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motors start when i touch arduino port

Discussion in 'Sensors and Actuators' started by vish, Nov 12, 2016.

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  1. vish

    vish

    8
    0
    Nov 12, 2016
    hey guys ...
    i ve been building a two wheeled balancing robot lately..
    the problem is that the motors are working when i touch the silver input of the auduino ... is my arduino a gone case or is there anything i can do .. pls help..
     
  2. (*steve*)

    (*steve*) ¡sǝpodᴉʇuɐ ǝɥʇ ɹɐǝɥd Moderator

    25,384
    2,771
    Jan 21, 2010
    There are just so many possibilities.

    You may have configured the pins as inputs and you are driving mosfets. Any significant charge on your body could turn the mosfets on (or off).

    Or you may have programmed your arduino to respond to signals on other pins. Without activating the internal pullups or adding external pullups or pulldowns the input will again be subject to stray voltages.

    Or you may have fried it.
     
  3. vish

    vish

    8
    0
    Nov 12, 2016
     
  4. vish

    vish

    8
    0
    Nov 12, 2016

    CODE::::


    Code:
    #include <PID_v1.h>
    #include <LMotorController.h>
    #include "I2Cdev.h"
    
    #include "MPU6050_6Axis_MotionApps20.h"
    
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
      #include "Wire.h"
    #endif
    
    
    #define LOG_INPUT 0
    #define MANUAL_TUNING 0
    #define LOG_PID_CONSTANTS 0 //MANUAL_TUNING must be 1
    #define MOVE_BACK_FORTH 0
    
    #define MIN_ABS_SPEED 30
    
    //MPU
    
    
    MPU6050 mpu;
    
    // MPU control/status vars
    bool dmpReady = false;  // set true if DMP init was successful
    uint8_t mpuIntStatus;  // holds actual interrupt status byte from MPU
    uint8_t devStatus;  // return status after each device operation (0 = success, !0 = error)
    uint16_t packetSize;  // expected DMP packet size (default is 42 bytes)
    uint16_t fifoCount;  // count of all bytes currently in FIFO
    uint8_t fifoBuffer[64]; // FIFO storage buffer
    
    // orientation/motion vars
    Quaternion q;  // [w, x, y, z]  quaternion container
    VectorFloat gravity;  // [x, y, z]  gravity vector
    float ypr[3];  // [yaw, pitch, roll]  yaw/pitch/roll container and gravity vector
    
    
    //PID
    
    
    #if MANUAL_TUNING
      double kp , ki, kd;
      double prevKp, prevKi, prevKd;
    #endif
    double originalSetpoint = 174.29;
    double setpoint = originalSetpoint;
    double movingAngleOffset = 0.3;
    double input, output;
    int moveState=0; //0 = balance; 1 = back; 2 = forth
    
    #if MANUAL_TUNING
      PID pid(&input, &output, &setpoint, 0, 0, 0, DIRECT);
    #else
      PID pid(&input, &output, &setpoint, 70, 240, 1.9, DIRECT);
    #endif
    
    
    //MOTOR CONTROLLER
    
    
    int ENA = 3;
    int IN1 = 4;
    int IN2 = 8;
    int IN3 = 5;
    int IN4 = 7;
    int ENB = 6;
    
    
    LMotorController motorController(ENA, IN1, IN2, ENB, IN3, IN4, 1, 1);
    
    
    //timers
    
    
    long time1Hz = 0;
    long time5Hz = 0;
    
    
    volatile bool mpuInterrupt = false;  // indicates whether MPU interrupt pin has gone high
    void dmpDataReady()
    {
      mpuInterrupt = true;
    }
    
    
    void setup()
    {
      // join I2C bus (I2Cdev library doesn't do this automatically)
      #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
      Wire.begin();
      TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
      #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
      Fastwire::setup(400, true);
      #endif
    
      // initialize serial communication
      // (115200 chosen because it is required for Teapot Demo output, but it's
      // really up to you depending on your project)
      Serial.begin(115200);
      while (!Serial); // wait for Leonardo enumeration, others continue immediately
    
      // initialize device
      Serial.println(F("Initializing I2C devices..."));
      mpu.initialize();
    
      // verify connection
      Serial.println(F("Testing device connections..."));
      Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
    
      // load and configure the DMP
      Serial.println(F("Initializing DMP..."));
      devStatus = mpu.dmpInitialize();
    
      // supply your own gyro offsets here, scaled for min sensitivity
      mpu.setXGyroOffset(220);
      mpu.setYGyroOffset(76);
      mpu.setZGyroOffset(-85);
      mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
    
      // make sure it worked (returns 0 if so)
      if (devStatus == 0)
      {
      // turn on the DMP, now that it's ready
      Serial.println(F("Enabling DMP..."));
      mpu.setDMPEnabled(true);
    
      // enable Arduino interrupt detection
      Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
      attachInterrupt(0, dmpDataReady, RISING);
      mpuIntStatus = mpu.getIntStatus();
    
      // set our DMP Ready flag so the main loop() function knows it's okay to use it
      Serial.println(F("DMP ready! Waiting for first interrupt..."));
      dmpReady = true;
    
      // get expected DMP packet size for later comparison
      packetSize = mpu.dmpGetFIFOPacketSize();
      
      //setup PID
      
      pid.SetMode(AUTOMATIC);
      pid.SetSampleTime(10);
      pid.SetOutputLimits(-255, 255); 
      }
      else
      {
      // ERROR!
      // 1 = initial memory load failed
      // 2 = DMP configuration updates failed
      // (if it's going to break, usually the code will be 1)
      Serial.print(F("DMP Initialization failed (code "));
      Serial.print(devStatus);
      Serial.println(F(")"));
      }
    }
    
    
    void loop()
    {
      // if programming failed, don't try to do anything
      if (!dmpReady) return;
    
      // wait for MPU interrupt or extra packet(s) available
      while (!mpuInterrupt && fifoCount < packetSize)
      {
      //no mpu data - performing PID calculations and output to motors
      
      pid.Compute();
      motorController.move(output, MIN_ABS_SPEED);
      
      unsigned long currentMillis = millis();
    
      if (currentMillis - time1Hz >= 1000)
      {
      loopAt1Hz();
      time1Hz = currentMillis;
      }
      
      if (currentMillis - time5Hz >= 5000)
      {
      loopAt5Hz();
      time5Hz = currentMillis;
      }
      }
    
      // reset interrupt flag and get INT_STATUS byte
      mpuInterrupt = false;
      mpuIntStatus = mpu.getIntStatus();
    
      // get current FIFO count
      fifoCount = mpu.getFIFOCount();
    
      // check for overflow (this should never happen unless our code is too inefficient)
      if ((mpuIntStatus & 0x10) || fifoCount == 1024)
      {
      // reset so we can continue cleanly
      mpu.resetFIFO();
      Serial.println(F("FIFO overflow!"));
    
      // otherwise, check for DMP data ready interrupt (this should happen frequently)
      }
      else if (mpuIntStatus & 0x02)
      {
      // wait for correct available data length, should be a VERY short wait
      while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
    
      // read a packet from FIFO
      mpu.getFIFOBytes(fifoBuffer, packetSize);
      
      // track FIFO count here in case there is > 1 packet available
      // (this lets us immediately read more without waiting for an interrupt)
      fifoCount -= packetSize;
    
      mpu.dmpGetQuaternion(&q, fifoBuffer);
      mpu.dmpGetGravity(&gravity, &q);
      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
      #if LOG_INPUT
      Serial.print("ypr\t");
      Serial.print(ypr[0] * 180/M_PI);
      Serial.print("\t");
      Serial.print(ypr[1] * 180/M_PI);
      Serial.print("\t");
      Serial.println(ypr[2] * 180/M_PI);
      #endif
      input = ypr[1] * 180/M_PI + 180;
      }
    }
    
    
    void loopAt1Hz()
    {
    #if MANUAL_TUNING
      setPIDTuningValues();
    #endif
    }
    
    
    void loopAt5Hz()
    {
      #if MOVE_BACK_FORTH
      moveBackForth();
      #endif
    }
    
    
    //move back and forth
    
    
    void moveBackForth()
    {
      moveState++;
      if (moveState > 2) moveState = 0;
      
      if (moveState == 0)
      setpoint = originalSetpoint;
      else if (moveState == 1)
      setpoint = originalSetpoint - movingAngleOffset;
      else
      setpoint = originalSetpoint + movingAngleOffset;
    }
    
    
    //PID Tuning (3 potentiometers)
    
    #if MANUAL_TUNING
    void setPIDTuningValues()
    {
      readPIDTuningValues();
      
      if (kp != prevKp || ki != prevKi || kd != prevKd)
      {
    #if LOG_PID_CONSTANTS
      Serial.print(kp);Serial.print(", ");Serial.print(ki);Serial.print(", ");Serial.println(kd);
    #endif
    
      pid.SetTunings(kp, ki, kd);
      prevKp = kp; prevKi = ki; prevKd = kd;
      }
    }
    
    
    void readPIDTuningValues()
    {
      int potKp = analogRead(A0);
      int potKi = analogRead(A1);
      int potKd = analogRead(A2);
      
      kp = map(potKp, 0, 1023, 0, 25000) / 100.0; //0 - 250
      ki = map(potKi, 0, 1023, 0, 100000) / 100.0; //0 - 1000
      kd = map(potKd, 0, 1023, 0, 500) / 100.0; //0 - 5
    }
    #endif
    

    \* I GOT IT FROM NET .. IS SOMETHING WRONG WITH IT?*\
     
    Last edited by a moderator: Nov 13, 2016
  5. (*steve*)

    (*steve*) ¡sǝpodᴉʇuɐ ǝɥʇ ɹɐǝɥd Moderator

    25,384
    2,771
    Jan 21, 2010
    That is definitely code.

    Placing it between code tags would be a good idea.

    Have you tried debugging the code yourself?
     
  6. vish

    vish

    8
    0
    Nov 12, 2016
    nope.... frankly speaking i donnno how ...
     
  7. vish

    vish

    8
    0
    Nov 12, 2016
    but if its d code i better start studying really hard... thanks by the way for identifying the problem...
     
  8. (*steve*)

    (*steve*) ¡sǝpodᴉʇuɐ ǝɥʇ ɹɐǝɥd Moderator

    25,384
    2,771
    Jan 21, 2010
    I've placed code tags around your code so it's at least readable now.

    I don't have time to read all of that code and make sense of it. Perhaps you have a link to where you got it from?

    There's clearly some other hardware involved. Do you have exactly the same hardware as used originally, and did you connect it up identically?

    What's it supposed to do?
     
  9. vish

    vish

    8
    0
    Nov 12, 2016
    It's a two wheeled balancing robot.. Segway mini... The connection are fine.. I put the motor driver n's mpu6050 as I normally would..

    Dude.. I just changed my arduino and it's working again just like u said.. It had fired... thanks for ur time man.. Ur awesome
     
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