Think this mixing should work though not tested.

Steve

code:

---

#include <OrangutanMotors.h>

#define CH1 7
#define CH2 4

#define rcMin 1200
#define rcMax 1900
#define DEBUG 0
#define EXPO  0
#define MIXING 0

OrangutanMotors motors; 
unsigned long input2;
unsigned long input1;

void setup()
{
  if(DEBUG)
  {
    Serial.begin(38400);
    Serial.println("Start");
  }
  pinMode(CH1,INPUT);
  pinMode(CH2,INPUT);
}

void loop()
{
  input2 = pulseIn(CH2, HIGH) ;
  input1 = pulseIn(CH1, HIGH) ;
 
  if (input2 != 0 && input1 != 0)
  {
    if(DEBUG)
    {
      Serial.println("Input");
      Serial.println(input1);
      Serial.println(input2);
    }
   
   
    int M1 = (input1 - rcMin) -  (rcMax - rcMin)/2;
    int M2 = (input2 - rcMin) -  (rcMax - rcMin)/2;
   
    if(EXPO)
    {
      M1 = (M1/(rcMax - rcMin))^3 * (rcMax - rcMin);
      M2 = (M2/(rcMax - rcMin))^3 * (rcMax - rcMin);
    }
   
    if(MIXING)
    {
       long temp = M1 - M2;
       if (temp > 250)
       {
         temp = 255;
       }
       else if (temp < 250);
       {
         temp = -255;
       }
       
       long temp2 = M1 + M2;
       if (temp2 > 250)
       {
         temp2 = 255;
       }
       else if (temp2 < 250);
       {
         temp2 = -255;
       }
       
       M1 = temp;
       M2 = temp2;
    }   
     

    motors.setSpeeds(M1,M2);
  } 
}
 
 

---

Excellent news. Can it also sense when lipols get to 3v per cell?
_________________
So even the rain that falls isn't actually going to fill our dams and our river systems

Probably could, will look into it.

Steve
_________________
Steven Martin
Twisted Constructions
http://www.botbitz.com

Also in code above there is a few little errors.

Extra ";" in else ifs and no "-ve" in less than statements.

Makes a big difference
_________________
Steven Martin
Twisted Constructions
http://www.botbitz.com

Tested Stevo's code, mixing works a treat.
Just drove Kruger around the floor on the code and it was great. Just need failsafe code wacked into it now.
_________________
https://www.halfdonethings.com/

Everything but exponential mixing appears to work. Not exactly sure why, it should work may be because it is clipped to +/-255 too late to think about it now.

code:

---

#include <OrangutanMotors.h>

#define CH1 7
#define CH2 4

#define rcMin 1200
#define rcMax 1900
#define DEBUG 0
//#define EXPO  0
#define MIXING 1

OrangutanMotors motors; 
unsigned long input2;
unsigned long input1;
unsigned int count = 0;
void setup()
{
  if(DEBUG)
  {
    Serial.begin(38400);
    Serial.println("Start");
  }
  pinMode(CH1,INPUT);
  pinMode(CH2,INPUT);
}

void loop()
{
  input2 = pulseIn(CH2, HIGH) ;
  input1 = pulseIn(CH1, HIGH) ;
 
  if (input2 != 0 && input1 != 0)
  {
    count = 0;
    if(DEBUG)
    {
      Serial.println("Input");
      Serial.println(input1);
      Serial.println(input2);
    }
   
   
    long M1 = (input1 - rcMin) -  (rcMax - rcMin)/2;
    long M2 = (input2 - rcMin) -  (rcMax - rcMin)/2;
   
    if (M1 > 250)
    {
      M1 = 255;
    }
    else if (M1 < -250)
    {
      M1 = -255;
    }
   
    if (M2 > 250)
    {
      M2 = 255;
    }
    else if (M2 < -250)
    {
      M2 = -255;
    }
   
   /*
    if(EXPO)
    {
      M1 = (M1/(rcMax - rcMin))^3 * (rcMax - rcMin);
      M2 = (M2/(rcMax - rcMin))^3 * (rcMax - rcMin);
    }
    */
    if(MIXING)
    {
       long temp = M1 - M2;
       if (temp > 250)
       {
         temp = 255;
       }
       else if (temp < -250)
       {
         temp = -255;
       }
       
       long temp2 = M1 + M2;
       if (temp2 > 250)
       {
         temp2 = 255;
       }
       else if (temp2 < -250)
       {
         temp2 = -255;
       }
       
       M1 = temp;
       M2 = temp2;
    }   
     

    motors.setSpeeds(M1 ,M2);
  }
  else
  {
    if (count > 100)
    {
      motors.setSpeeds(0,0);
    }
    else
    {
      count++;
    }
  }
 
}

---

quote:

---

...may be because it is clipped to +/-255...
/*
if(EXPO)
{
M1 = (M1/(rcMax - rcMin))^3 * (rcMax - rcMin);
M2 = (M2/(rcMax - rcMin))^3 * (rcMax - rcMin);
}
*/

---

Yeh that looks better..
_________________
Steven Martin
Twisted Constructions
http://www.botbitz.com

Few other tips.

The 8A brushless ESCs are crappy buy the Plush ones. I fried 2 and I think aaron fried one.

The tires on the pololu wheels come off very easily. Which usually jams the wheel so I would be looking for other options.
_________________
Steven Martin
Twisted Constructions
http://www.botbitz.com

Cant just glue them?
_________________
Imagination is more important than knowledge. Knowledge is limited. Imagination encircles the world.
Albert Einstein.

They are a bitch to get on let alone glue on. I haven't personally tried but I was thinking of trying to lift them up and superglue them on. But when they are like $6 a pair I am wondering what other wheel options there is.
_________________
Steven Martin
Twisted Constructions
http://www.botbitz.com

http://www.robotgear.com.au/Product.aspx/Details/319

Could these be used for ants weights with the pololu gear/motors?
_________________
Imagination is more important than knowledge. Knowledge is limited. Imagination encircles the world.
Albert Einstein.

Same driver board as is on the Baby Oragnutans we are using. That needs a microcontroller to drive it. Which is exactly what the B328 has all in one board.

Steve
_________________
Steven Martin
Twisted Constructions
http://www.botbitz.com

**Double Post **
_________________
Steven Martin
Twisted Constructions
http://www.botbitz.com

sounds like you could probably get away with a solid wheel in the antweights, they spend more time in the air then on the ground seemingly