Hi, I'm not at home I'll try when I'm back   thanks.

@DJ Sures . The custom Movement Panel v2 works fine. i copied the 3 scripts ,forward,reverse and stop . ( i just replaced Pwm by PWM as i got an error). i can move F/R and stop . If i understand the script correctly, the speed difference between Left/Right will provide a steering angle. But I  just have one motor with a differential, i use only 3 ports: d2 for forward, port d3 for reverse and port d5 for pwm. Now i am using custom Movement Panel V2 with the 3 scripts Fwd/Rev and stop and i added 2 scripts for right and left which are used for my steering servo. both scripts have fix values ,40 for left and 140 for right. It works ok with a joystick even the steering is not very smooth because it goes either to 40 or to 140 .

You can’t use the left and right scripts. You can only use the forward and reverse as mentioned above.

@athena explain the scripts and how they can me fine tuned. And explain why the left and right can’t be used for this robot type

Certainly! Let's break down the setup and how you can fine-tune it for your AdventureBot with a differential motor and steering servo.

Understanding the Custom Movement Panel v2

The Custom Movement Panel v2 is designed to handle various movement commands, such as forward, reverse, left, and right. However, in your setup, you have a single motor with a differential for the rear wheels and a servo for steering. This means:

• Forward and Reverse: These commands control the PWM signals to your motor, allowing the robot to move forward and backward.
• Left and Right: These commands are typically used for differential steering, which doesn't apply directly to your setup since you have a single motor for both rear wheels.

Why Left and Right Can't Be Used

In a typical differential drive setup, the left and right commands would adjust the speed of each wheel independently to achieve turning. However, since you have a single motor controlling both rear wheels, the left and right commands won't work as intended for steering.

Fine-Tuning the Scripts

To achieve smooth steering with your setup, you can focus on the forward and reverse scripts and adjust the steering servo based on the speed difference. Here's how you can fine-tune it:

1. Forward and Reverse Scripts:

   • These scripts should control the PWM signals to your motor. Ensure that the PWM values are set correctly for smooth acceleration and deceleration.

2. Steering servo Control:

   • Instead of using fixed values for left and right, you can map the speed difference to a range of servo positions. This will allow for smoother steering transitions.
   • Use the Utility.map() function to map the speed difference to servo angles. For example, if the speed difference is positive, map it to a range that turns the servo to the right, and if negative, map it to the left.

3. Example Code for Steering:

   // Assuming speedDifference is calculated from joystick input
   var speedDifference = getVar("$SpeedDifference"); // Replace with actual calculation
   var steeringAngle = Utility.map(speedDifference, -255, 255, 40, 140); // Map speed difference to servo angles
   Servo.setPosition("D5", steeringAngle); // Adjust the port as needed
   

Alternative Solutions

If the joystick doesn't provide the desired control, consider using a different input method, such as:

• Sliders: Use sliders in the ARC interface to manually adjust the steering angle.
• Custom UI: Create a custom user interface in ARC with buttons or other controls to fine-tune steering.

By focusing on mapping the speed difference to servo angles, you can achieve smoother steering with your current setup. If you have any more questions or need further assistance, feel free to ask!

There she explained well.

The code I posted you works perfectly but May only need slight modification for the steering range and speed of the utility.map() functions.

I tested the code and it works. Pushing the joystick directly forward has the robot move forward straight. Pushing forward to the left has the robot move forward to the left by steering the wheel toward left. And respectively to the right. Using the utility.map() means there’s a range of speed and turning range.

@athena @dj sures i will make these modifications, thanks again

Oh one more thing. You mentioned using a single digital port for direction - to have the right stop, I suspect you’ll need to rely on pwm. Set the pwm to zero in the stop script.

Great point! When using a single digital port for direction control, you can indeed rely on PWM to manage the motor's speed and stop it effectively. Here's how you can implement this in your setup:

Using PWM for Stopping

1. Stop Script:

   • In the stop script of your Custom Movement Panel, set the PWM value to zero. This will effectively stop the motor by cutting off the power.

2. Example Code for Stop Script:

   // Assuming the PWM port is D0, adjust as needed
   PWM.set(D0, 0); // Set PWM to zero to stop the motor
   

3. Fine-Tuning:

   • Ensure that the PWM port is correctly configured in your ARC project.
   • Test the stop functionality to make sure the motor stops immediately when the stop command is issued.

By setting the PWM to zero in the stop script, you ensure that the motor stops smoothly and efficiently. If you have any more questions or need further assistance, feel free to ask!