B10human Tech Math Science

Been playing around with gear ratios. Currently the ratio is 12 : 29 teeth. The Leonardo can use up to 20 volts upper limit so a 14.8volt 4s 50C 4400mAh lithium battery would suit this well. The current battery is a 12V lead acid battery 1.3Ah. The RCTank could be under powered a little. I have had to make the main track rotor larger having 10 sides.May increase the main track rotor to 13 sides and use 11:33 as the gear ratio.

Leonardo Code

#include <avr/interrupt.h>
//#define DEBUG

boolean rise1;
uint32_t result1;
uint32_t ulStart1;
uint32_t count1;
unsigned int result_array1[20];
boolean rise2;
uint32_t result2;
uint32_t ulStart2;
uint32_t count2;
unsigned int result_array2[20];
void setup(void)
{
pinMode(0, INPUT);
digitalWrite(0, HIGH); // Enable pullup resistor
pinMode(1, INPUT);
digitalWrite(1, HIGH); // Enable pullup resistor

pinMode(12, OUTPUT); //Initiates Motor Channel A pin
pinMode(9, OUTPUT); //Initiates Brake Channel A pin

pinMode(13, OUTPUT); //Initiates Motor Channel B pin
pinMode(8, OUTPUT); //Initiates Brake Channel B pin

rise1=false;
rise2=false;
result1=0;
result2=0;
count1=0;count2=0;

#ifdef DEBUG
Serial.begin(115200);
#endif

#ifdef DEBUG
while(!Serial);
Serial.println("Setup Finished");
delay(500);
#endif


digitalWrite(12, HIGH); //Establishes forward direction of Channel A
digitalWrite(9, LOW); //Disengage the Brake for Channel A
analogWrite(3,0); //Spins the motor on Channel A at full speed

digitalWrite(13, HIGH); //Establishes forward direction of Channel A
digitalWrite(8, LOW); //Disengage the Brake for Channel B
analogWrite(11,0); //Spins the motor on Channel A at full speed
delay(1000);

attachInterrupt(2, trigger1,CHANGE);
attachInterrupt(3, trigger2,CHANGE);
}
//
void loop(void)
{

noInterrupts();
//result1=result1/count1;
//result2=result2/count2;

if(count1>20)count1=20;
if(count2>20)count2=20;
result1=0;
result2=0;
for(int i=1;i<count1;i++){
if(result_array1[i]>940 && result_array1[i]<2010){
if(result1<result_array1[i])result1=result_array1[i];
#ifdef DEBUG
Serial.print(result_array1[i]);
Serial.print(",");
#endif
} }
#ifdef DEBUG
Serial.println();
#endif

for(int i=1;i<count2;i++){
if(result_array2[i]>940 && result_array2[i]<2010){
if(result2<result_array2[i])result2=result_array2[i];
#ifdef DEBUG
Serial.print(result_array2[i]);Serial.print(",");
#endif
}}

//result1=result1/(count1-1);
//result2=result2/(count2-1);

// Serial.print("[H"); // cursor to home
#ifdef DEBUG
Serial.print("t1:");Serial.println(result1);
Serial.print("t2:");Serial.println(result2);
#endif

delay(10);

count1=0;count2=0;

int throttle1=(result2-1500)/2;//(result2-1500)/2+(result1-1500)/4;
int throttle2=(result2-1500)/2;//(result2-1500)/2-(result1-1500)/4;

if(throttle1>0){
if (throttle1>235)throttle1=255;
if (throttle1<50)throttle1=0;

digitalWrite(12, HIGH); //Establishes forward direction of Channel A
analogWrite(3,throttle1); //Spins the motor on Channel A at full speed


}
else {
throttle1=abs(throttle1);
if (throttle1>235)throttle1=255;
if (throttle1<50)throttle1=0;
digitalWrite(12, LOW); //Establishes forward direction of Channel A
analogWrite(3,throttle1); //Spins the motor on Channel A at full speed
}

if(throttle2>0){

if (throttle2>235)throttle2=255;
if (throttle2<150)throttle2=0;
digitalWrite(13, HIGH); //Establishes forward direction of Channel A
analogWrite(11,throttle2); //Spins the motor on Channel A at full speed


}
else {
throttle2=abs(throttle2);
if (throttle2>235)throttle2=255;
if (throttle2<150)throttle2=0;
digitalWrite(13, LOW); //Establishes forward direction of Channel A
analogWrite(11,throttle2); //Spins the motor on Channel A at full speed
}
// result1=0;
// result2=0;

interrupts();
delay(100);

}
//
// Interrupt Service Routine attached to INT0 vector

void trigger1()
{

if(digitalRead(0) )
{
rise1=true;
ulStart1 = (uint32_t)micros();

}
else

if(rise1)
{
if(count1<20)result_array1[count1]=(unsigned int)((uint32_t)(micros()) - ulStart1);
count1++;

rise1=false;
}

}

void trigger2()
{

if(digitalRead(1) )
{
rise2=true;
ulStart2 = (uint32_t)micros();

}
else

if(rise2)
{
if(count2<20)result_array2[count2]=(unsigned int)((uint32_t)(micros()) - ulStart2);
count2++;
rise2=false;
}
}