updates
This commit is contained in:
parent
bae69f19c4
commit
56bf063682
5
.gitignore
vendored
Normal file
5
.gitignore
vendored
Normal file
@ -0,0 +1,5 @@
|
||||
.pio
|
||||
.vscode/.browse.c_cpp.db*
|
||||
.vscode/c_cpp_properties.json
|
||||
.vscode/launch.json
|
||||
.vscode/ipch
|
||||
10
.vscode/extensions.json
vendored
Normal file
10
.vscode/extensions.json
vendored
Normal file
@ -0,0 +1,10 @@
|
||||
{
|
||||
// See http://go.microsoft.com/fwlink/?LinkId=827846
|
||||
// for the documentation about the extensions.json format
|
||||
"recommendations": [
|
||||
"platformio.platformio-ide"
|
||||
],
|
||||
"unwantedRecommendations": [
|
||||
"ms-vscode.cpptools-extension-pack"
|
||||
]
|
||||
}
|
||||
73
.vscode/settings.json
vendored
Normal file
73
.vscode/settings.json
vendored
Normal file
@ -0,0 +1,73 @@
|
||||
{
|
||||
"C_Cpp_Runner.cCompilerPath": "/home/drake/.platformio/packages/toolchain-atmelavr/bin/avr-gcc",
|
||||
"C_Cpp_Runner.cppCompilerPath": "/home/drake/.platformio/packages/toolchain-atmelavr/bin/avr-g++",
|
||||
"C_Cpp_Runner.debuggerPath": "/home/drake/.platformio/packages/toolchain-atmelavr/bin/avr-gdb",
|
||||
"C_Cpp_Runner.cStandard": "gnu11",
|
||||
"C_Cpp_Runner.cppStandard": "gnu++11",
|
||||
"C_Cpp_Runner.msvcBatchPath": "",
|
||||
"C_Cpp_Runner.useMsvc": false,
|
||||
"C_Cpp_Runner.warnings": [
|
||||
"-Wall",
|
||||
"-Wextra",
|
||||
"-Wpedantic",
|
||||
"-Wshadow",
|
||||
"-Wformat=2",
|
||||
"-Wcast-align",
|
||||
"-Wconversion",
|
||||
"-Wsign-conversion",
|
||||
"-Wnull-dereference"
|
||||
],
|
||||
"C_Cpp_Runner.msvcWarnings": [
|
||||
"/W4",
|
||||
"/permissive-",
|
||||
"/w14242",
|
||||
"/w14287",
|
||||
"/w14296",
|
||||
"/w14311",
|
||||
"/w14826",
|
||||
"/w44062",
|
||||
"/w44242",
|
||||
"/w14905",
|
||||
"/w14906",
|
||||
"/w14263",
|
||||
"/w44265",
|
||||
"/w14928"
|
||||
],
|
||||
"C_Cpp_Runner.enableWarnings": true,
|
||||
"C_Cpp_Runner.warningsAsError": false,
|
||||
"C_Cpp_Runner.compilerArgs": [],
|
||||
"C_Cpp_Runner.linkerArgs": [],
|
||||
"C_Cpp_Runner.includePaths": [
|
||||
"/home/drake/Documents/PlatformIO/Projects/DMX-motor-controller/include",
|
||||
"/home/drake/Documents/PlatformIO/Projects/DMX-motor-controller/src",
|
||||
"/home/drake/Documents/PlatformIO/Projects/DMX-motor-controller/lib/Encoder",
|
||||
"/home/drake/Documents/PlatformIO/Projects/DMX-motor-controller/lib/Encoder/utility",
|
||||
"/home/drake/Documents/PlatformIO/Projects/DMX-motor-controller/lib/DMXSerial/src",
|
||||
"/home/drake/.platformio/packages/framework-arduino-avr/cores/arduino",
|
||||
"/home/drake/.platformio/packages/framework-arduino-avr/variants/standard",
|
||||
"/home/drake/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
|
||||
"/home/drake/.platformio/packages/framework-arduino-avr/libraries/HID/src",
|
||||
"/home/drake/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
|
||||
"/home/drake/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
|
||||
"/home/drake/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
|
||||
""
|
||||
],
|
||||
"C_Cpp_Runner.includeSearch": [
|
||||
"*",
|
||||
"**/*"
|
||||
],
|
||||
"C_Cpp_Runner.excludeSearch": [
|
||||
"**/build",
|
||||
"**/build/**",
|
||||
"**/.*",
|
||||
"**/.*/**",
|
||||
"**/.vscode",
|
||||
"**/.vscode/**"
|
||||
],
|
||||
"C_Cpp_Runner.useAddressSanitizer": false,
|
||||
"C_Cpp_Runner.useUndefinedSanitizer": false,
|
||||
"C_Cpp_Runner.useLeakSanitizer": false,
|
||||
"C_Cpp_Runner.showCompilationTime": false,
|
||||
"C_Cpp_Runner.useLinkTimeOptimization": false,
|
||||
"C_Cpp_Runner.msvcSecureNoWarnings": false
|
||||
}
|
||||
39
include/README
Normal file
39
include/README
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
This directory is intended for project header files.
|
||||
|
||||
A header file is a file containing C declarations and macro definitions
|
||||
to be shared between several project source files. You request the use of a
|
||||
header file in your project source file (C, C++, etc) located in `src` folder
|
||||
by including it, with the C preprocessing directive `#include'.
|
||||
|
||||
```src/main.c
|
||||
|
||||
#include "header.h"
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
Including a header file produces the same results as copying the header file
|
||||
into each source file that needs it. Such copying would be time-consuming
|
||||
and error-prone. With a header file, the related declarations appear
|
||||
in only one place. If they need to be changed, they can be changed in one
|
||||
place, and programs that include the header file will automatically use the
|
||||
new version when next recompiled. The header file eliminates the labor of
|
||||
finding and changing all the copies as well as the risk that a failure to
|
||||
find one copy will result in inconsistencies within a program.
|
||||
|
||||
In C, the usual convention is to give header files names that end with `.h'.
|
||||
It is most portable to use only letters, digits, dashes, and underscores in
|
||||
header file names, and at most one dot.
|
||||
|
||||
Read more about using header files in official GCC documentation:
|
||||
|
||||
* Include Syntax
|
||||
* Include Operation
|
||||
* Once-Only Headers
|
||||
* Computed Includes
|
||||
|
||||
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
|
||||
1
lib/PWM
Submodule
1
lib/PWM
Submodule
@ -0,0 +1 @@
|
||||
Subproject commit 669bae33aa840f47844cefc1c9b77f5598fde15a
|
||||
@ -12,4 +12,4 @@
|
||||
platform = atmelavr
|
||||
board = uno
|
||||
framework = arduino
|
||||
lib_deps = DMXSerial
|
||||
monitor_speed = 115200
|
||||
|
||||
131
src/main.cpp
131
src/main.cpp
@ -1,26 +1,29 @@
|
||||
#include <Arduino.h>
|
||||
#include <DMXSerial.h>
|
||||
#include <PID_v1.h>
|
||||
#include <PWM.h>
|
||||
|
||||
|
||||
// #define SENSOR_PIN A0
|
||||
#define RPWM_PIN 10
|
||||
#define LPWM_PIN 11
|
||||
#define L_EN_PIN 12
|
||||
#define R_EN_PIN 13
|
||||
#define RPWM_PIN 9
|
||||
#define LPWM_PIN 10
|
||||
#define L_EN_PIN 11
|
||||
#define R_EN_PIN 12
|
||||
#define ENCODER_A 2
|
||||
#define ENCODER_B 3
|
||||
|
||||
const int DMX_CHANNEL = 1;
|
||||
|
||||
double pidGain;
|
||||
double pidGain = 0.01;
|
||||
double currentPosition = 0;
|
||||
double targetPosition = 50;
|
||||
int positionDif = 0;
|
||||
double pidPwm = 0;
|
||||
double targetPosition = 0;
|
||||
// int positionDif = 0;
|
||||
double pidPWM = 0;
|
||||
double motorPWM = 0;
|
||||
double lastSwitch = 0;
|
||||
|
||||
|
||||
PID pid(¤tPosition, &pidPwm, &targetPosition, 2, 5, 1, DIRECT);
|
||||
PID pid(¤tPosition, &pidPWM, &targetPosition, 0.2, 0.0, 0.1, DIRECT);
|
||||
|
||||
void updateEncoder() {
|
||||
if (digitalRead(ENCODER_B) == LOW) {
|
||||
@ -31,71 +34,87 @@ void updateEncoder() {
|
||||
}
|
||||
|
||||
void setup() {
|
||||
DMXSerial.init(DMXReceiver);
|
||||
DMXSerial.write(DMX_CHANNEL, 0);
|
||||
Serial.begin(115200);
|
||||
|
||||
// DMXSerial.init(DMXReceiver);
|
||||
// DMXSerial.write(DMX_CHANNEL, 0);
|
||||
|
||||
pinMode(RPWM_PIN, OUTPUT);
|
||||
pinMode(LPWM_PIN, OUTPUT);
|
||||
pinMode(L_EN_PIN, OUTPUT);
|
||||
pinMode(L_EN_PIN, OUTPUT);
|
||||
pinMode(R_EN_PIN, OUTPUT);
|
||||
pinMode(ENCODER_A, INPUT_PULLUP);
|
||||
pinMode(ENCODER_B, INPUT_PULLUP);
|
||||
|
||||
attachInterrupt(digitalPinToInterrupt(ENCODER_A), updateEncoder, RISING);
|
||||
|
||||
pid.SetMode(AUTOMATIC);
|
||||
// pid.SetSampleTime(50);
|
||||
pid.SetOutputLimits(-255, 255);
|
||||
InitTimersSafe();
|
||||
SetPinFrequencySafe(9, 10000);
|
||||
|
||||
pid.SetMode(AUTOMATIC);
|
||||
pid.SetSampleTime(50);
|
||||
pid.SetOutputLimits(-255, 255);
|
||||
|
||||
pinMode(5, OUTPUT);
|
||||
pinMode(6, OUTPUT);
|
||||
digitalWrite(LPWM_PIN, HIGH);
|
||||
digitalWrite(RPWM_PIN, HIGH);
|
||||
lastSwitch = millis();
|
||||
}
|
||||
|
||||
|
||||
void loop() {
|
||||
// Calculate how long no data bucket was received
|
||||
if (DMXSerial.noDataSince() < 5000) {
|
||||
if (DMXSerial.read(DMX_CHANNEL + 7) > 0) {
|
||||
pidPwm = DMXSerial.read(DMX_CHANNEL + 7);
|
||||
} else {
|
||||
|
||||
// read recent DMX values and set pwm levels
|
||||
// pidGain = 0.0001 + (0.002 * (DMXSerial.read(DMX_CHANNEL + 1) / 255));
|
||||
// float kP = 10 * (DMXSerial.read(DMX_CHANNEL + 2) / 255);
|
||||
// float kI = 10 * (DMXSerial.read(DMX_CHANNEL + 3) / 255);
|
||||
// float kD = 10 * (DMXSerial.read(DMX_CHANNEL + 4) / 255);
|
||||
|
||||
// pid.SetTunings(kP, kI, kD);
|
||||
|
||||
targetPosition = (DMXSerial.read(DMX_CHANNEL) - 100) * 6; // 0-200. 100 is center, <100 is CW, >100 is CCW. 0 & 200 are 360 degrees
|
||||
|
||||
// PID
|
||||
pid.Compute();
|
||||
|
||||
// positionDif = targetPosition - currentPosition;
|
||||
// pidPwm += (positionDif - pidPwm) * pidGain;
|
||||
// if (pidPwm > 255) pidPwm = 255;
|
||||
// if (pidPwm < -255) pidPwm = -255;
|
||||
|
||||
}
|
||||
|
||||
if (pidPwm > 0) {
|
||||
analogWrite(RPWM_PIN, 0);
|
||||
analogWrite(LPWM_PIN, pidPwm);
|
||||
|
||||
analogWrite(5, 0);
|
||||
analogWrite(6, pidPwm);
|
||||
if ((millis() - lastSwitch) > 5000) {
|
||||
if (targetPosition == 0) {
|
||||
targetPosition = 3000;
|
||||
} else {
|
||||
analogWrite(LPWM_PIN, 0);
|
||||
analogWrite(RPWM_PIN, -pidPwm);
|
||||
|
||||
analogWrite(6, 0);
|
||||
analogWrite(5, -pidPwm);
|
||||
targetPosition = 0;
|
||||
}
|
||||
lastSwitch = millis();
|
||||
}
|
||||
// Calculate how long no data bucket was received
|
||||
// if (DMXSerial.noDataSince() < 5000) {
|
||||
digitalWrite(R_EN_PIN, 1);
|
||||
digitalWrite(L_EN_PIN, 1);
|
||||
|
||||
} else {
|
||||
digitalWrite(R_EN_PIN, 0);
|
||||
digitalWrite(L_EN_PIN, 0);
|
||||
}
|
||||
// read recent DMX values and set pwm levels
|
||||
// pidGain = 0.0001 + (0.002 * (DMXSerial.read(DMX_CHANNEL + 1) / 255));
|
||||
// float kP = 10 * (DMXSerial.read(DMX_CHANNEL + 2) / 255);
|
||||
// float kI = 10 * (DMXSerial.read(DMX_CHANNEL + 3) / 255);
|
||||
// float kD = 10 * (DMXSerial.read(DMX_CHANNEL + 4) / 255);
|
||||
// pid.SetTunings(kP, kI, kD);
|
||||
|
||||
// targetPosition = (DMXSerial.read(DMX_CHANNEL) - 100) * 6; // 0-200. 100 is center, <100 is CW, >100 is CCW. 0 & 200 are 360 degrees
|
||||
|
||||
pid.Compute();
|
||||
// motorPWM += (pidPWM - motorPWM) * pidGain;
|
||||
motorPWM = pidPWM;
|
||||
|
||||
Serial.print("current: ");
|
||||
Serial.print(currentPosition);
|
||||
Serial.print(", target: ");
|
||||
Serial.print(targetPosition);
|
||||
Serial.print(", PID: ");
|
||||
Serial.print(pidPWM);
|
||||
Serial.print(", Motor: ");
|
||||
Serial.println(motorPWM);
|
||||
|
||||
if (motorPWM > 0) {
|
||||
pwmWrite(RPWM_PIN, 0);
|
||||
pwmWrite(LPWM_PIN, motorPWM);
|
||||
|
||||
analogWrite(5, 0);
|
||||
analogWrite(6, motorPWM);
|
||||
} else {
|
||||
pwmWrite(LPWM_PIN, 0);
|
||||
pwmWrite(RPWM_PIN, -motorPWM);
|
||||
|
||||
analogWrite(6, 0);
|
||||
analogWrite(5, -motorPWM);
|
||||
}
|
||||
|
||||
// } else {
|
||||
// digitalWrite(R_EN_PIN, 0);
|
||||
// digitalWrite(L_EN_PIN, 0);
|
||||
// }
|
||||
}
|
||||
11
test/README
Normal file
11
test/README
Normal file
@ -0,0 +1,11 @@
|
||||
|
||||
This directory is intended for PlatformIO Test Runner and project tests.
|
||||
|
||||
Unit Testing is a software testing method by which individual units of
|
||||
source code, sets of one or more MCU program modules together with associated
|
||||
control data, usage procedures, and operating procedures, are tested to
|
||||
determine whether they are fit for use. Unit testing finds problems early
|
||||
in the development cycle.
|
||||
|
||||
More information about PlatformIO Unit Testing:
|
||||
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
|
||||
Loading…
Reference in New Issue
Block a user