
  }
  if (input.equals("*#") && millis() - lastMillis >= 3000 && keypressed == '#')
  {
    record = true;
    Serial.println("Recording Mode");
    uint8_t data[] = "0";
    rf69.send(data, sizeof(data));
    rf69.waitPacketSent();
    input = "";
  }
  if (keypressed == '0')
  {
    count = 0;
    record = false ;
  }
  
  //--------------------------------Record Mode--------------------------------
  if (record)      // rotate and store
  {
    keypressed = myKeypad.getKey();
    uint8_t data[1] ;
    ((String)keypressed).toCharArray(data,sizeof(data));
    rf69.send(data, sizeof(data));
    rf69.waitPacketSent();
    /*int dir_raw = analogRead(joystick_x);
      if (dir_raw > 512)
      {
      dir = 1;    //CW
      }
      if (dir_raw < 512)
      {
      dir = 2;   //CCW
      }
      if (dir_raw == 512)
      {
      dir = 0;  //Neutral
      }
    */
    if (digitalRead(4) == LOW) { //built in button for temportary testing
      dir = 1;   //CW
    }
    if (digitalRead(5) == LOW) { //built in button for temportary testing
      dir = 2;   //CCW
    }
   /** if (digitalRead(joystick_sel) == LOW)
    {
      speedM = (speedM + 1) % 3 ;
    } **/
    sendPath();
  }

  //--------------------------------Play Mode--------------------------------
  for (int i = 1 ; i <= 9 ; i++) {
    if (keypressed == (i)) {
      uint8_t data[1] ;
      ((String)keypressed).toCharArray(data,sizeof(data));
      rf69.send(data, sizeof(data));
      rf69.waitPacketSent();
    }
  }
  delay(500);
}

void sendPath () {
  count = 1;
  if (dir == 1) {
    uint8_t data[] = "1";
    rf69.send(data, sizeof(data));  //CW
    rf69.waitPacketSent();
  }
  if (dir == 2) {
    uint8_t data[] = "2";
    rf69.send(data, sizeof(data));  //CCW
    rf69.waitPacketSent();
  }
  if ( dir == 0) {
    uint8_t data[] = "0";
    rf69.send(data, sizeof(data));
    rf69.waitPacketSent();
  }
  if (speedM == 1) {
    uint8_t data[] = "3";
    rf69.send(data, sizeof(data));   //Slow
    rf69.waitPacketSent();
  }
  if (speedM == 0) {
    uint8_t data[] = "4";
    rf69.send(data, sizeof(data));   //Fast
    rf69.waitPacketSent();
  }
}

And the reciever code is here:

Code: Select all

#include <SD.h>
#include <SPI.h>
#include <RH_RF69.h>

#define direct 4
#define sp 5

RH_RF69 rf69;

int Speed = 125;
int slow_Speed = 125;
int high_Speed = 255 ;    //Adjust high speed and low speed values from 0-255 according to the requirements
int direction ;
int index , fileNum ;
boolean record = false;
File p[9] ;
const char* Path[9] = {"p[1].txt", "p[2].txt", "p[3].txt", "p[4].txt", "p[5].txt", "p[6].txt", "p[7].txt", "p[8].txt", "p[9].txt"};

void setup() {
  Serial.begin(9600);
  if (!rf69.init())
    Serial.println("init failed");
  if (!rf69.setFrequency(915.0))
    Serial.println("setFrequency failed");
  uint8_t key[] = { 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08,
                    0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08
                  };
  rf69.setEncryptionKey(key);

#if 0
  // For compat with RFM69 Struct_send
  rf69.setModemConfig(RH_RF69::GFSK_Rb250Fd250);
  rf69.setPreambleLength(3);
  uint8_t syncwords[] = { 0x2d, 0x64 };
  rf69.setSyncWords(syncwords, sizeof(syncwords));
  rf69.setEncryptionKey((uint8_t*)"thisIsEncryptKey");
#endif
  if (!SD.begin(10)) {
    Serial.println("SD card initialization failed!");
    return;
  }
  pinMode(direct , OUTPUT);
  pinMode(sp , OUTPUT);
}

void loop() {
  if (rf69.available())
  {
    uint8_t buf[RH_RF69_MAX_MESSAGE_LEN];
    uint8_t len = sizeof(buf);
    if (rf69.recv(buf, &len))
    {
      String str = (char*)buf;
      if (str == "Record") {
        Serial.print("Writing to file ");
        record = true;
      }
      if (str == "Finish") {
        Serial.print("Path recording complete");
        record = false;
      }
      for (int i = 1 ; i < 10 ; i++) {
        if (str == (String)i && record == true) {
          Serial.println(str);
          fileNum = (i - 1);
        }
        else if (str == (String)i && record == false) {
          p[i - 1] = SD.open(Path[i - 1]);
          if (p[i - 1]) {
            Serial.println("File Open");
            // read from the file until there's nothing else in it:
            while (p[i - 1].available()) {
            int d = p[i - 1].read();
              Serial.write(p[i - 1].read());
              if (d == 1) {                  //CW
                digitalWrite(direct , LOW);
                digitalWrite(sp , Speed);
              }
              if (d == 2) {                 //CCW
                digitalWrite(direct , HIGH);
                digitalWrite(sp , Speed);
              }
              if (d == 3) {                  //Slow speed
                Speed = slow_Speed ;
                digitalWrite(sp , Speed);
              }
              if (d == 4) {                  //CCW
                Speed = high_Speed ;
                digitalWrite(sp , Speed);
              }
            }
            // close the file:
            p[i - 1].close();
          } else {
            // if the file didn't open, print an error:
            Serial.println("Error opening file");
          }
        }
      }

      if (record) {
        if (p[fileNum]) {
          Serial.println(str);
          p[record].println(str);
          
           if (str == "1") {                  //CW
                digitalWrite(direct , LOW);
                digitalWrite(sp , Speed);
              }
              if (str == "2") {                 //CCW
                digitalWrite(direct , HIGH);
                digitalWrite(sp , Speed);
              }
              if (str == "3") {                  //Slow speed
                Speed = slow_Speed ;
                digitalWrite(sp , Speed);
              }
              if (str == "4") {                  //CCW
                Speed = high_Speed ;
                digitalWrite(sp , Speed);
              }
        }
      } else {
        // if the file didn't open, print an error:
        Serial.println("error opening file");
      }
    }
    else
    {
      Serial.println("recv failed");
    }
}
}

PostJul 01, 2017#22017-07-01T23:17+00:00

I forgot to mention when the code is uploaded to both nodes, respectively, the receiver node doens't have a blue light lighting up.. I'm not sure why it wouldn't be lit up.

PostJul 02, 2017#32017-07-02T16:30+00:00

I think the main issue is I am unable to connect the keypad. The test code I'm using is this:

Code: Select all

#include <T2WhisperNode.h>

/* @file HelloKeypad.pde
|| @version 1.0
|| @author Alexander Brevig
|| @contact alexanderbrevig@gmail.com
||
|| @description
|| | Demonstrates the simplest use of the matrix Keypad library.
|| #
*/
#include <Keypad.h>

const byte ROWS = 4; //four rows
const byte COLS = 3; //three columns
char keys[ROWS][COLS] = {
  {'1','2','3'},
  {'4','5','6'},
  {'7','8','9'},
  {'*','0','#'}
};
byte rowPins[ROWS] = {8, 7, 6, 5}; //connect to the row pinouts of the keypad
byte colPins[COLS] = {4, 3, 2}; //connect to the column pinouts of the keypad

Keypad keypad = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );

void setup(){
  Serial.begin(9600);
}
  
void loop(){
  char key = keypad.getKey();
  
  if (key){
    Serial.println(key);
  }
}

with this pinout:

Talk2 · PostJul 02, 2017#42017-07-02T22:20+00:00

Hi aholwi00,

The issue seems to be related to the Keypad being connected to pins already allocated to other components in the board.

Have a look on the https://bitbucket.org/talk2/whisper-nod ... der-pinout for the pins available.

If there's no enough PIN for your project you can modify the board to "free" additional pins. Another solution is to use an I2C GPIO Expander, like the PCF8574. The use of IO Expander for Keypads is actually quite common and you can find projects and library on the Internet for it.

aholwi00 · PostJul 03, 2017#52017-07-03T04:28+00:00

So if I understand this correctly, D3 is the only digital pin free to use because it is board optional?

Talk2 · PostJul 03, 2017#62017-07-03T04:37+00:00

Yes D3 is the only "digital only" pin available. Analog ping can be used as digital IOs as well (except A6 and A7 that are analog only).

The other pins can be used without modificantion depending on the application. For example the pins connected to the Leds or Buttons might be used without any change if your circuit does not conflict with it.