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dentillozie · Post by **dentillozie** » Sat Jun 01, 2013 7:12 am

im having a problem. for my final work for school i'm trying to controle a robotarm with my computer.
i code in VB on the pc so i used it for my work.

now i'm trying to put a loop so the robot wil make some moves automaticly until i say to stop it.
my problem is ones i put it in the loop i cant make it stop anymore.

do any of you guys and girls have a idea to make it stop?

i am using the ladyada motorshield.

ps sorry for my bad englisch i'm dutch

code vb: main form

Code: Select all

Imports System.IO
Imports System.IO.Ports
Imports System.Threading


Public Class Form1
    Dim compoort As String
    Shared _continue As Boolean
    Shared _serialPort As SerialPort

    Sub GetSerialPortNames()
        For Each sp As String In My.Computer.Ports.SerialPortNames
            ComboBox1.Items.Add(sp)
        Next
        ComboBox1.SelectedIndex = 0
        compoort = ComboBox1.SelectedItem
    End Sub
    Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load

        GetSerialPortNames()
        SerialPort1.Close()
        SerialPort1.PortName = compoort 'change com port to match your Arduino port
        SerialPort1.BaudRate = 9600
        SerialPort1.DataBits = 8
        SerialPort1.Parity = Parity.None
        SerialPort1.StopBits = StopBits.One
        SerialPort1.Handshake = Handshake.None
        SerialPort1.Encoding = System.Text.Encoding.Default 'very important!


    End Sub

    Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.MouseHover

        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("1")
        SerialPort1.Close()
    End Sub

    Private Sub Button1_Click_1(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.MouseLeave, Button4.MouseLeave, Button2.MouseLeave, Button3.MouseLeave, Btntest.MouseLeave, Button5.MouseLeave, Button6.MouseLeave, Button7.MouseLeave
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try

        SerialPort1.Write("5")
        SerialPort1.Close()
    End Sub

    Private Sub Button2_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button2.MouseHover
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("3")
        SerialPort1.Close()
    End Sub

    Private Sub Button4_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button4.MouseHover
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("2")
        SerialPort1.Close()
    End Sub

    Private Sub Button3_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button3.MouseHover
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("4")
        SerialPort1.Close()
    End Sub



    Private Sub Btntest_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Btntest.MouseHover
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("7")
        SerialPort1.Close()
    End Sub



    Private Sub Button5_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button5.MouseHover
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("6")
        SerialPort1.Close()
    End Sub


    Private Sub Button6_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button6.MouseHover
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("8")
        SerialPort1.Close()
    End Sub

    Private Sub Button7_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button7.MouseHover
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("9")
        SerialPort1.Close()
    End Sub

    Private Sub ComboBox1_SelectedIndexChanged(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles ComboBox1.SelectedIndexChanged
        SerialPort1.PortName = ComboBox1.SelectedItem
    End Sub



    Private Sub Button8_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button8.Click
        Dim msg1 As String
        msg1 = MsgBox("de positie waarin de robot arm zich nu bevind is de startpositie. ben u zeker dat u het automatisch programma wilt starten", vbYesNo, "WARNING")
        If msg1 = vbYes Then
            Form2.Show()
            Timer1.Enabled = True
        ElseIf MsgBoxResult.No Then
            MsgBox("stel start positie in en probeer opnieuw")
        End If
    End Sub

    Public Sub stopauto()

        Timer2.Enabled = True

        Form2.Close()
        MsgBox("autorun gestopt")

    End Sub
   
    Public Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("0")
        SerialPort1.Close()
    End Sub

    Private Sub Timer2_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer2.Tick
        Try
            SerialPort1.Open()
        Catch ex As Exception
            MsgBox(ex.ToString)
        End Try
        SerialPort1.Write("5")
        SerialPort1.Close()
    End Sub
End Class

code 2nd form:

Code: Select all

Public Class Form2

    Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click
        Form1.Timer1.Enabled = False
        Form1.stopauto()
    End Sub
End Class

aruino code:

Code: Select all

#include <AFMotor.h>

  AF_DCMotor MGrab(1, MOTOR12_1KHZ); 
  AF_DCMotor MOperSwing(2, MOTOR12_1KHZ);
  AF_DCMotor MUnderSwing(3, MOTOR12_1KHZ);
  AF_DCMotor MBase(4, MOTOR12_1KHZ);
  
void setup() {
  Serial.begin(9600);          
  Serial.println("Motor test!");
  MGrab.setSpeed(200);  
  MOperSwing.setSpeed(200);  
  MUnderSwing.setSpeed(200);
  MBase.setSpeed(200);
}

void loop(){
 while (Serial.available() == 0); 
 int val = Serial.read() - '0'; 
 
if (val == 1) 
{
  MUnderSwing.run(FORWARD);
 }
 else if (val == 5)
 {
 MUnderSwing.run(RELEASE); 
 MBase.run(RELEASE);
 MGrab.run(RELEASE);
 MOperSwing.run(RELEASE);
 
 }
 else if (val == 3) 
 {
  MBase.run(FORWARD);
 }
 else if (val == 7)
 {
  MGrab.run(BACKWARD);
 }
  else if (val == 4) 
  {
  MBase.run(BACKWARD);
 }
 else if (val == 8)
 {
 MOperSwing.run(FORWARD);
 }
  else if (val == 2)
 {
 MUnderSwing.run(BACKWARD);
 }
 else if (val == 6)
 {
 MGrab.run(FORWARD);
 }
 else if (val == 9)
 {
 MOperSwing.run(BACKWARD);
 
 }
 
 else if (val == 0)
   {
  MUnderSwing.run(BACKWARD);      // turn it on going forward
  delay(800);
  MUnderSwing.run(RELEASE);
  delay(800);
  MGrab.run(BACKWARD);      // stopped
  delay(300);
  MGrab.run(RELEASE);      // stopped
  delay(800);
  MUnderSwing.run(FORWARD);      // turn it on going forward
  delay(800);
  MUnderSwing.run(RELEASE);
  delay(800);
  MBase.run(FORWARD);
  delay(500);
  MBase.run(RELEASE);
  delay(800);
  MUnderSwing.run(BACKWARD);      // turn it on going forward
  delay(800);
  MUnderSwing.run(RELEASE);
  delay(800);
  MGrab.run(FORWARD);      // stopped
  delay(300);
  MGrab.run(RELEASE);
  delay(800);
  MUnderSwing.run(FORWARD);      // turn it on going forward
  delay(800);
  MUnderSwing.run(RELEASE);
  delay(800);
  MBase.run(BACKWARD);
  delay(500);
  MBase.run(RELEASE);
delay(800);
   }
 {
  Serial.flush();
 }
}

adafruit_support_bill · Sat Jun 01, 2013 9:15 am

It would help to put some Serial.println statements in the Arduino code to print out the commands as they are received. That way you will know if the problem is on the VB side or the Arduino side.

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IMPORTANT - robotarm with VB and arduino

IMPORTANT - robotarm with VB and arduino

Re: IMPORTANT - robotarm with VB and arduino