116 RC Threshold Calibration

RC_Calibration/Calibration_EEPROM.ino

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+#include "pinout.h"
+#include "array_function.h"
+#include "threshold_function.h"
+#include <stdlib.h>
+#include <stdio.h>
+#include <Console.h>
+
+void setup() {
+  Console.begin();    // Initialize Console
+  while (!Console);   // Wait for the Console port to connect
+
+  pinMode(rc_channel2, INPUT);
+  pinMode(rc_channel3, INPUT);
+  pinMode(switch_A, INPUT);
+  pinMode(switch_B, INPUT); 
+  Serial.begin(9600);
+}
+
+void loop() {
+   int rc2;          //Right Joystick
+   int rc3;          //Left Joystick
+   int swa;          //Channel 5 (Remote E-stop)
+   int swb;          //Channel 6 (Mode Switch)
+
+   Array channel2;  //Temporary array to store values from Channel 2
+   Array channel3;  //Temporary array to store values from Channel 3
+   Array switchA;   //Temporary array to store values from Switch A
+   Array switchB;   //Temporary array to store values from Switch B
+
+//Initilize the arrays above with initial size of 5
+  initArray(&channel2, 5);
+  initArray(&channel3, 5);
+  initArray(&switchA, 5);
+  initArray(&switchB, 5);
+
+  Serial.println("Please put both joysticks at the central position.\n");
+  Serial.println("Please put all the switchs at 0 position.\n");
+
+ //Measure and store the threshold value in EEPROM
+   get_right_threshold(&channel2);
+   get_left_threshold(&channel3);
+   get_switchA_threshold(&switchA);
+   get_switchB_threshold(&switchB);
+
+ //clear all the temporary array
+   freeArray(&channel2);
+   freeArray(&channel3);
+   freeArray(&switchA);
+   freeArray(&switchB);
+
+   for(;;){} //stop the loop function
+}

RC_Calibration/EEPROM_address.h

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+#ifndef EEPROM_address_H
+#define EEPROM_address_H
+
+//Address in EEPROM
+#define rc2_addr_max      0
+#define rc2_addr_min      1
+#define rc2_addr_central  2
+
+#define rc3_addr_max      3
+#define rc3_addr_min      4
+#define rc3_addr_central  5
+
+#define rc5_addr_zero     6
+#define rc5_addr_one      7
+
+#define rc6_addr_zero     8
+#define rc6_addr_one      9
+
+#endif // EEPROM_address_H

RC_Calibration/array_function.cpp

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+#include "array_function.h"
+#include <stdlib.h>
+#include <stdio.h>
+
+void initArray(Array *a, size_t initialSize) {
+	a->array = (int *)malloc(initialSize * sizeof(int));
+	a->used = 0;
+	a->size = initialSize;
+}
+
+void insertArray(Array *a, int element) {
+	if (a->used == a->size) {
+		a->size += 1;
+		a->array = (int *)realloc(a->array, a->size * sizeof(int));
+	}
+	a->array[a->used++] = element;
+}
+
+void freeArray(Array *a) {
+	free(a->array);
+	a->array = NULL;
+	a->used = a->size = 0;
+}
+
+// function to sort the array in ascending order
+void Array_sort(int *array, size_t n)
+{
+	int i = 0, j = 0, temp = 0;
+
+	for (i = 0; i<n; i++){
+		for (j = 0; j<n - 1; j++){
+			if (array[j]>array[j + 1]){
+				temp = array[j];
+				array[j] = array[j + 1];
+				array[j + 1] = temp;
+			}
+		}
+	}
+}
+
+// function to calculate the median of the array
+int Find_median(int array[], size_t n)
+{
+	int median = 0;
+
+	// if number of elements are even
+	if (n % 2 == 0)
+		median = (array[(n - 1) / 2] + array[n / 2]) / 2;
+	// if number of elements are odd
+	else
+		median = array[n / 2];
+
+	return median;
+}

RC_Calibration/array_function.h

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+#ifndef array_function_H
+#define array_function_H
+#include <Arduino.h>
+
+typedef struct {
+	int *array;
+	size_t used;
+	size_t size;
+} Array;
+
+void initArray(Array *a, size_t initialSize);
+
+void insertArray(Array *a, int element);
+
+void freeArray(Array *a);
+
+void Array_sort(int *array, size_t n);
+
+int Find_median(int array[], size_t n);
+
+
+#endif // array_function_H

RC_Calibration/pinout.h

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+#ifndef pinout_H
+#define pinout_H
+
+#define rc_channel2   3  //Channel 2
+#define rc_channel3   4  //Channel 3
+#define switch_A      6  //Channel 5
+#define switch_B      7  //Channel 6
+
+#endif // pinout_H

RC_Calibration/threshold_function.cpp

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+#include "EEPROM_address.h"
+#include "pinout.h"
+#include "array_function.h"
+#include "threshold_function.h"
+#include <EEPROM.h>
+#include <Console.h>
+
+char action = 'O';
+
+//**********Right Joystick**********//
+void get_right_threshold(Array *a){
+	int rc2_max, rc2_min, rc2_central;
+
+	//MAX Position
+	Serial.println("Please move the right joystick to the most forward position.\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while(action == 'S'){
+		insertArray(a, pulseIn(rc_channel2, HIGH));
+	}
+
+	//MIN Position
+	Serial.println("Please move the right joystick to the most backward position.\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while (action == 'S') {
+		insertArray(a, pulseIn(rc_channel2, HIGH));
+	}
+
+	//Central Position
+	Serial.println("Please move the right joystick to the central position.\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while (action == 'S') {
+		insertArray(a, pulseIn(rc_channel2, HIGH));
+	}
+
+	Array_sort(a->array, a->size);
+	rc2_max = a->array[a->size];
+	rc2_min = a->array[0];
+	rc2_central = Find_median(a->array, a->size);
+
+	EEPROM.put(rc2_addr_max, rc2_max);
+	EEPROM.put(rc2_addr_min, rc2_min);
+	EEPROM.put(rc2_addr_central, rc2_central);
+
+	freeArray(a);
+	return;
+}
+
+////**********Left Joystick**********//
+void get_left_threshold(Array *a){
+	int rc3_max, rc3_min, rc3_central;
+
+	//MAX Position
+	Serial.println("Please move the left joystick to the most forward position.\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while (action == 'S') {
+		insertArray(a, pulseIn(rc_channel3, HIGH));
+	}
+
+	//MIN Position
+	Serial.println("Please move the left joystick to the most backward position.\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while (action == 'S') {
+		insertArray(a, pulseIn(rc_channel3, HIGH));
+	}
+
+	//Central Position
+	Serial.println("Please move the left joystick to the central position.\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while (action == 'S') {
+		insertArray(a, pulseIn(rc_channel3, HIGH));
+	}
+
+	Array_sort(a->array, a->size);
+	rc3_max = a->array[a->size];
+	rc3_min = a->array[0];
+	rc3_central = Find_median(a->array, a->size);
+
+	EEPROM.put(rc3_addr_max, rc3_max);
+	EEPROM.put(rc3_addr_min, rc3_min);
+	EEPROM.put(rc3_addr_central, rc3_central);
+
+	freeArray(a);
+	return;
+}
+
+//**********Switch A(Remote E-stop)**********//
+void get_switchA_threshold(Array *a){
+	int swa_max, swa_min;
+
+	//Position 0
+	Serial.println("Please move Switch A to 0\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while (action == 'S') {
+		insertArray(a, pulseIn(switch_A, HIGH));
+	}
+
+	//Position 1
+	Serial.println("Please move Switch A to 1\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while (action == 'S') {
+		insertArray(a, pulseIn(switch_A, HIGH));
+	}
+
+	Array_sort(a->array, a->size);
+	swa_max = a->array[a->size];
+	swa_min = a->array[0];
+
+	EEPROM.put(rc5_addr_zero, swa_max);
+	EEPROM.put(rc5_addr_one, swa_min);  
+
+	freeArray(a);
+	return;
+}
+
+//**********Switch B(Mode Switch)**********//
+void get_switchB_threshold(Array *a){
+	int swb_max, swb_min;
+
+	//Position 0
+	Serial.println("Please move Switch B to 0\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while (action == 'S') {
+		insertArray(a, pulseIn(switch_B, HIGH));
+	}
+
+	//Position 1
+	Serial.println("Please move Switch B to 1\n");
+	Serial.println("Type in 'S' to start measurement or type in 'E' to end measurement.\n");
+	action = Console.read();
+	while (action == 'S') {
+		insertArray(a, pulseIn(switch_B, HIGH));
+	}
+
+	Array_sort(a->array, a->size);
+	swb_max = a->array[a->size];
+	swb_min = a->array[0];
+
+	EEPROM.put(rc6_addr_zero, swb_max);
+	EEPROM.put(rc6_addr_one, swb_min);
+
+	freeArray(a);
+	return;
+}

RC_Calibration/threshold_function.h

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+#ifndef threshold_function_H
+#define threshold_function_H
+
+void get_right_threshold(Array *a);
+void get_left_threshold(Array *a);
+void get_switchA_threshold(Array *a);
+void get_switchB_threshold(Array *a);
+
+#endif // threshold_function_H