Bug A very strange problem with serial communication

I use this https://github.com/knaufinator/6DOF-Rotary-Stewart-Motion-Simulatormethod.
When I compete almost work, I found my Esp32 cannot simulate the servo.
I use https://github.com/fbrussa/VirtualSim to test, it work very well.

Sorry for not providing enough information. I am still not familiar with how to use this forum. Let me first send my settings page to you.

VirtualSim works as expected,.
VirtualSim needs to use network mode, while @knaufinator needs to use serial port mode. Their output methods are different, one is [A<Axis1a>][B<Axis2a>][C<Axis3a>], the other is <Axis1a>,<Axis2a>,<Axis3a>,<Axis4a>,< Axis5a>,<Axis6a>X

@knaufinator's code and settings does not work. the servo stop all the time

The android app only connects to the BLE and allows you to stop movement,... i.e. ... e stop for a bystander...

tu xiao mi - I thought you mentioned to me that the joggers work in the Output Testing tab of simtools to control the servos?

Im confident we can work through this, we just need to step through the process. no point in testing simtools if we dont know if the PCB is working.

• 1) we need to verify that the PCB can accept a serial command and process it.
  • make sure your servo is powered, and connected to PCB.
  • using Arduino serial monitor - boot the esp32 while connected (hit boot button) ... it should output its startup sequence, as well my codes startup ... paste this output to this forum thread,.. this is to verify the esp32 is happy.
  • next, send it a command to have it move around,...
    • by default, it thinks it is at the home position -
      • home = 2047 for each DOF i.e. "2047,2047,2047,2047,2047,2047X"
    • we want to move it somewhere else for testing.
      • send these commands over Arduino serial monitor to have the esp32 move all the arms equally , as we are only modifying the z axis height.
        • "2047,2047,1047,2047,2047,2047X" - will lower all the arms
        • "2047,2047,3047,2047,2047,2047X" - will raise all the arms

We will move on from here once you can verify this is working.

what is the "joggers"?

The "output testing" tab, the "Sliders" == Joggers.. can that move the servos

thank you very much for you helping
below is my start message:
⸮ets Jun 8 2016 00:22:57
rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
modeIO, clock div:1
load:0x3fff0030,len:1252
load:0x40078000,len:12732
load:0x40080400,len:3100
entry 0x400805ec
⸮Load
Axis 1: 100
Axis 2: 100
Axis 3: 100
Axis 4: 100
Axis 5: 100
Axis 6: 100
lpfVec vector loadedStarting BLE init!

and when I send 2047,2047,2047,2047,2047,2047X
the Arduino IDE return the error message:
Exception in thread "AWT-EventQueue-0" java.lang.NullPointerException
at processing.app.Serial.write(Serial.java:254)
at processing.app.Serial.write(Serial.java:274)
at processing.app.SerialMonitor.send(SerialMonitor.java:122)
at processing.app.SerialMonitor.lambda$new$1(SerialMonitor.java:66)
at javax.swing.AbstractButton.fireActionPerformed(AbstractButton.java:2022)
at javax.swing.AbstractButton$Handler.actionPerformed(AbstractButton.java:2348)
at javax.swing.DefaultButtonModel.fireActionPerformed(DefaultButtonModel.java:402)
at javax.swing.DefaultButtonModel.setPressed(DefaultButtonModel.java:259)
at javax.swing.plaf.basic.BasicButtonListener.mouseReleased(BasicButtonListener.java:252)
at java.awt.Component.processMouseEvent(Component.java:6539)
at javax.swing.JComponent.processMouseEvent(JComponent.java:3324)
at java.awt.Component.processEvent(Component.java:6304)
at java.awt.Container.processEvent(Container.java:2239)
at java.awt.Component.dispatchEventImpl(Component.java:4889)
at java.awt.Container.dispatchEventImpl(Container.java:2297)
at java.awt.Component.dispatchEvent(Component.java:4711)
at java.awt.LightweightDispatcher.retargetMouseEvent(Container.java:4904)
at java.awt.LightweightDispatcher.processMouseEvent(Container.java:4535)
at java.awt.LightweightDispatcher.dispatchEvent(Container.java:4476)
at java.awt.Container.dispatchEventImpl(Container.java:2283)
at java.awt.Window.dispatchEventImpl(Window.java:2746)
at java.awt.Component.dispatchEvent(Component.java:4711)
at java.awt.EventQueue.dispatchEventImpl(EventQueue.java:760)
at java.awt.EventQueue.access$500(EventQueue.java:97)
at java.awt.EventQueue$3.run(EventQueue.java:709)
at java.awt.EventQueue$3.run(EventQueue.java:703)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(ProtectionDomain.java:74)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(ProtectionDomain.java:84)
at java.awt.EventQueue$4.run(EventQueue.java:733)
at java.awt.EventQueue$4.run(EventQueue.java:731)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(ProtectionDomain.java:74)
at java.awt.EventQueue.dispatchEvent(EventQueue.java:730)
at java.awt.EventDispatchThread.pumpOneEventForFilters(EventDispatchThread.java:205)
at java.awt.EventDispatchThread.pumpEventsForFilter(EventDispatchThread.java:116)
at java.awt.EventDispatchThread.pumpEventsForHierarchy(EventDispatchThread.java:105)
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:101)
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:93)
at java.awt.EventDispatchThread.run(EventDispatchThread.java:82)

is there more?
It should say - "init Estop check:....." after this... or is this all there is???

I am talking about - Serial.print("init Estop check:"); from the Controller.ino line 422 in the setup method this lets us know about the state of the estop. this is important.... if you dont see it,... are you using an old version of the firmware?... you should update to the latest ... if that is all there is,.. it looks like the BLE init is hanging it up??? ..as its not used much,.. we could comment out the BLE init in the setup i.e. //setupBle();

this is a new one... this is beond me,.. though possibly has something to do with the issue you are seeing,..

maybe you don't have the proper drivers installed for the ESP32?,...

sometime can see "init Estop check" but I don't know which turn can see it

It should always show up when you boot the esp32, its in the setup() function. is there more to that log?

make a video, this helps as well, just show the process and get as much detail as you can into it.

if your log does not show anything past this,.. everytime,.. there are odd issues we need to overcome...

I use this driver:
WCH.CN
|__ USB-ENHANCED-SERIAL-A CH342
|__ 07/08/2020, 1.3.2020.7