ESP8266 Community Forum

- Sun Sep 05, 2021 6:52 am #92201 hi, let me ask.
I have a project to simulate the heading of a compass and the movement of two dc motors. when I operate it on arduino nano/uno, no problem. but when I operate it on nodemcu, somehow the compass readings don't appear on the serial monitor. does anyone know about SDA or SCL on nodemcu?
here's the code I use

Code: Select all#include <TinyGPS++.h>
#include <SoftwareSerial.h>
#include <Wire.h>
#include <QMC5883LCompass.h>
//#include <ESP8266WiFi.h>

#define RX_PIN 2
#define TX_PIN 3
#define LED_PIN 13
#define GPS_BAUD 9600
#define WAYPOINT_THRESHHOLD 3
int LEFT_MOTOR[3] = {8, 4, 5};
int RIGHT_MOTOR[3] = {9, 6, 7};

TinyGPSPlus gps;
//const char* ssid = "wifi kami"; //ssid of your wifi
//const char* password = "cipicung"; //password of your wifi
//float latitude , longitude;
//int hour , minute , second;
//String time_str , lat_str , lng_str;
//int pm;
//WiFiServer server(80);

int wp = 0;
bool selesai = false;

QMC5883LCompass compass;

SoftwareSerial ss(RX_PIN, TX_PIN);


int calcLeftMotor(double relBearing) {
  if (relBearing > 0)
    return 255;
  else
    return 1.425 * relBearing + 255;
}

int calcRightMotor(double relBearing) {
  if (relBearing <= 0)
    return 255;
  else
    return -1.425 * relBearing + 255;
}

//KALAU NGASIH RAW DATA MAGNETIK (if give raw magnetic data)
double calcHeading (int x, int y) {
  return -atan2(x, y) * 180 / 3.141592654;
}

void setup() {
  Serial.begin(9600);
  ss.begin(GPS_BAUD);
  pinMode(LED_PIN, OUTPUT); //LED

  pinMode (LEFT_MOTOR, OUTPUT);
  pinMode (RIGHT_MOTOR, OUTPUT);

//  WiFi.begin("wifi kami", "cipicung"); //connecting to wifi
//  while (WiFi.status() != WL_CONNECTED)// while wifi not connected
//  Serial.println("");
//  Serial.println("WiFi connected");
//  server.begin();
//  Serial.println("Server started");
//  Serial.println(WiFi.localIP());
 
  Serial.println("Menuju Waypoint");

  //init compass
  compass.init();
}

void loop() {
  double targetLat[] = {-6.992833};
  double targetLon[] = {107.642863};
  int jmlWP = sizeof(targetLat)/4;

  while (ss.available() > 0)
    gps.encode(ss.read());

  if(wp >= jmlWP)
    selesai = true;

  double dist = 0;
  if (gps.location.isValid()) {
    dist = distance(targetLat[wp], targetLon[wp], gps.location.lat(), gps.location.lng());
    Serial.print("distance to target: ");
    Serial.println(dist);


    double bearing = 0; //target angle
    compass.read(); // reads from compass

    double heading = calcHeading(compass.getX(), compass.getY());
    double relBearing = bearing - heading;

    int leftSpeed = map(calcLeftMotor(relBearing),0,255,130,150);
    int rightSpeed = map(calcRightMotor(relBearing),0,255,130,150);

    if(selesai){
      digitalWrite(LEFT_MOTOR[1], 0);
      digitalWrite(LEFT_MOTOR[2], 0);
      analogWrite(LEFT_MOTOR[0], 0);
      // RIGHT_MOTOR
      digitalWrite(RIGHT_MOTOR[1], 0);
      digitalWrite(RIGHT_MOTOR[2], 0);
      analogWrite(RIGHT_MOTOR[0], 0);     
    }else if (dist > WAYPOINT_THRESHHOLD) {
      //LEFT_MOTOR
      digitalWrite(LEFT_MOTOR[1], 1);
      digitalWrite(LEFT_MOTOR[2], 0);
      analogWrite(LEFT_MOTOR[0], leftSpeed);
      // RIGHT_MOTOR
      digitalWrite(RIGHT_MOTOR[1], 0);
      digitalWrite(RIGHT_MOTOR[2], 1);
      analogWrite(RIGHT_MOTOR[0], rightSpeed);
    }else if(dist <= WAYPOINT_THRESHHOLD){
      wp++;
    }
    //    if (dist < WAYPOINT_THRESHHOLD)
    //      digitalWrite(LED_PIN, HIGH);
    //
    //    if (dist > WAYPOINT_THRESHHOLD)
    //      digitalWrite(LED_PIN, LOW);

    Serial.print(" Heading: "); Serial.println(heading);
    Serial.print("Left: "); Serial.print(leftSpeed); Serial.print(" Right: "); Serial.println(rightSpeed);
    Serial.println(" ");
delay (1000);
  }
}



double distance(double lat1, double lon1, double lat2, double lon2)
{
  // Conversion factor from degrees to radians (pi/180)
  const double toRadian = 0.01745329251;

  // First coordinate (Radians)
  double lat1_r = lat1 * toRadian;
  double lon1_r = lon1 * toRadian;

  // Second coordinate (Radians)
  double lat2_r = lat2 * toRadian;
  double lon2_r = lon2 * toRadian;

  // Delta coordinates
  double deltaLat_r = (lat2 - lat1) * toRadian;
  double deltaLon_r = (lon2 - lon1) * toRadian;

  // Distance
  double a = sin(deltaLat_r / 2) * sin(deltaLat_r / 2) + cos(lat1_r) * cos(lat2_r) * sin(deltaLon_r / 2) * sin(deltaLon_r / 2);
  double c = 2 * atan2(sqrt(a), sqrt(1 - a));
  double distance = 6371 * c * 1000;

  return distance;

}

- Mon Sep 06, 2021 5:01 pm #92216

does anyone know about SDA or SCL on nodemcu?

NodeMCU I2C with Arduino IDE