Cytron Technical Forum

Hi Guys,

I've received the Leo, G15 shield and G15 servo today, along with the 12V 2Amp wall power supply.

I've connected everything and and I get some level of success - i've programmed the address successfully (I choose 8) using the SetID example, I then moved onto the positioning example - again this uploads correctly to the board and the red light flashes as I think it should I amended the code such that I have the following

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#include <G15.h>    // include the library
#define LED_BOARD 13


/*Return Error definitions & Mask
=====Higher 8 bits of Word=========
packet length error :       0x0100
packet header error:        0x0200
ID mismatch error:          0x0400
packet checksum mismatch :  0x0800
====Lower 8 bits of word==========
Error status return by G15:
INST         0x0040      
OVERLOAD      0x0020
CHECKSUM      0x0010
RANGE         0x0008
OVERHEAT      0x0004
ANGLELIMIT            0x0002
VOLTAGE              0x0001
*/


//declaration of variables & object
word ERROR=0;
byte DATA[10];
word STATUS;

//declare G15 Class Object
//servo1 ID=1
G15 servo1(0x08); //Set the right motor ID
//servo2 ID=2
//G15 servo2(2);


void setup(){
 
//initialize the arduino main board's serial/UART and Control Pins
  G15ShieldInit(19200,3,8);
 
//call the init function to init servo obj
  servo1.init();           
  //servo2.init();

//init LED indicator as output
  pinMode(LED_BOARD,OUTPUT); 
  digitalWrite(LED_BOARD, LOW);
 
  delay(500);
  digitalWrite(LED_BOARD, HIGH);
 
}
void loop(){
   
    servo1.SetLED(ON,iWRITE_DATA);
   
    servo1.SetSpeed(500,iWRITE_DATA);
    servo1.SetPos(ConvertAngle2Pos(0),iWRITE_DATA);    //goto 0 degree pos
   
    delay(5000); //keep the light on for 5 seconds to test
     
    servo1.SetPos(ConvertAngle2Pos(90),iWRITE_DATA);   //goto 90 degree pos
    servo1.SetSpeed(250,iWRITE_DATA);
   
     servo1.SetLED(OFF,iWRITE_DATA);
   
    //delay(1000);
   
    //servo2.SetLED(ON,iWRITE_DATA);
   
    //servo2.SetSpeed(250,iWRITE_DATA);
    //servo2.SetPos(ConvertAngle2Pos(0),iWRITE_DATA);     //goto 0 degree pos
   
    //delay(1000);
   
    //servo2.SetSpeed(500,iWRITE_DATA);
    //servo2.SetPos(ConvertAngle2Pos(90),iWRITE_DATA);   //goto 90 degree pos
   
    //servo2.SetLED(OFF,iWRITE_DATA);
    delay(1000);
   

}

So now I talk to servo at 8, and the red servo LED stays on for 5 seconds and off for 1, so I'm assuming the communications part is all successful.

My issue is the motor never moves, so I think I have a motor power problem. I have the 12v line plugged in directly to Leo board and both LED's illuminate on the shield, and Leo is powered.

If I plug my USB lead in, with no power supply I get the same effect, both boards are powered, and there seems to be no power jumpers on the Leo board.

I haven't tried powering the shield using the JP1 connector directly yet as looking in the manual I need to change JP3 over from INT to EXT and I dont have a soldering iron handy until tomorrow.

Is there something obvious either with Leo board or the shield I am missing?

Thanks for any help!!

---------------------------------------------------------------------------------------------------

Whilst typing this up and testing things I've reached the conclusion there is something wrong with the example code included for download, as if I replace the 'loop' code with the following from the tutorial the servo does what it is supposed to, so no power problems

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    servo1.SetPos(0,iWRITE_DATA);
    delay(800);
    servo1.SetPos(1087,iWRITE_DATA);
    delay(1600);
    servo1.SetPos(544,iWRITE_DATA);
    delay(800);

I'll decipher the error in the included example tomorrow, for now I'm content with what I've done so far.

Looks like the problem lies at ConvertAngle2Pos() function. We'll verify and let you know. Thanks for your info!

Hi Sich, thats what I think I had figured earlier during my lunch break, the code in my header is

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#define ConvertAngle2Pos(Angle) word(word(Angle)*1088UL/360UL)

There seems to be an error - I think it should be

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#define ConvertAngle2Pos(Angle) word(float(Angle)*1088UL/360UL)

or maybe

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#define ConvertAngle2Pos(Angle) word(float(Angle)*1088.0/360.0)

Would also work - I think as it stands it will probably always return 0 hence the non-movement, I will test it later the servo and other gizmo's are at home and I'm at work!

I can confirm that either of the revised lines I propose work in fact just copying the reverse function works fine

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#define ConvertAngle2Pos(Angle) float(Angle)*1088.0/360.0

J.

Hm... I can run the sample code on Leonardo without any modification to the code. G15 can rotate to the desired position correctly.