Using with two motors? #1
Description
Hey there, does anyone have some ideas to make the code work with two motors? I modified the code as such:
#include "SoftwareSerial9.h"
#define TX_L 11
#define RX_L 10
#define TX_R 6
#define RX_R 5
SoftwareSerial9 serial_left(RX_L,TX_L);
SoftwareSerial9 serial_right(RX_R,TX_R);
void setup() {
serial_left.begin(26315);
serial_right.begin(26315);
Serial.begin(115200);
}
char c = ' ';
signed int sp_l=0;
signed int sp_r=0;
unsigned long time[2];
void loop() {
Serial.println(c);
if(c == ' ') {
sp_l=0;
sp_r=0;
} else if(c == 'q') {
sp_l -= 10;
} else if(c == 'w') {
sp_l += 10;
} else if(c == '2') {
sp_l += 100;
} else if(c == '1') {
sp_l -= 100;
} else if(c == 'o') {
sp_r -= 10;
} else if(c == 'p') {
sp_r += 10;
} else if(c == '0') {
sp_r += 100;
} else if(c == '9') {
sp_r -= 100;
}
Serial.print("speeds: ");
Serial.print(sp_l);
Serial.print(" / ");
Serial.println(sp_r);
do {
time[0] = micros();
serial_left.write9(256);
serial_left.write9(sp_l & 0xFF);
serial_left.write9((sp_l >> 8) & 0xFF);
serial_left.write9(sp_l & 0xFF);
serial_left.write9((sp_l >> 8) & 0xFF);
serial_left.write9(85);
serial_right.write9(256);
serial_right.write9(sp_r & 0xFF);
serial_right.write9((sp_r >> 8) & 0xFF);
serial_right.write9(sp_r & 0xFF);
serial_right.write9((sp_r >> 8) & 0xFF);
serial_right.write9(85);
time[1] = micros();
delayMicroseconds(300 - (time[1] - time[0]));
} while(!Serial.available());
c=Serial.read();
}
But after a while both wheels start speeding up to max and become uncontrollable. Any ideas?