Quote from sporubcan on March 20, 2025, 12:52 pm

Hello,

please give me several dozens of minutes, going to analyze this problem.

Best regards,

Sam

Quote from sporubcan on March 20, 2025, 2:11 pm

I found some issue, which can cause, that motor can not run at all. Please find my ticket on https://github.com/Augmented-Robotics/roboheart-arduino-library/issues/6

Have tested it and now it does work.

You need just twice swap two lines of code.

Please let me know, if this helped you!

Best regards,

Sam

Quote from Bifrostman on March 21, 2025, 11:13 am

Hi Sam,

thanks for you help. Unfortunately updating the code did not solve the problem.

I have changed the code to:

// Callback for device disconnected event

void bleDisconnected() {

    bleDeviceConnected = false;

    bleNewStatusReceived = true;

    Serial.println("device disconnected.");

    heart.motorA.sleep(true);

    heart.motorB.sleep(true);

    heart.motorC.sleep(true);

}

// Callback for device connected event

void bleConnected() {

    bleDeviceConnected = true;

    bleNewStatusReceived = true;

    Serial.println("device connected.");

    heart.motorA.sleep(false);

    heart.motorB.sleep(false);

    heart.motorC.sleep(false);

}

This should be correct, shouldn't it?

However, the result is still the same: Serial Monitor shows correct received commands but no motor is turning...

// Callback for device disconnected event

void bleDisconnected() {

    bleDeviceConnected = false;

    bleNewStatusReceived = true;

    Serial.println("device disconnected.");

    heart.motorA.sleep(true);

    heart.motorB.sleep(true);

    heart.motorC.sleep(true);

}

// Callback for device connected event

void bleConnected() {

    bleDeviceConnected = true;

    bleNewStatusReceived = true;

    Serial.println("device connected.");

    heart.motorA.sleep(false);

    heart.motorB.sleep(false);

    heart.motorC.sleep(false);

}

Quote from sporubcan on March 21, 2025, 12:35 pm

Yes, your corrections are okay.

Could you please paste full serial log? Please do fw/bw and side movement.

How do you power Hercules? USB only, or do you have battery also plugged in?

Could you please make picture of your whole setup, please?

 

Quote from Bifrostman on March 21, 2025, 1:17 pm

The board is connected and powered via USB C to my Mac Mini. No battery connected.
The same setup works without any problem when running the RoboHeartMortorTest sketch.

The Log:

*********

New value: 1 69 46 

MOTOR MESSAGE:

command: 1

speed: 207

steeringPower: 138

response: forward

*********

*********

New value: 2 62 46 

MOTOR MESSAGE:

command: 2

speed: 186

steeringPower: 138

response: reverse

*********

*********

New value: 4 46 62 

MOTOR MESSAGE:

command: 4

speed: 138

steeringPower: 186

response: left

*********

*********

New value: 3 46 86 

MOTOR MESSAGE:

command: 3

speed: 138

steeringPower: 258

response: right

*********

*********

New value: 1 69 46 

MOTOR MESSAGE:

command: 1

speed: 207

steeringPower: 138

response: forward

*********

*********

New value: 2 62 46 

MOTOR MESSAGE:

command: 2

speed: 186

steeringPower: 138

response: reverse

*********

*********

New value: 4 46 62 

MOTOR MESSAGE:

command: 4

speed: 138

steeringPower: 186

response: left

*********

*********

New value: 3 46 86 

MOTOR MESSAGE:

command: 3

speed: 138

steeringPower: 258

response: right

*********

Quote from sporubcan on March 21, 2025, 1:53 pm

Hello,

motor drive A will not work. It is not bound to this demo.

Please connect motor to connector B(turn) or C (direction) and let me know!

Best regards,

Sam

Quote from Bifrostman on March 21, 2025, 2:20 pm

While I tried this before without success, it now works... 🙂 I guess this is due to the code change to mentioned before.

However, where can I see which connector is bound to the demo?

Quote from sporubcan on March 21, 2025, 2:28 pm

That's great news!

If you want to see the connectors which are by default assigned for steering and forward/backward movement, go to library:

https://github.com/Augmented-Robotics/roboheart-arduino-library/blob/main/RoboHeart.cpp

Please find line 74 there:

setDirectionTurnMotors(motorC, motorB);

You can control also motorA, but using different methods included in.

https://github.com/Augmented-Robotics/roboheart-arduino-library/blob/main/RoboHeartDRV8836.cpp

If you need some hints how to control motorA separately, let me know, please.

Best regards,

Sam

Quote from Bifrostman on March 21, 2025, 2:40 pm

Thank you very much for the insight.

What is the intended / best way to limit the movement of the direction motor (Motor C)? The current setup simply powers the motor and turns it as long as the control is activated. However the motor should only turn a few revolutions in each direction in order to steer the car.

Additionally: Only the direction motor port works. When connecting the same motor to MotorB, the motor only turns a minimal amount when first activating the control. Than the control does not respond any more (motor does not turn when control is used). In the Serial Monitor it seem as if the board looses BLE connection when using the turn control:

*********

New value: 2 65 46 

MOTOR MESSAGE:

command: 2

speed: 195

steeringPower: 138

response: reverse

*********

�T��}�[BLE_DBG] Service UUID: 000000ff-0000-1000-8000-00805f9b34fb

[BLE_DBG] Characteristic1 UUID: 0000ff01-0000-1000-8000-00805f9b34fb

[BLE_DBG] Characteristic2 UUID: 0000ff02-0000-1000-8000-00805f9b34fb

[BLE_DBG] Characteristic3 UUID: 0000ff03-0000-1000-8000-00805f9b34fb

RoboHeart BLE Demo

*********

New value: 2 65 46 

MOTOR MESSAGE:

command: 2

speed: 195

steeringPower: 138

response: reverse

*********

�T��}�[BLE_DBG] Service UUID: 000000ff-0000-1000-8000-00805f9b34fb

[BLE_DBG] Characteristic1 UUID: 0000ff01-0000-1000-8000-00805f9b34fb

[BLE_DBG] Characteristic2 UUID: 0000ff02-0000-1000-8000-00805f9b34fb

[BLE_DBG] Characteristic3 UUID: 0000ff03-0000-1000-8000-00805f9b34fb

RoboHeart BLE Demo