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How to control ARDUINO with joystick?

Hello everyone. I am trying to control led using joystick. My joystick connect with joy node to jetson nano, jetson nano connect to Arduino also. I am sending input from my joystick to Arduino, Arduino control led. As long as I press the joystick button I want the LED to light, when I release the button I want LED to low. my led blink when I press the button but I release the button led doesn’t off. Is anyone help me to solve this problem. I read button and axes veriable from joystick but I cant transfer this data to Arduino.

This is my arduino code 

#include <stdint.h>
#include <stdlib.h>
#include <ros.h>
#include <std_msgs/Float32.h>
#include <sensor_msgs/Joy.h>

void joydata ( const sensor_msgs::Joy& joy)
{
  if ((joy.buttons[1] >= 0.5) )
  {
    digitalWrite(2, HIGH - digitalRead(2));
  }
  else if (joy.buttons[1] <= 0.5)
  {
    digitalWrite(2, LOW - digitalRead(2));
  }
  else {
    delay(500);
    digitalWrite(2, LOW - digitalRead(2));
  }
}

ros::NodeHandle  nh;
ros::Subscriber<sensor_msgs::Joy> sub1("joy", joydata);

void setup()
{
  pinMode(2, OUTPUT); //set up the LED

 nh.initNode();
  nh.subscribe(sub1);
  Serial.begin(57600);
}
void loop()   {

  nh.spinOnce();
  delay(10);
}

I take from axes and button variable 

header: 
  seq: 9606
  stamp: 
    secs: 1571665519
    nsecs: 387521698
  frame_id: ''
axes: [-0.0, -0.0, -0.0, 1.0, 1.0, -0.0, -0.0, -0.0]
buttons: [0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]


header: 
  seq: 9607
  stamp: 
    secs: 1571665523
    nsecs:  24873820
  frame_id: ''
axes: [-0.0, -0.0, -0.0, 1.0, 1.0, -0.0, -0.0, -0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

Edit: This is final verison of my code. Sometimes Arduino doesn't read joystick input when I send data. Doesn't catch the input.

I did 0.05 ms for nh.spinOnce(); This way i can prevent this error.

I want control Arduino'S Led with joystick concurrently. Sometimes Arduino's Leds stay blink. How can I do control LED simultaneously? 

#include <stdint.h>
#include <stdlib.h>
#include <ros.h>
#include <std_msgs/Float32.h>
#include <sensor_msgs/Joy.h>

void joydata ( const sensor_msgs::Joy& joy)
{
  int sol;
  int solcapraz;
  int ileri;
  sol = digitalRead(2);
  solcapraz = digitalRead(4);
  ileri = digitalRead(6);

  if (joy.buttons[4] == 1 && joy.axes[0] >= 0.5 && joy.axes[1] >= 0.5)
  {
    digitalWrite(2, LOW); 
    sol = 0;
    digitalWrite(6, LOW);
    ileri = 0;
    digitalWrite(4, HIGH);
  }
  else if (joy.axes[0] <= 0.5 && solcapraz == 1 && joy.axes[1] <= 0.5) {
    digitalWrite(4, LOW);
    solcapraz = 0;
  }
  else if (joy.buttons[4] >= 0.75 && joy.axes[0] >= 0.5)
  {
    digitalWrite(6, LOW);
    ileri = 0;
    digitalWrite(4, LOW);
    solcapraz = 0;
    digitalWrite(2, HIGH);
  }
  else if (joy.axes[0] <= 0.5 && sol == 1) {
    digitalWrite(2, LOW);
    sol = 0;
  }
  else  if (joy.buttons[4] == 1 && joy.axes[1] >= 0.5 )
  {
    digitalWrite(2, LOW);
    sol = 0;
    digitalWrite(4, LOW);
    solcapraz = 0;
    digitalWrite(6, HIGH);
  }
  else if (joy.axes[0] <= 0.5 && ileri == 1 && joy.axes[1] <= 0.5) {
    digitalWrite(6, LOW);
    ileri = 0;
  }
}

ros::NodeHandle  nh;
ros::Subscriber<sensor_msgs::Joy> sub1("joy", joydata);

void setup()
{

  pinMode(2, OUTPUT); //set up the LED
  pinMode(4, OUTPUT); //set up the LED
  pinMode(6, OUTPUT); //set up the LED
  nh.initNode();
  nh.subscribe(sub1);
}

void loop()   {
  nh.spinOnce();
  delay(0.05);
}

Asked by serhatzengin on 2019-10-21 09:17:48 UTC

Comments

Is there any particular reason why you subtract digitalRead(2) in your calls to digitalWrite()?
Also I notice the final else is unreachable yes?

Asked by Tejas Kumar shastha on 2019-10-21 10:10:06 UTC

Thanks for your attention. I Sent my problem after review. Please look another comment. I didnt write there because number of characters was not enough for comment.

Asked by serhatzengin on 2019-10-22 05:59:53 UTC

Answers

This is my Joystick conttrolled mini car project code. 

#include <digitalWriteFast.h>
#include <stdint.h>
#include <stdlib.h>
#include <ros.h>
#include <std_msgs/Float32.h>
#include <std_msgs/String.h>
#include <sensor_msgs/Joy.h> 

ros::NodeHandle  nh;
//std_msgs::String str_msg;


float xhizi;
float yhizi;
int hizcarpani;

const int in1 = 4; /*sag arka teker*/
const int in2 = 2;

const int in3 = 7; /*sol arka teker*/
const int in4 = 6;

const int ena1 = 9;/*pwm cıkisi sag arka teker*/
const int enb1 = 3; /*pwm cıkisi sol arka teker*/


const int in2_1 = 13; /*sag on teker*/
const int in2_2 = 12;

const int in2_3 = 8;/*sol on teker*/
const int in2_4 = 5;

const int ena2 = 11; /*pwm cıkisi sag on teker*/
const int enb2 = 10;/*pwm cıkisi sol on teker*/


void LHLH() {
  digitalWriteFast(in1, LOW);/* sag arka teker geri git*/
  digitalWriteFast(in2, HIGH);
  digitalWriteFast(in3, LOW); /* sol arka teker geri git*/
  digitalWriteFast(in4, HIGH);

  digitalWriteFast(in2_1, LOW);
  digitalWriteFast(in2_2, HIGH);
  digitalWriteFast(in2_3, LOW);
  digitalWriteFast(in2_4, HIGH);
}

void HLHL() {
  digitalWriteFast(in1, HIGH);
  digitalWriteFast(in2, LOW);
  digitalWriteFast(in3, HIGH);
  digitalWriteFast(in4, LOW);

  digitalWriteFast(in2_1, HIGH);
  digitalWriteFast(in2_2, LOW);
  digitalWriteFast(in2_3, HIGH);
  digitalWriteFast(in2_4, LOW);
}

void HLLH() {
  digitalWriteFast(in1, HIGH);
  digitalWriteFast(in2, LOW);
  digitalWriteFast(in3, LOW);
  digitalWriteFast(in4, HIGH);

  digitalWriteFast(in2_1, HIGH);
  digitalWriteFast(in2_2, LOW);
  digitalWriteFast(in2_3, LOW);
  digitalWriteFast(in2_4, HIGH);
}

void LHHL() {
  digitalWriteFast(in1, LOW);
  digitalWriteFast(in2, HIGH);
  digitalWriteFast(in3, HIGH);
  digitalWriteFast(in4, LOW);

  digitalWriteFast(in2_1, LOW);
  digitalWriteFast(in2_2, HIGH);
  digitalWriteFast(in2_3, HIGH);
  digitalWriteFast(in2_4, LOW);
}
void sagtamgaz() {
  analogWrite(ena1, 92 * hizcarpani); /*sag arka teker */
  analogWrite(enb1, 35 * hizcarpani); /*sol arka teker */
  analogWrite(ena2, 92 * hizcarpani); /*Sag on teker */
  analogWrite(enb2, 35 * hizcarpani); /*sol on teker */
}
void soltamgaz() {
  analogWrite(ena1, 35 * hizcarpani); /*sag arka teker */
  analogWrite(enb1, 92 * hizcarpani); /*sol arka teker */
  analogWrite(ena2, 35 * hizcarpani ); /*Sag on teker */
  analogWrite(enb2, 92 * hizcarpani); /*sol on teker */
}
void tamgaz() {
  analogWrite(ena1, 92 * hizcarpani);
  analogWrite(enb1, 92 * hizcarpani);
  analogWrite(ena2, 92 * hizcarpani);
  analogWrite(enb2, 92 * hizcarpani);
}
void fren() {
  digitalWriteFast(in1, LOW);
  digitalWriteFast(in2, LOW);
  digitalWriteFast(in3, LOW);
  digitalWriteFast(in4, LOW);
  analogWrite(ena1, 0);
  analogWrite(enb1, 0);

  digitalWriteFast(in2_1, LOW);
  digitalWriteFast(in2_2, LOW);
  digitalWriteFast(in2_3, LOW);
  digitalWriteFast(in2_4, LOW);
  analogWrite(ena2, 0);
  analogWrite(enb2, 0);
}

void Hareketet(float xhizi, float yhizi, int hizcarpani) {
  if (xhizi >= 0.2 && yhizi <= -0.2) { /*  solgeri */
    LHLH();
    sagtamgaz();
  }
  else if ( xhizi <= -0.2 && yhizi >= 0.2) { /* sagcaprazileri */
    HLHL();
    soltamgaz();
  }
  else if (xhizi >= 0.2  && yhizi <= 0.2) {/*sol*/
    HLLH();
    tamgaz();
  }
  else if (  xhizi >= 0.2 && yhizi >= 0.2) {/*solileri*/
    HLHL();
    sagtamgaz();
  }
  else if ( xhizi <= 0.2 &&  yhizi >= 0.2) {/*ileri git*/
    HLHL();
    tamgaz();
  }
  else if ( xhizi <= -0.2 && yhizi >= 0) {    /*  sag */
    LHHL();
    tamgaz();
  }
  else if (xhizi <= -0.2 && yhizi <= -0.2) { /*  saggeri */
    LHLH();
    soltamgaz();
  }
  else if ( xhizi >= -0.2 && yhizi <= -0.2) { /*  geri */
    LHLH();
    tamgaz();
  }
  else {
    fren();
  }
}

void joydata ( const sensor_msgs::Joy& joy)
{

  int tetik = joy.buttons[4];
 //joy.axes[0]; 
 //joy.axes[1];

  if (tetik >= 0.5 && ((joy.axes[0] <= 0.7 && joy.axes[0] >= 0.2 ) || (joy.axes[0] <= -0.2 && joy.axes[0] >= -0.7) || (joy.axes[1] <= 0.7 && joy.axes[1] >= 0.2 ) || (joy.axes[1] <= -0.2 && joy.axes[1] >= -0.7))) {
    hizcarpani = 1;
    Hareketet(joy.axes[0], joy.axes[1], hizcarpani);
  }

  else if (tetik >= 0.5 && ((joy.axes[0] <= 1 && joy.axes[0] > 0.7 ) || (joy.axes[0] < -0.7 && joy.axes[0] >= -1) ||   (joy.axes[1] < -0.7 && joy.axes[1] >= -1) || (joy.axes[1] <= 1 && joy.axes[1] > 0.7 )))  {
    hizcarpani = 2.75;
    Hareketet(joy.axes[0], joy.axes[1], hizcarpani);
  }

  else {
    fren();
  }
}

ros::Subscriber<sensor_msgs::Joy> sub1("joy", joydata);


void setup()
{
  pinMode(3, OUTPUT); 
  pinMode(9, OUTPUT); //set up the LED
  pinMode(10, OUTPUT);
  pinMode(11, OUTPUT);
  nh.initNode();
  nh.subscribe(sub1);
  TCCR1B = TCCR1B & B11111000 | B00000001;/*pwm frekansı ayarlandı 31372.55 D9 ve D10 pin*/
  TCCR2B = TCCR2B & B11111000 | B00000001;/*pwm frekansı ayarlandı 31372.55 D3 ve D11 pin*/
}

void loop()   {

  nh.spinOnce();

Asked by serhatzengin on 2019-12-29 16:49:14 UTC

Comments