Hi,
When I upload a sketch using PlatformIO, it does not work right, but when I upload the same sketch using the Arduino IDE, everything works as it should. It is possible that I have a configuration problem with PlatformIO, but I do not know what that might be. Some assistance would be appreciated.
8-Dale
Hi @hybotics,
Happy to take a look.
Are you able to be a bit more specific about what “does not work right” between the two versions?
Also, is it possible to post your code for the sketch and your platformio.ini file please.
When posting code, always paste it between triple back ticks (not single quotes):
```
Like this
```
Then we can hopefully help.
Cheers,
Norm.
I am not sure I can be more specific because there are no error messages or other indications of what is wrong.
My script:
#include "Arduino.h"
// Motor control pins
#define LEFT_ENABLE_PIN 5
#define RIGHT_ENABLE_PIN 6
#define IN1_PIN 7
#define IN2_PIN 8
#define IN3_PIN 9
#define IN4_PIN 11
#define ONBOARD_LED_PIN 13
#define ONBOARD_LED_BLINK_RATE_MS 500
#define BLUETOOTH_DELAY_SEC 5
// Speed of the robot in feet/second
#define SPEED_RATE_FORWARD 2.166 // Feet/Second
#define SPEED_RATE_REVERSE 2.10 // Feet/Second
// Minimum and maximum speeds the car is allowed to go
#define SPEED_MIN 110
#define SPEED_MAX 245
// Starting speed and adjustment settings
#define SPEED_LEFT SPEED_MIN
#define SPEED_LEFT_ADJUST 0
#define TURN_RATE_LEFT 289.0 // Degrees/Second
#define TURN_RATE_LEFT_ADJUST 0.0
#define SPEED_RIGHT SPEED_MIN
#define SPEED_RIGHT_ADJUST 0.0
#define TURN_RATE_RIGHT 289.0 // Degrees/Second
#define TURN_RATE_RIGHT_ADJUST 0.0
#define TURN_INCREMENT_DEG 15
// Trackers for the current speed of each side
unsigned int leftSpeedCurrent = SPEED_MIN;
unsigned int rightSpeedCurrent = SPEED_MIN;
unsigned int currentSpeed = SPEED_MIN;
int speedIncrement = TURN_INCREMENT_DEG;
/*
Utility functions
*/
void blinkLED(uint8_t ledPin, uint16_t rateMS) {
digitalWrite(ledPin, HIGH);
delay(rateMS);
digitalWrite(ledPin, LOW);
delay(rateMS);
}
/*
Robot functions
*/
void setSpeed(unsigned int leftSpeed, unsigned int rightSpeed) {
enableMotors();
if (leftSpeed < SPEED_MIN or leftSpeed + SPEED_LEFT_ADJUST > SPEED_MAX or
rightSpeed < SPEED_MIN or rightSpeed + SPEED_RIGHT_ADJUST > SPEED_MAX) {
// Either the left speed or right speed, or both, are out of range
while(true) {
blinkLED(ONBOARD_LED_PIN, ONBOARD_LED_BLINK_RATE_MS);
}
} else {
// Set the speeds
analogWrite(LEFT_ENABLE_PIN, leftSpeed + SPEED_LEFT_ADJUST);
leftSpeedCurrent = leftSpeed;
analogWrite(RIGHT_ENABLE_PIN, rightSpeed + SPEED_RIGHT_ADJUST);
rightSpeedCurrent = rightSpeed;
}
}
void disableMotors(void) {
digitalWrite(LEFT_ENABLE_PIN, LOW);
digitalWrite(RIGHT_ENABLE_PIN, LOW);
}
void enableMotors(void) {
digitalWrite(LEFT_ENABLE_PIN, HIGH);
digitalWrite(RIGHT_ENABLE_PIN, HIGH);
}
void brakeFull(void) {
disableMotors();
//analogWrite(LEFT_ENABLE_PIN, 100);
//analogWrite(RIGHT_ENABLE_PIN, 100);
digitalWrite(IN1_PIN, LOW);
digitalWrite(IN2_PIN, LOW);
digitalWrite(IN3_PIN, LOW);
digitalWrite(IN4_PIN, LOW);
}
void forward(float distance) {
uint16_t runTimeMS;
enableMotors();
digitalWrite(IN1_PIN, HIGH);
digitalWrite(IN2_PIN, LOW);
digitalWrite(IN3_PIN, LOW);
digitalWrite(IN4_PIN, HIGH);
runTimeMS = (int) ((distance / SPEED_RATE_FORWARD) * 1000.0);
delay(runTimeMS);
brakeFull();
}
void reverse(float distance) {
uint16_t runTimeMS;
enableMotors();
digitalWrite(IN1_PIN, LOW);
digitalWrite(IN2_PIN, HIGH);
digitalWrite(IN3_PIN, HIGH);
digitalWrite(IN4_PIN, LOW);
runTimeMS = (int) ((distance / SPEED_RATE_REVERSE) * 1000.0);
delay(runTimeMS);
brakeFull();
}
void turnLeftRelative(uint16_t turnDegrees) {
uint16_t runTimeMS;
enableMotors();
digitalWrite(IN1_PIN, LOW);
digitalWrite(IN2_PIN, HIGH);
digitalWrite(IN3_PIN, LOW);
digitalWrite(IN4_PIN, HIGH);
runTimeMS = (int) ((turnDegrees / (TURN_RATE_LEFT + TURN_RATE_LEFT_ADJUST)) * 1000.0);
//runTimeMS = 311;
delay(runTimeMS);
brakeFull();
}
void turnRightRelative(uint16_t turnDegrees) {
uint16_t runTimeMS;
enableMotors();
digitalWrite(IN1_PIN, HIGH);
digitalWrite(IN2_PIN, LOW);
digitalWrite(IN3_PIN, HIGH);
digitalWrite(IN4_PIN, LOW);
runTimeMS = (int) ((turnDegrees / (TURN_RATE_RIGHT + TURN_RATE_RIGHT_ADJUST)) * 1000.0);
delay(runTimeMS);
brakeFull();
}
/*
Calibration functions
*/
void calibrateForward() {
digitalWrite(IN1_PIN,HIGH);
digitalWrite(IN2_PIN,LOW);
digitalWrite(IN3_PIN,LOW);
digitalWrite(IN4_PIN,HIGH);
delay(5000);
brakeFull();
}
void calibrateReverse() {
digitalWrite(IN1_PIN,LOW);
digitalWrite(IN2_PIN,HIGH);
digitalWrite(IN3_PIN,HIGH);
digitalWrite(IN4_PIN,LOW);
delay(5000);
brakeFull();
}
void calibrateRight() {
digitalWrite(IN1_PIN,HIGH);
digitalWrite(IN2_PIN,LOW);
digitalWrite(IN3_PIN,HIGH);
digitalWrite(IN4_PIN,LOW);
delay(5000);
brakeFull();
}
void calibrateLeft() {
digitalWrite(IN1_PIN,LOW);
digitalWrite(IN2_PIN,HIGH);
digitalWrite(IN3_PIN,LOW);
digitalWrite(IN4_PIN,HIGH);
delay(5000);
brakeFull();
}
void setup(void) {
Serial.begin(15200);
// Setup all the pins
pinMode(LEFT_ENABLE_PIN, OUTPUT);
pinMode(RIGHT_ENABLE_PIN, OUTPUT);
pinMode(IN1_PIN, OUTPUT);
pinMode(IN2_PIN, OUTPUT);
pinMode(IN3_PIN, OUTPUT);
pinMode(IN4_PIN, OUTPUT);
/*
// Allow Bluetooth time to connect
Serial.println("Waiting for Bluetooth to connect");
for (uint8_t i = 0; i < BLUETOOTH_DELAY_SEC * 2; i++) {
blinkLED(ONBOARD_LED_PIN, ONBOARD_LED_BLINK_RATE_MS);
}
*/
// Enable the motors
Serial.println("Enabling motors.");
enableMotors();
// Make sure the motors are stopped
Serial.println("Stopping all motors");
brakeFull();
// Set initial motor speeds
Serial.println("Setting initial motor speeds");
setSpeed(SPEED_LEFT + SPEED_LEFT_ADJUST, SPEED_RIGHT + SPEED_RIGHT_ADJUST);
/* For Robot Calibration ONLY */
//setSpeed(255, 255);
//calibrateForward();
//calibrateReverse();
//calibrateRight();
//calibrateLeft();
analogWrite(LEFT_ENABLE_PIN, 255);
analogWrite(RIGHT_ENABLE_PIN, 255);
turnLeftRelative(90);
}
void loop(void) {
/*
char command;
blinkLED(ONBOARD_LED_PIN, ONBOARD_LED_BLINK_RATE_MS);
if (Serial.available()) {
// Handle commands from remote
command = Serial.read();
// Convert lower to upper case for commands
if (command >= 97 and command <= 122) {
command -= 32;
}
switch(command) {
case 'F':
forward(1.0);
break;
case 'B':
reverse(1.0);
break;
case 'R':
turnRightRelative(TURN_INCREMENT_DEG);
break;
case 'L':
turnLeftRelative(TURN_INCREMENT_DEG);
break;
}
} else {
turnLeftRelative(90);
// Do autonomous stuff
setSpeed(SPEED_MIN, SPEED_MIN);
while(true) {
// Change speed ramping direction if neccessary
if (speedIncrement >= 0) {
if (currentSpeed <= 250) {
;
} else if (currentSpeed >= 250) {
speedIncrement = -30;
}
} else {
if (currentSpeed >= SPEED_MIN) {
;
} else if (currentSpeed <= SPEED_MIN) {
speedIncrement = 30;
}
}
leftSpeedCurrent += speedIncrement;
rightSpeedCurrent += speedIncrement;
currentSpeed += speedIncrement;
setSpeed(leftSpeedCurrent, rightSpeedCurrent);
}
}
delay(1000);
*/
}
My platform.ini:
; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:uno]
platform = atmelavr
board = uno
framework = arduino
upload_port = /dev/ttyACM1
upload_speed = 115200
8-Dale
versus
Correct the code to 115200 baud.
Also your loop() function is empty, only some stuff in setup() is printed – so, if you don’t see that, press the reset button on the board once.
Another note. It looks like PlatformIO is uploading a previous sketch. That is the behavior I am seeing - not the current sketch, but the older sketch.
8-Dale
This does not make sense to me. I already have 115200 for both speeds. I do not understand what this is supposed to accomplish.
8-Dale
No, the code says baud rate fifteenthousand-twohundred. The platformio.ini says one onehundred-fifteen-thousand-twohundred. It’s off by one 1 at the start.
Dang, I missed that! I corrected the code but the behavior is the same. It acts like a previous sketch is being uploaded.
8-Dale
I figured out the problem. I was working on the wrong file - my Arduino *.ino file instead of main.cpp. As soon as I copied my code to main.cpp everything was fine. The main.cpp file had the code for the last sketch I worked on.
8-Dale