updates

.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.vscode/extensions.json

@@ -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"
+    ]
+}

.vscode/settings.json

@@ -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
+}

include/README

@@ -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

lib/PWM

@@ -0,0 +1 @@
+Subproject commit 669bae33aa840f47844cefc1c9b77f5598fde15a

platformio.ini

@@ -12,4 +12,4 @@
 platform = atmelavr
 board = uno
 framework = arduino
-lib_deps = DMXSerial
+monitor_speed = 115200

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 RPWM_PIN 9
-#define LPWM_PIN 11
+#define LPWM_PIN 10
-#define L_EN_PIN 12
+#define L_EN_PIN 11
-#define R_EN_PIN 13
+#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;
+double targetPosition = 0;
-int positionDif = 0;
+// int positionDif = 0;
-double pidPwm = 0;
+double pidPWM = 0;
+double motorPWM = 0;
+double lastSwitch = 0;
 
 
-PID pid(&currentPosition, &pidPwm, &targetPosition, 2, 5, 1, DIRECT);
+PID pid(&currentPosition, &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);
+    Serial.begin(115200);
-    DMXSerial.write(DMX_CHANNEL, 0);
+
+    // 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);
+    InitTimersSafe();
-    // pid.SetSampleTime(50);
+    SetPinFrequencySafe(9, 10000);
-    pid.SetOutputLimits(-255, 255);
 
+    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 ((millis() - lastSwitch) > 5000) {
-    if (DMXSerial.noDataSince() < 5000) {
+        if (targetPosition == 0) {
-      if (DMXSerial.read(DMX_CHANNEL + 7) > 0) {
+          targetPosition = 3000;
-        pidPwm = DMXSerial.read(DMX_CHANNEL + 7);
         } else {
+          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);
 
       // 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
+      // 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();
+      // motorPWM += (pidPWM - motorPWM) * pidGain;
+      motorPWM = pidPWM;
       
-        // positionDif = targetPosition - currentPosition;
+      Serial.print("current: ");
-        // pidPwm += (positionDif - pidPwm) * pidGain;
+      Serial.print(currentPosition);
-        // if (pidPwm > 255) pidPwm = 255;
+      Serial.print(", target: ");
-        // if (pidPwm < -255) pidPwm = -255;
+      Serial.print(targetPosition);
+      Serial.print(", PID: ");
+      Serial.print(pidPWM);
+      Serial.print(", Motor: ");
+      Serial.println(motorPWM);
 
-      }
+      if (motorPWM > 0) {
-      
+          pwmWrite(RPWM_PIN, 0);
-        if (pidPwm > 0) {
+          pwmWrite(LPWM_PIN, motorPWM);
-            analogWrite(RPWM_PIN, 0);
-            analogWrite(LPWM_PIN, pidPwm);
 
           analogWrite(5, 0);
-            analogWrite(6, pidPwm);
+          analogWrite(6, motorPWM);
       } else {
-            analogWrite(LPWM_PIN, 0);
+          pwmWrite(LPWM_PIN, 0);
-            analogWrite(RPWM_PIN, -pidPwm);
+          pwmWrite(RPWM_PIN, -motorPWM);
 
           analogWrite(6, 0);
-            analogWrite(5, -pidPwm);
+          analogWrite(5, -motorPWM);
       }
 
-    } else {
+    // } else {
-      digitalWrite(R_EN_PIN, 0);
+    //   digitalWrite(R_EN_PIN, 0);
-      digitalWrite(L_EN_PIN, 0);
+    //   digitalWrite(L_EN_PIN, 0);
-    }
+    // }
 }

test/README

@@ -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