Added examples and fixes

examples/setCurrent/setCurrent.ino

@@ -0,0 +1,33 @@
+/*
+  Name:    setCurrent.ino
+  Created: 19-08-2018
+  Author:  SolidGeek
+  Description: This is a very simple example of how to set the current for the motor
+*/
+
+#include <VescUart.h>
+
+/** Initiate VescUart class */
+VescUart UART;
+
+float current = 1.0; /** The current in amps */
+
+void setup() {
+  Serial.begin(9600);
+  /** Setup UART port (Serial1 on Atmega32u4) */
+  Serial1.begin(19200);
+
+  while (!Serial1) {;}
+
+  /** Define which ports to use as UART */
+  UART.setSerialPort(&Serial1);
+}
+
+void loop() {
+
+  /** Call the function setCurrent() to set the motor current */
+  UART.setCurrent(current);
+
+  // UART.setBrakeCurrent(current);
+
+}

examples/setNunchuckValues/setNunchuckValues.ino

@@ -0,0 +1,71 @@
+/*
+  Name:    setNunchuckValues.ino
+  Created: 19-08-2018
+  Author:  SolidGeek
+  Description:  Use the serial monitor to set the speed/brake and enable cruise control with the nunchuck values. 
+                This example is made using a Arduino Micro (Atmega32u4) that has a HardwareSerial port (Serial1) seperated from the Serial port. 
+                A Arduino Nano or Uno that only has one Serial port will not be able to get the commands over the Serial monitor.  
+*/
+
+#include <VescUart.h>
+
+/** Initiate VescUart class */
+VescUart UART;
+
+void setup() {
+
+  /** Setup Serial port to enter commands */
+  Serial.begin(9600);
+
+  /** Setup UART port (Serial1 on Atmega32u4) */
+  Serial1.begin(19200);
+
+  while (!Serial1) {;}
+
+  /** Define which ports to use as UART */
+  UART.setSerialPort(&Serial1);
+}
+
+String command;
+int throttle = 127;
+
+void loop() {
+
+  if (Serial.available()) {
+
+    command = Serial.readStringUntil('\n');
+
+    if (command.equals("cruise")) {
+
+      /** The lowerButton is used to set cruise control */
+      UART.nunchuck.lowerButton = true;
+
+    }
+    else if (command.equals("nocruise")) {
+
+      /** The lowerButton is used to set cruise control */
+      UART.nunchuck.lowerButton = false;
+
+    }else {
+
+      throttle = command.toInt();
+
+      if ( throttle >= 0 && throttle <= 255) {
+
+        /** The valueY is used to control the speed, where 127 is the middle = no current */
+        UART.nunchuck.valueY = throttle;
+        Serial.println(throttle);
+
+      } else {
+
+        throttle = 127;
+        Serial.println("Unvalid throttle value");
+
+      }
+    }
+  }
+
+  /** Call the function setNunchuckValues to send the current nunchuck values to the VESC */
+  UART.setNunchuckValues();
+
+}

keywords.txt

@@ -11,9 +11,13 @@ VescUart 	KEYWORD1
 #######################################
 # Methods and Functions (KEYWORD2)
 #######################################
-setSerialPort
-setDebugPort
-getVescValues	KEYWORD2
-printVescValues	KEYWORD2
-setNunchuckValues
-printVescValues
+setSerialPort		KEYWORD2
+setDebugPort		KEYWORD2
+getVescValues		KEYWORD2
+printVescValues		KEYWORD2
+setNunchuckValues	KEYWORD2
+printVescValues		KEYWORD2
+setCurrent			KEYWORD2
+setBrakeCurrent		KEYWORD2
+setRPM				KEYWORD2
+setDuty				KEYWORD2

src/VescUart.cpp

@@ -1,37 +1,35 @@
 #include "VescUart.h"
 #include <HardwareSerial.h>
 
-
 VescUart::VescUart(void){
-	nunchuck.valXJoy         = 127;
-	nunchuck.valYJoy         = 127;
-	nunchuck.valLowerButton  = false;
-	nunchuck.valLowerButton  = false;
+	nunchuck.valueX         = 127;
+	nunchuck.valueY         = 127;
+	nunchuck.lowerButton  	= false;
+	nunchuck.upperButton  	= false;
 }
 
-void VescUart::setSerialPort(HardwareSerial* _serialPort)
+void VescUart::setSerialPort(HardwareSerial* port)
 {
-	serialPort = _serialPort;
+	serialPort = port;
 }
 
-void VescUart::setDebugPort(Stream* _debugPort)
+void VescUart::setDebugPort(Stream* port)
 {
-	debugPort = _debugPort;
+	debugPort = port;
 }
 
 int VescUart::receiveUartMessage(uint8_t * payloadReceived) {
 
 	// Messages <= 255 starts with "2", 2nd byte is length
 	// Messages > 255 starts with "3" 2nd and 3rd byte is length combined with 1st >>8 and then &0xFF
 
-	unsigned int counter = 0;
-	unsigned int endMessage = 256;
+	uint16_t counter = 0;
+	uint16_t endMessage = 256;
 	bool messageRead = false;
 	uint8_t messageReceived[256];
-	unsigned int lenPayload = 0;
+	uint16_t lenPayload = 0;
 
-	unsigned long timeout = 0;
-	timeout = millis() + 100;
+	uint32_t timeout = millis() + 100; // Defining the timestamp for timeout (100ms before timeout)
 
 	while ( millis() < timeout && messageRead == false) {
 
@@ -50,11 +48,14 @@ int VescUart::receiveUartMessage(uint8_t * payloadReceived) {
 
 					case 3:
 						// ToDo: Add Message Handling > 255 (starting with 3)
+						if( debugPort != NULL ){
+							debugPort->println("Message is larger than 256 bytes - not supported");
+						}
 					break;
 
 					default:
 						if( debugPort != NULL ){
-							debugPort->println("No start bit");
+							debugPort->println("Unvalid start bit");
 						}
 					break;
 				}
@@ -70,16 +71,16 @@ int VescUart::receiveUartMessage(uint8_t * payloadReceived) {
 					debugPort->println("End of message reached!");
 				}
 				messageRead = true;
-				break; //Exit if end of message is reached, even if there is still more data in buffer.
+				break; // Exit if end of message is reached, even if there is still more data in the buffer.
 			}
 		}
 	}
-
 	if(messageRead == false && debugPort != NULL ) {
 		debugPort->println("Timeout");
 	}
 
 	bool unpacked = false;
+
 	if (messageRead) {
 		unpacked = unpackPayload(messageReceived, endMessage, payloadReceived);
 	}
@@ -181,9 +182,9 @@ bool VescUart::processReadPacket(uint8_t * message) {
 	message++; // Removes the packetId from the actual message (payload)
 
 	switch (packetId){
-		case COMM_GET_VALUES:
+		case COMM_GET_VALUES: // Structure defined here: https://github.com/vedderb/bldc/blob/43c3bbaf91f5052a35b75c2ff17b5fe99fad94d1/commands.c#L164
 
-			ind = 4; // Skip the first 4 bytes
+			ind = 4; // Skip the first 4 bytes 
 			data.avgMotorCurrent 	= buffer_get_float32(message, 100.0, &ind);
 			data.avgInputCurrent 	= buffer_get_float32(message, 100.0, &ind);
 			ind += 8; // Skip the next 8 bytes
@@ -230,10 +231,10 @@ void VescUart::setNunchuckValues() {
 	uint8_t payload[11];
 
 	payload[ind++] = COMM_SET_CHUCK_DATA;
-	payload[ind++] = nunchuck.valXJoy;
-	payload[ind++] = nunchuck.valYJoy;
-	buffer_append_bool(payload, nunchuck.valLowerButton, &ind);
-	buffer_append_bool(payload, nunchuck.valUpperButton, &ind);
+	payload[ind++] = nunchuck.valueX;
+	payload[ind++] = nunchuck.valueY;
+	buffer_append_bool(payload, nunchuck.lowerButton, &ind);
+	buffer_append_bool(payload, nunchuck.upperButton, &ind);
 
 	// Acceleration Data. Not used, Int16 (2 byte)
 	payload[ind++] = 0;
@@ -245,13 +246,53 @@ void VescUart::setNunchuckValues() {
 
 	if(debugPort != NULL){
 		debugPort->println("Data reached at setNunchuckValues:");
-		debugPort->print("valXJoy = "); debugPort->print(nunchuck.valXJoy); debugPort->print(" valYJoy = "); debugPort->println(nunchuck.valYJoy);
-		debugPort->print("LowerButton = "); debugPort->print(nunchuck.valLowerButton); debugPort->print(" UpperButton = "); debugPort->println(nunchuck.valUpperButton);
+		debugPort->print("valueX = "); debugPort->print(nunchuck.valueX); debugPort->print(" valueY = "); debugPort->println(nunchuck.valueY);
+		debugPort->print("LowerButton = "); debugPort->print(nunchuck.lowerButton); debugPort->print(" UpperButton = "); debugPort->println(nunchuck.upperButton);
 	}
 
 	packSendPayload(payload, 11);
 }
 
+void VescUart::setCurrent(float current) {
+	int32_t index = 0;
+	uint8_t payload[5];
+
+	payload[index++] = COMM_SET_CURRENT;
+	buffer_append_int32(payload, (int32_t)(current * 1000), &index);
+
+	packSendPayload(payload, 5);
+}
+
+void VescUart::setBrakeCurrent(float brakeCurrent) {
+	int32_t index = 0;
+	uint8_t payload[5];
+
+	payload[index++] = COMM_SET_CURRENT_BRAKE;
+	buffer_append_int32(payload, (int32_t)(brakeCurrent * 1000), &index);
+
+	packSendPayload(payload, 5);
+}
+
+void VescUart::setRPM(float rpm) {
+	int32_t index = 0;
+	uint8_t payload[5];
+
+	payload[index++] = COMM_SET_RPM ;
+	buffer_append_int32(payload, (int32_t)(rpm), &index);
+
+	packSendPayload(payload, 5);
+}
+
+void VescUart::setDuty(float duty) {
+	int32_t index = 0;
+	uint8_t payload[5];
+
+	payload[index++] = COMM_SET_DUTY;
+	buffer_append_int32(payload, (int32_t)(duty * 100000), &index);
+
+	packSendPayload(payload, 5);
+}
+
 void VescUart::serialPrint(uint8_t * data, int len) {
 	if(debugPort != NULL){
 		for (int i = 0; i <= len; i++)
@@ -264,7 +305,6 @@ void VescUart::serialPrint(uint8_t * data, int len) {
 	}
 }
 
-
 void VescUart::printVescValues() {
 	if(debugPort != NULL){
 		debugPort->print("avgMotorCurrent: "); 	debugPort->println(data.avgMotorCurrent);

src/VescUart.h

@@ -23,10 +23,10 @@ class VescUart
 
 	/** Struct to hold the nunchuck values to send over UART */
 	struct nunchuckPackage {
-		int	valXJoy;
-		int	valYJoy;
-		bool valUpperButton;
-		bool valLowerButton;
+		int	valueX;
+		int	valueY;
+		bool upperButton; // valUpperButton
+		bool lowerButton; // valLowerButton
 	};
 
 
@@ -44,14 +44,15 @@ class VescUart
 
 		/**
 		 * @brief      Set the serial port for uart communication
+		 * @param      port  - Reference to Serial port (pointer) 
 		 */
-		void setSerialPort(HardwareSerial* _serialPort);
+		void setSerialPort(HardwareSerial* port);
 
 		/**
 		 * @brief      Set the serial port for debugging
-		 * @param      Serial object 
+		 * @param      port  - Reference to Serial port (pointer) 
 		 */
-		void setDebugPort(Stream* _debugSerialPort);
+		void setDebugPort(Stream* port);
 
 		/**
 		 * @brief      Sends a command to VESC and stores the returned data
@@ -65,6 +66,30 @@ class VescUart
 		 */
 		void setNunchuckValues(void);
 
+		/**
+		 * @brief      Set the current to drive the motor
+		 * @param      current  - The current to apply
+		 */
+		void setCurrent(float current);
+
+		/**
+		 * @brief      Set the current to brake the motor
+		 * @param      brakeCurrent  - The current to apply
+		 */
+		void setBrakeCurrent(float brakeCurrent);
+
+		/**
+		 * @brief      Set the rpm of the motor
+		 * @param      rpm  - The desired RPM (actually eRPM = RPM * poles)
+		 */
+		void setRPM(float rpm);
+
+		/**
+		 * @brief      Set the duty of the motor
+		 * @param      duty  - The desired duty (0.0-1.0)
+		 */
+		void setDuty(float duty);
+
 		/**
 		 * @brief      Help Function to print struct dataPackage over Serial for Debug
 		 */