Question Servo Testing Problems 2DOF model rig

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Simulator

1. DIY
2. 2DOF Model
3. Actuators: Testing Servos
4. Interface: Arduino

SimTools

1. Version Number: 2.1
2. Game Plugin where the error is happening: issues occurring during testing
3. Settings: Running Serial Tests

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Hey all,

Working towards building a temporary test model before I start building my rig as many others

I have been trying to test my Adruino setup with a simple 2DOF setup with two RC servos on the bench.

I initially tried my own code and failed (I haven't coded anything in over a decade), so to get it off the ground I tried testing eaorobbie's RC test code. (your old posts have been VERY helpful and guiding me through much of the process, thanks dude!)

Problem: I can use the serial monitor in Adruino to control the servos without issue sending manual commands and the same goes for using the "HW start" and "HW stop" lines to send initial alignment commands to them and they also respond when I start Output testing, so I know Simtools is communicating with the Adruino, but once it turns on, the output sliders dont do anything. I'm now using not only eaurobbies code, but also his interface setup (thanks again) and it still doesnt work when output testing.

I thought maybe it was power related so the Adruino is now powered off 9 volts, and I even pulled one of the servos so it should only be running one to lighten the load, still nothing.

I'm assuming its something fundamental and easy that I'm missing, but my engineer brain is mucking it up, help!

Adruino Code (eaorobbies to a T with Debug commented out) and attached are two screens of my settings
//********************************************************************************************
// RC Model Servo
// Original code By EAOROBBIE (Robert Lindsay)
// Completely mangled by aarondc
// For free use for Sim Tool Motion Software
//********************************************************************************************
#include <Servo.h>
//#define DEBUG 1 // comment out this line to remove debuggin Serial.print lines
const int kActuatorCount = 2; // how many Actuators we are handling

// the letters ("names") sent from Sim Tools to identify each actuator
// NB: the order of the letters here determines the order of the remaining constants kPins and kActuatorScale
const char kActuatorName[kActuatorCount] = { 'R', 'L' };
const int kPins[kActuatorCount] = {4, 5}; // pins to which the Actuators are attached
const int kActuatorScale[kActuatorCount][2] = { { 0, 179 } , // Right Actuator scaling
{ 179, 0 } // Left side Actuator scaling
};
const char kEOL = '~'; // End of Line - the delimiter for our acutator values
const int kMaxCharCount = 3; // some insurance...
Servo actuatorSet[kActuatorCount]; // our array of Actuators
int actuatorPosition[kActuatorCount] = {90, 90}; // current Actuator positions, initialised to 90
int currentActuator; // keep track of the current Actuator being read in from serial port
int valueCharCount = 0; // how many value characters have we read (must be less than kMaxCharCount!!

// set up some states for our state machine
// psReadActuator = next character from serial port tells us the Actuator
// psReadValue = next 3 characters from serial port tells us the value
enum TPortState { psReadActuator, psReadValue };
TPortState currentState = psReadActuator;

void setup()
{
// attach the Actuators to the pins
for (int i = 0; i < kActuatorCount; i++)
actuatorSet.attach(kPins);

// initialise actuator position
for (int i = 0; i < kActuatorCount; i++)
updateActuator(i);

Serial.begin(9600); // opens serial port at a baud rate of 9600
}

void loop()
{

}

// this code only runs when we have serial data available. ie (Serial.available() > 0).
void serialEvent() {
char tmpChar;
int tmpValue;

while (Serial.available()) {
// if we're waiting for a Actuator name, grab it here
if (currentState == psReadActuator) {
tmpChar = Serial.read();
// look for our actuator in the array of actuator names we set up
#ifdef DEBUG
Serial.print("read in ");
Serial.println(tmpChar);
#endif
for (int i = 0; i < kActuatorCount; i++) {
if (tmpChar == kActuatorName) {
#ifdef DEBUG
Serial.print("which is actuator ");
Serial.println(i);
#endif
currentActuator = i; // remember which actuator we found
currentState = psReadValue; // start looking for the Actuator position
actuatorPosition[currentActuator] = 0; // initialise the new position
valueCharCount = 0; // initialise number of value chars read in
break;
}
}
}

// if we're ready to read in the current Actuator's position data
if (currentState == psReadValue) {
while ((valueCharCount < kMaxCharCount) && Serial.available()) {
tmpValue = Serial.read();
if (tmpValue != kEOL) {
tmpValue = tmpValue - 48;
if ((tmpValue < 0) || (tmpValue > 9)) tmpValue = 0;
actuatorPosition[currentActuator] = actuatorPosition[currentActuator] * 10 + tmpValue;
valueCharCount++;
}
else break;
}

// if we've read the value delimiter, update the Actuator and start looking for the next Actuator name
if (tmpValue == kEOL || valueCharCount == kMaxCharCount) {
#ifdef DEBUG
Serial.print("read in ");
Serial.println(actuatorPosition[currentActuator]);
#endif
// scale the new position so the value is between 0 and 179
actuatorPosition[currentActuator] = map(actuatorPosition[currentActuator], 0, 255, kActuatorScale[currentActuator][0], kActuatorScale[currentActuator][1]);
#ifdef DEBUG
Serial.print("scaled to ");
Serial.println(actuatorPosition[currentActuator]);
#endif
updateActuator(currentActuator);
currentState = psReadActuator;
}
}
}
}


// write the current Actuator position to the passed in Actuator
void updateActuator(int thisActuator) {
actuatorSet[thisActuator].write(actuatorPosition[thisActuator]);
}

in interface settings you should have an a or a b for axis grouping IE( A<Axis1a>~ B<Axis2a>~ ) and you will need to configure the default profile for testing movements manually in simtools

does it work with the SMC3 interface ?

@insanegr - You nailed it on the head! I must have missed the grouping letters somewhere, every walkthrough I saw only had the <Axis#> no grouping!

Well glad to know it was something stupid!

Thanks guys! On to the next step: firing up the 3D printer for the seat and some framework