Quick target change

[GitShipRekt Online]

I'm basically doing a object tracking turret with the camera mounted on it. I am trying to make it follow my object but I can't seem to get the arduino code right. Best I can get using moveTo/move functions is for my robot to jump side to side from my object(trying to put the object in the center of the ball) I want it to have a smooth follow and be able to change directions but I can't get it right. any suggestions?

[gregor christandl]

Hi,
can you show us some code?
the runSpeed() function may be better for your use case:
https://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514

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[Jim Larson]

Yes, if you can post your code, I'll be glad to look at it. The
AccelStepper library works great, but sometimes using it properly isn't
obvious. I see you have posted to that forum. I'll respond there.

     -jim

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[GitShipRekt Online]

Ok so I've tried runSpeed(). but I still get the same old issue. The annoying bouncing Left RIght from the axis

void loop() {

  if (Serial.available() > 0)

  {

 

    if(Serial.read()=='X')

      nx1=Serial.parseInt();

      //double currentAngle=stp_1.currentPosition();

      error=-nx1*16;

  }

  if(error>10)

    {

      stp_1.setSpeed(-1000);

    }

  else if(error<10)

    {

      stp_1.setSpeed(1000);

    }

  else

     stp_1.stop();

  stp_1.runSpeed();

 

  //stp_2.run();

}

and this is the loop in which I'm running it

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[GitShipRekt Online]

Obviously I'm expecting some jerking around but the higher the speed the higher the jumps. What I want it to be able to do is have a smooth follow which I would get at low speeds. but at high speed it all goes poopie

[Ralph Hulslander]

Thanks for posting, I thought the AccellStepper forum was still blocked.

Ralph

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[Jim Larson]

The code for the rest of your loop and for setup and initialization seems to be missing. Could you please post your complete program? Then maybe we can help you.

                 -jim

[GitShipRekt Online]

#include <AccelStepper.h>

#include <MultiStepper.h>

const int dirPin=5;

const int stepPin=2;

const int x1_ls=11;

const int y1_ls=10;

int x1_state;

int x1_lr=0;

int x1_lastState;

int y1_state;

int y1_lr=0;

int y1_lastState;

int ny1=0;

int nx1=0;

int sx1=0;

int sy1=0;

int val1;

int val2;

int G_x1=350;

int G_y1=250;

int e_x1=0;

int e_y1=0;

int e_lx1=0;

int vx1;

int non1=0;

int non2=0;

float last_coordinate=0;

const double Kp=0.001;

const double Ki=0.1;

const double Kd=0.0;

double integral=0;

double previousError=0;

double error=0;

AccelStepper stp_1(AccelStepper:: DRIVER, stepPin, dirPin);

AccelStepper stp_2(AccelStepper:: DRIVER, 3, 6);

void zeroing1()

{

  while(1)

  {

 

  stp_1.setMaxSpeed(10000);

  stp_1.setSpeed(100);

  if(non1==0)

  stp_1.runSpeed();

  stp_2.setMaxSpeed(10000);

  stp_2.setSpeed(100);

  if(non2==0)

  stp_2.runSpeed();

  x1_lr=digitalRead(x1_ls);

  y1_lr=digitalRead(y1_ls);

  if(x1_lr!=x1_lastState)

  {

    if(x1_lr==LOW)

  {

    stp_1.stop();

    stp_1.setCurrentPosition(0);

    non1++;

  }

  }

  x1_lastState=x1_lr;

  if(y1_lr!=y1_lastState)

  {

    if(y1_lr==LOW)

    {

    stp_2.stop();

    stp_2.setCurrentPosition(0);

    non2++;

    }

  }

  y1_lastState=y1_lr;

  if(stp_1.currentPosition()==0 && stp_2.currentPosition()==0)

  break;

   

}

}

void setup() {

  delay(10);

  pinMode(x1_ls,INPUT_PULLUP);

  pinMode(y1_ls,INPUT_PULLUP);

  Serial.begin(9600);

  //zeroing1();

  stp_1.setMaxSpeed(10000);

  stp_1.setAcceleration(10000);

  stp_2.setMaxSpeed(1000000);

  stp_2.setSpeed(1000000);

  stp_2.setAcceleration(1000000);

  stp_1.setCurrentPosition(0);

  stp_1.moveTo(-100*16);

  while(stp_1.currentPosition()!=-(100*16))

    stp_1.run();

  delay(50);

 

}

void loop() {

  if (Serial.available() > 0)

  {

 

    if(Serial.read()=='X')

      nx1=Serial.parseInt();

      //double currentAngle=stp_1.currentPosition();

      error=-nx1;

  }

  if(error>10)

    {

      stp_1.setSpeed(-1000);

    }

  else if(error<10)

    {

      stp_1.setSpeed(1000);

    }

  else

     stp_1.stop();

  stp_1.runSpeed();

 

  //stp_2.run();

}

 

This is all the code. I didn't upload it initially cuz I thought at least half of the code here is irrelevant to my issue so far. Like zeroing does not need fixing. And really the only part would be in the void loop function. As for future research I've done I came to the conclusion that for 1 thing Serial.parseInt() may be a huge problem as it is a blocking function and my teacher said that I may have to figure out a small PID control for it due to the nature of my constant correction and overshoot of positioning

 

[Jim Larson]

What is the position sensor you are using? Does it continually calculate and report error from the ideal position? If so, you need to be able to slow it down so you can read and process the input. I suggest you only read it every 20 to 50 milliseconds. See what kind of response you get. Can you set up the sensor to only send data when prompted?

You might also try slowing the setSpeed value to 100 or less and see if the response slows. You may be driving the stepper too fast.

Finally, you may find it helpful to read the Missing Manual for the AccelStepper library. Note that you don't need to call stop() when you are using runSpeed().

Note that I am assuming that zeroing1() is never called and that setup() works the way you want it to.

HTH

                               -jim

[GitShipRekt Online]

Well the sensor is a bad camera mounted on the motor. I send constant data when something is detected from a python script running on my pc hence why I  have to use Serial.parseInt(). Yes zeroing works perfectly fine despite the not needed stop as u mentioned, i comented it out since rn, while trying to fix the tracking it only hinders my ability to quick test stuff. Yes if I reduce the speed to like 100. It will stop overshooting but I'm trying to make it actually have a nice tracking. Also as prev stated I need to rid myaelf of that parseInt and use a algorithm to do it without blocking. After that I'll also attempt what u suggested to reduce the reading time.

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