diff options
| author | Abel Tim <abel@abeltim.com> | 2025-04-01 19:54:58 +0200 |
|---|---|---|
| committer | Abel Tim <abel@abeltim.com> | 2025-04-01 19:54:58 +0200 |
| commit | 611845d81d3eaf5517c206a305419ab3b3afd68a (patch) | |
| tree | 7be1bc0b66afafabb605999448dfa30680685328 | |
| parent | cee52440dbaa7d71ec14ab36829e150f661291e2 (diff) | |
| download | robotica-611845d81d3eaf5517c206a305419ab3b3afd68a.tar.gz robotica-611845d81d3eaf5517c206a305419ab3b3afd68a.zip | |
did a lot of thing lately
146 files changed, 267 insertions, 15554 deletions
@@ -48,8 +48,8 @@ $RECYCLE.BIN/ .DS_Store .AppleDouble .LSOverride -._* .DocumentRevisions-V100 +._* .fseventsd .Spotlight-V100 .TemporaryItems @@ -97,7 +97,6 @@ Project\ Outputs*/ *.sln.docstates *.userprefs mono_crash.* -[Dd]ebug/ [Dd]ebugPublic/ [Rr]elease/ [Rr]eleases/ @@ -111,15 +110,16 @@ bld/ [Oo]bj/ [Ll]og/ [Ll]ogs/ +[Tt]est[Rr]esult*/ .vs/ Generated\ Files/ -[Tt]est[Rr]esult*/ [Bb]uild[Ll]og.* project.lock.json project.fragment.lock.json artifacts/ *.binlog .history/ +.vscode/ #freecad *.pyc @@ -130,3 +130,13 @@ artifacts/ # LibreOffice locks .~lock.*# + +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch + + +# more + diff --git a/OLD_CODE_REMOVE_LATER/code/teensy_code/teensy_code.ino b/OLD_CODE_REMOVE_LATER/code/teensy_code/teensy_code.ino deleted file mode 100644 index f6918a7..0000000 --- a/OLD_CODE_REMOVE_LATER/code/teensy_code/teensy_code.ino +++ /dev/null @@ -1,373 +0,0 @@ -#include <TimerThree.h> -#include <Arduino.h> - -int speed = 1000; // speed 0-1 - -volatile int PWMval1 = 0; // PWM value 0-100 -volatile int PWMval2 = 0; // PWM value 0-100 -volatile int PWMval3 = 0; // PWM value 0-100 - -int incomingbyte1 = 0; //the byte that it is reciefing -bool iswriting1 = false; //true if writing else fals -String tlocdat1 = ""; //temporary location data -String locdat1 = ""; //location data -int nir1 = "-99"; // which ir sensor it is -int pir1 = "-99"; // amount of pulses it had - -int incomingbyte2 = 0; //same but for seeed xiao N 2 -bool iswriting2 = false; -String tlocdat2 = ""; -String locdat2 = ""; -int nir2 = "-99"; -int pir2 = "-99"; - -float degwhere = -99.0; // where the ball is in degrees - -int led = 13; - -int m1enA = 6; -int m1enB = 5; -int m1pwm1 = 4; -int m1pwm2 = 3; -int m1encoA = 32; -int m1encoB = 31; - -int m2enA = 12; -int m2enB = 11; -int m2pwm1 = 9; -int m2pwm2 = 10; -int m2encoA = 30; -int m2encoB = 29; - -int m3enA = 27; -int m3enB = 26; -int m3pwm1 = 24; -int m3pwm2 = 25; -int m3encoA = 28; -int m3encoB = 23; - -int softpwr = 2; - -int pr1 = 13; -int pr2 = 41; -int pr3 = 40; -int pr4 = 39; -int pr5 = 38; -int pr6 = 37; -int pr7 = 36; -int pr8 = 35; - -int dpr1 = "LOW"; -int dpr2 = "LOW"; -int dpr3 = "LOW"; -int dpr4 = "LOW"; -int dpr5 = "LOW"; -int dpr6 = "LOW"; -int dpr7 = "LOW"; -int dpr8 = "LOW"; - -double sp1 = 0.00; -double sp2 = 0.00; -double sp3 = 0.00; - -void setup() { - pinMode(m1enA, OUTPUT); - pinMode(m1enB, OUTPUT); - pinMode(m1pwm1, OUTPUT); - pinMode(m1pwm2, OUTPUT); - - pinMode(m2enA, OUTPUT); - pinMode(m2enB, OUTPUT); - pinMode(m2pwm1, OUTPUT); - pinMode(m2pwm2, OUTPUT); - - pinMode(m3enA, OUTPUT); - pinMode(m3enB, OUTPUT); - pinMode(m3pwm1, OUTPUT); - pinMode(m3pwm2, OUTPUT); - - pinMode(softpwr, INPUT_PULLUP); - - pinMode(pr1, INPUT); - pinMode(pr2, INPUT); - pinMode(pr3, INPUT); - pinMode(pr4, INPUT); - pinMode(pr5, INPUT); - pinMode(pr6, INPUT); - pinMode(pr7, INPUT); - pinMode(pr8, INPUT); - - Serial.begin(9600); - Serial3.begin(9600); - Serial2.begin(9600); - - Timer3.initialize(800); // 800 microseconds / 1.25kHz - Timer3.attachInterrupt(updatePWM); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval1) { - digitalWrite(m1enA, HIGH); - } else { - digitalWrite(m1enA, LOW); - } - - if (counter < PWMval2) { - digitalWrite(m2enA, HIGH); - } else { - digitalWrite(m2enA, LOW); - } - - if (counter < PWMval3) { - digitalWrite(m3enA, HIGH); - } else { - digitalWrite(m3enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} - -void mcpsoftpwm1(int value1) { - if (value1 < 0) value1 = 0; - if (value1 > 100) value1 = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value1); - PWMval1 = value1; -} -void mcpsoftpwm2(int value2) { - if (value2 < 0) value2 = 0; - if (value2 > 100) value2 = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value2); - PWMval2 = value2; -}void mcpsoftpwm3(int value3) { - if (value3 < 0) value3 = 0; - if (value3 > 100) value3 = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value3); - PWMval3 = value3; -} - -void move1(int sped1) { - sp1 = abs(sped1)*0.1; - mcpsoftpwm1(sp1); - digitalWrite(m1enB, LOW); - if (sped1 < 0) { - Serial.print("back "); - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(m1pwm1, HIGH); - digitalWrite(m1pwm2, LOW); - } - Serial.println(sp1); -} - -void move2(int sped2) { - sp2 = abs(sped2)*0.1; - mcpsoftpwm2(sp2); - digitalWrite(m2enB, LOW); - if (sped2 < 0) { - Serial.print("back "); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(m2pwm1, HIGH); - digitalWrite(m2pwm2, LOW); - } - Serial.println(sp2); -} - -void move3(int sped3) { - sp3 = abs(sped3)*0.1; - mcpsoftpwm3(sp3); - digitalWrite(m3enB, LOW); - if (sped3 < 0) { - Serial.print("back "); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(m3pwm1, HIGH); - digitalWrite(m3pwm2, LOW); - } - Serial.println(sp3); -} - - -void drive(int speeeed, int direction){ - // - // Direction............|.Motor 1.|.Motor 2.|.Motor 3. - // 0deg(forward)........|....0....|....-....|....+.... - // 60deg................|....+....|....-....|....0.... - // 120deg...............|....+....|....0....|....-.... - // 180 deg (backward)...|....0....|....+....|....-.... - // 240 deg..............|....-....|....+....|....0.... - // 300 deg..............|....-....|....0....|....+.... - // - if(direction>330 || direction<=30){ - //0 deg - //Serial.println("drive 0 deg"); - move1(0); - move2(-speeeed); - move3(speeeed); - }else if (direction>30 && direction <= 90){ - //60 deg - //Serial.println("drive 60deg"); - move1(speeeed); - move2(-speeeed); - move3(0); - }else if (direction>90 && direction <= 150){ - //120 deg - //Serial.println("drive 120 deg"); - move1(speeeed); - move2(0); - move3(-speeeed); - }else if (direction > 150 && direction <= 210) { - //180 degrees - //Serial.println("drive 180 deg"); - move1(0); - move2(speeeed); - move3(-speeeed); - }else if (direction > 210 && direction <= 270) { - //240 degrees - //Serial.println("drive 240 deg"); - move1(-speeeed); - move2(speeeed); - move3(0); - }else if (direction > 270 && direction <= 330) { - //300 degrees - //Serial.println("drive 300 deg"); - move1(-speeeed); - move2(0); - move3(speeeed); - }else{ - Serial.println("how?"); - } -} - -void loop() { - int sprst = digitalRead(softpwr); //softpower status - if(sprst == LOW){ - dpr1 = digitalRead(pr1); - dpr2 = digitalRead(pr2); - dpr3 = digitalRead(pr3); - dpr4 = digitalRead(pr4); - dpr5 = digitalRead(pr5); - dpr6 = digitalRead(pr6); - dpr7 = digitalRead(pr7); - dpr8 = digitalRead(pr8); - - if(dpr1 == HIGH){ - //go back to ?deg - }else if (dpr2 == HIGH){ - //go back to ?deg - }else if (dpr3 == HIGH){ - //go back to ?deg - }else if (dpr4 == HIGH){ - //go back to ?deg - }else if (dpr5 == HIGH){ - //go back to ?deg - }else if (dpr6 == HIGH){ - //go back to ?deg - }else if (dpr7 == HIGH){ - //go back to ?deg - }else if (dpr8 == HIGH){ - //go back to ?deg - }else{ - if (Serial3.available() > 0) { - incomingbyte1 = Serial3.read(); - //Serial.print(char(incomingbyte1)); - if (incomingbyte1 == 's'){ - iswriting1 = true; - tlocdat1 = ""; - }else if(incomingbyte1 == 'e'){ - iswriting1 = false; - locdat1 = tlocdat1; - }else if(iswriting1 == true){ - //Serial.print(char(incomingbyte1)); - tlocdat1 += (char)incomingbyte1; - } - } - if (Serial2.available() > 0) { - incomingbyte2 = Serial2.read(); - //Serial.print(char(incomingbyte2)); - if (incomingbyte2 == 's'){ - iswriting2 = true; - tlocdat2 = ""; - }else if(incomingbyte1 == 'e'){ - iswriting2 = false; - locdat2 = tlocdat1; - }else if(iswriting2 == true){ - //Serial.print(char(incomingbyte1)); - tlocdat2 += (char)incomingbyte1; - } - } - //Serial.println(locdat); - sscanf(locdat1.c_str(), "%d, %d", &nir1, &pir1); - sscanf(locdat2.c_str(), "%d, %d", &nir2, &pir2); - - Serial.print("locdat: "); - Serial.print(String(locdat1)); - Serial.println(String(locdat2)); - - - if(pir1 > pir2){ - if(nir1 = 1){ //not good looking code because posbile wrong wireing - degwhere = 0; - }else if(nir1 = 2){ - degwhere = 22.5; - }else if(nir1 = 3){ - degwhere = 45; - }else if(nir1 = 4){ - degwhere = 67.5; - }else if(nir1 = 5){ - degwhere = 90; - }else if(nir1 = 6){ - degwhere = 112.5; - }else if(nir1 = 7){ - degwhere = 135; - }else if(nir1 = 8){ - degwhere = 157.5; - } - }else{ - if(nir2 = 1){ - degwhere = 180; - }else if(nir2 = 2){ - degwhere = 202.5; - }else if(nir2 = 3){ - degwhere = 225; - }else if(nir2 = 4){ - degwhere = 247.5; - }else if(nir2 = 5){ - degwhere = 270; - }else if(nir2 = 6){ - degwhere = 292.5; - }else if(nir2 = 7){ - degwhere = 315; - }else if(nir2 = 8){ - degwhere = 337.5; - } - } - - Serial.print("Ball is at "); - Serial.print(degwhere); - Serial.println(" degrees."); - drive(75, degwhere); - delay(1); - } - }else{ - Serial.println("softPWR is off, waiting"); - delay(100); - } -} diff --git a/OLD_CODE_REMOVE_LATER/debug/IR/IR_sens/IR_sens.ino b/OLD_CODE_REMOVE_LATER/debug/IR/IR_sens/IR_sens.ino deleted file mode 100644 index 85089d4..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/IR/IR_sens/IR_sens.ino +++ /dev/null @@ -1,149 +0,0 @@ -int ir1 = 0; -int ir2 = 1; -int ir3 = 9; -int ir4 = 2; -int ir5 = 3; -int ir6 = 4; -int ir7 = 5; -int ir8 = 8; - -int dir1 = 1; // data IR1 -int dir2 = 1; // data IR2 -int dir3 = 1; // etc -int dir4 = 1; -int dir5 = 1; -int dir6 = 1; -int dir7 = 1; -int dir8 = 1; - -volatile long IRcount1 = 0; -volatile long IRcount2 = 0; -volatile long IRcount3 = 0; -volatile long IRcount4 = 0; -volatile long IRcount5 = 0; -volatile long IRcount6 = 0; -volatile long IRcount7 = 0; -volatile long IRcount8 = 0; - -void setup() { - pinMode(ir1, INPUT); - pinMode(ir2, INPUT); - pinMode(ir3, INPUT); - pinMode(ir4, INPUT); - pinMode(ir5, INPUT); - pinMode(ir6, INPUT); - pinMode(ir7, INPUT); - pinMode(ir8, INPUT); - - Serial.begin(9600); - Serial1.begin(9600); - Serial.println("start"); - Serial1.println("start"); - - attachInterrupt(digitalPinToInterrupt(ir1), IRtrigger1, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir2), IRtrigger2, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir3), IRtrigger3, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir4), IRtrigger4, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir5), IRtrigger5, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir6), IRtrigger6, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir7), IRtrigger7, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir8), IRtrigger8, CHANGE); - - Serial.println("Starting loop"); - Serial1.println("Starting loop"); -} - -void IRtrigger1() { - IRcount1++; -} -void IRtrigger2() { - IRcount2++; -} -void IRtrigger3() { - IRcount3++; -} -void IRtrigger4() { - IRcount4++; -} -void IRtrigger5() { - IRcount5++; -} -void IRtrigger6() { - IRcount6++; -} -void IRtrigger7() { - IRcount7++; -} -void IRtrigger8() { - IRcount8++; -} - -void loop() { - Serial.print("ir 1 changes: "); - Serial.print(IRcount1); - Serial.print(", ir 2 changes: "); - Serial.print(IRcount2); - Serial.print(", ir 3 changes: "); - Serial.print(IRcount3); - Serial.print(", ir 4 changes: "); - Serial.print(IRcount4); - Serial.print(", ir 5 changes: "); - Serial.print(IRcount5); - Serial.print(", ir 6 changes: "); - Serial.print(IRcount6); - Serial.print(", ir 7 changes: "); - Serial.print(IRcount7); - Serial.print(", ir 8 changes: "); - Serial.println(IRcount8); - - Serial1.print("ir 1 changes: "); - Serial1.print(IRcount1); - Serial1.print(", ir 2 changes: "); - Serial1.print(IRcount2); - Serial1.print(", ir 3 changes: "); - Serial1.print(IRcount3); - Serial1.print(", ir 4 changes: "); - Serial1.print(IRcount4); - Serial1.print(", ir 5 changes: "); - Serial1.print(IRcount5); - Serial1.print(", ir 6 changes: "); - Serial1.print(IRcount6); - Serial1.print(", ir 7 changes: "); - Serial1.print(IRcount7); - Serial1.print(", ir 8 changes: "); - Serial1.print(IRcount8); - - volatile long IRcounts[] = {IRcount1, IRcount2, IRcount3, IRcount4, IRcount5, IRcount6, IRcount7, IRcount8}; - long maxCount = IRcounts[0]; - int highessensor = 1; - for (int i = 0; i < 7; ++i) { - if (IRcounts[i] > maxCount) { - maxCount = IRcounts[i]; - highessensor = i + 1; - } - } - Serial.print("Ball is at sensor: "); - Serial.print(highessensor); - Serial.print(", with value of "); - Serial.println(maxCount); - - Serial1.print("s"); - Serial1.print(highessensor); - Serial1.print(", "); - Serial1.println(maxCount); - Serial1.print("e"); - - IRcount1 = 0; - IRcount2 = 0; - IRcount3 = 0; - IRcount4 = 0; - IRcount5 = 0; - IRcount6 = 0; - IRcount7 = 0; - IRcount8 = 0; - - - - delay(250); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/IR/communication/direct_rx/direct_rx.ino b/OLD_CODE_REMOVE_LATER/debug/IR/communication/direct_rx/direct_rx.ino deleted file mode 100644 index 336b27b..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/IR/communication/direct_rx/direct_rx.ino +++ /dev/null @@ -1,15 +0,0 @@ -int incomingbyte = 0; -void setup() { - Serial.begin(9600); - Serial2.begin(9600); //19200 - Serial3.begin(9600); //19200 - Serial.print("Starting ...."); -} - -void loop() { - if (Serial3.available() > 0) { - incomingbyte = Serial3.read(); - Serial.print(char(incomingbyte)); - } - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/IR/communication/rx_teensy/rx_teensy.ino b/OLD_CODE_REMOVE_LATER/debug/IR/communication/rx_teensy/rx_teensy.ino deleted file mode 100644 index 68a768b..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/IR/communication/rx_teensy/rx_teensy.ino +++ /dev/null @@ -1,35 +0,0 @@ -int incomingbyte = 0; -bool iswriting = false; -String tlocdat = ""; //temporary location data -String locdat = ""; //location data -int nir = "-99"; // which ir sensor it is -int pir = "-99"; // amount of pulses it had -void setup() { - Serial.begin(9600); - Serial3.begin(9600); //19200 -} - -void loop() { - if (Serial3.available() > 0) { - incomingbyte = Serial3.read(); - //Serial.print(char(incomingbyte)); - if (incomingbyte == 's'){ - iswriting = true; - tlocdat = ""; - }else if(incomingbyte == 'e'){ - iswriting = false; - locdat = tlocdat; - }else if(iswriting == true){ - //Serial.print(char(incomingbyte)); - tlocdat += (char)incomingbyte; - } - } - //Serial.println(locdat); - sscanf(locdat.c_str(), "%d, %d", &nir, &pir); - Serial.print("IR sensor N: "); - Serial.print(nir); - Serial.print(", with "); - Serial.print(pir); - Serial.println(" pulses."); - delay(10); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/IR/communication/tx_seeed/tx_seeed.ino b/OLD_CODE_REMOVE_LATER/debug/IR/communication/tx_seeed/tx_seeed.ino deleted file mode 100644 index dc2d2e9..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/IR/communication/tx_seeed/tx_seeed.ino +++ /dev/null @@ -1,29 +0,0 @@ -long randNumber1; -long randNumber2; - -void setup() { - Serial.begin(9600); - Serial1.begin(9600); - delay(2500); - randomSeed(analogRead(0)); - -} - -void loop() { - randNumber1 = random(1000); - randNumber2 = random(1, 8); - Serial1.print("s"); - Serial1.print(randNumber2); - Serial1.print(", "); - Serial1.print(randNumber1); - Serial1.print("e"); - - Serial.print("s"); - Serial.print(randNumber2); - Serial.print(", "); - Serial.print(randNumber1); - Serial.println("e"); - delay(1000); - - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/IR/teensydeco/teensydeco.ino b/OLD_CODE_REMOVE_LATER/debug/IR/teensydeco/teensydeco.ino deleted file mode 100644 index f8fe2a5..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/IR/teensydeco/teensydeco.ino +++ /dev/null @@ -1,104 +0,0 @@ -int incomingbyte1 = 0; //the byte that it is reciefing -bool iswriting1 = false; //true if writing else fals -String tlocdat1 = ""; //temporary location data -String locdat1 = ""; //location data -int nir1 = "-99"; // which ir sensor it is -int pir1 = "-99"; // amount of pulses it had - -int incomingbyte2 = 0; //same but for seeed xiao N 2 -bool iswriting2 = false; -String tlocdat2 = ""; -String locdat2 = ""; -int nir2 = "-99"; -int pir2 = "-99"; - -float degwhere = -99.0; // where the ball is in degrees - -void setup() { - Serial.begin(9600); - Serial3.begin(9600); - Serial2.begin(9600); -} - -void loop() { - if (Serial3.available() > 0) { - incomingbyte1 = Serial3.read(); - //Serial.print(char(incomingbyte1)); - if (incomingbyte1 == 's'){ - iswriting1 = true; - tlocdat1 = ""; - }else if(incomingbyte1 == 'e'){ - iswriting1 = false; - locdat1 = tlocdat1; - }else if(iswriting1 == true){ - //Serial.print(char(incomingbyte1)); - tlocdat1 += (char)incomingbyte1; - } - } - if (Serial2.available() > 0) { - incomingbyte2 = Serial2.read(); - //Serial.print(char(incomingbyte2)); - if (incomingbyte2 == 's'){ - iswriting2 = true; - tlocdat2 = ""; - }else if(incomingbyte1 == 'e'){ - iswriting2 = false; - locdat2 = tlocdat1; - }else if(iswriting2 == true){ - //Serial.print(char(incomingbyte1)); - tlocdat2 += (char)incomingbyte1; - } - } - //Serial.println(locdat); - sscanf(locdat1.c_str(), "%d, %d", &nir1, &pir1); - sscanf(locdat2.c_str(), "%d, %d", &nir2, &pir2); - - - if(pir1 > pir2){ - if(nir1 = 1){ //not good looking code because posbile wrong wireing - degwhere = 0; - }else if(nir1 = 2){ - degwhere = 22.5; - }else if(nir1 = 3){ - degwhere = 45; - }else if(nir1 = 4){ - degwhere = 67.5; - }else if(nir1 = 5){ - degwhere = 90; - }else if(nir1 = 6){ - degwhere = 112.5; - }else if(nir1 = 7){ - degwhere = 135; - }else if(nir1 = 8){ - degwhere = 157.5; - } - }else{ - if(nir2 = 1){ - degwhere = 180; - }else if(nir2 = 2){ - degwhere = 202.5; - }else if(nir2 = 3){ - degwhere = 225; - }else if(nir2 = 4){ - degwhere = 247.5; - }else if(nir2 = 5){ - degwhere = 270; - }else if(nir2 = 6){ - degwhere = 292.5; - }else if(nir2 = 7){ - degwhere = 315; - }else if(nir2 = 8){ - degwhere = 337.5; - } - } - - Serial.print("IR sensor N: "); - Serial.print(nir1); - Serial.print(", with "); - Serial.print(pir1); - Serial.println(" pulses."); - Serial.print("That is "); - Serial.print(degwhere); - Serial.println(" degrees."); - delay(10); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/color/color.ino b/OLD_CODE_REMOVE_LATER/debug/color/color.ino deleted file mode 100644 index 3397f72..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/color/color.ino +++ /dev/null @@ -1,58 +0,0 @@ -int pr1 = 13; -int pr2 = 41; -int pr3 = 40; -int pr4 = 39; -int pr5 = 38; -int pr6 = 37; -int pr7 = 36; -int pr8 = 35; - -int dpr1 = "LOW"; -int dpr2 = "LOW"; -int dpr3 = "LOW"; -int dpr4 = "LOW"; -int dpr5 = "LOW"; -int dpr6 = "LOW"; -int dpr7 = "LOW"; -int dpr8 = "LOW"; - - -void setup() { - pinMode(pr1, INPUT); - pinMode(pr2, INPUT); - pinMode(pr3, INPUT); - pinMode(pr4, INPUT); - pinMode(pr5, INPUT); - pinMode(pr6, INPUT); - pinMode(pr7, INPUT); - pinMode(pr8, INPUT); -} - -void loop() { - dpr1 = digitalRead(pr1); - dpr2 = digitalRead(pr2); - dpr3 = digitalRead(pr3); - dpr4 = digitalRead(pr4); - dpr5 = digitalRead(pr5); - dpr6 = digitalRead(pr6); - dpr7 = digitalRead(pr7); - dpr8 = digitalRead(pr8); - - if(dpr1 == HIGH){ - //go back to ?deg - }else if (dpr2 == HIGH){ - //go back to ?deg - }else if (dpr3 == HIGH){ - //go back to ?deg - }else if (dpr4 == HIGH){ - //go back to ?deg - }else if (dpr5 == HIGH){ - //go back to ?deg - }else if (dpr6 == HIGH){ - //go back to ?deg - }else if (dpr7 == HIGH){ - //go back to ?deg - }else if (dpr8 == HIGH){ - //go back to ?deg - } -} diff --git a/OLD_CODE_REMOVE_LATER/debug/driving/3mtest/3mtest.ino b/OLD_CODE_REMOVE_LATER/debug/driving/3mtest/3mtest.ino deleted file mode 100644 index da87ab5..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/driving/3mtest/3mtest.ino +++ /dev/null @@ -1,92 +0,0 @@ -//a test to test all motors, no PWM - - -int led = 13; - -int m1enA = 6; -int m1enB = 5; -int m1pwm1 = 4; -int m1pwm2 = 3; -int m1encoA = 32; -int m1encoB = 31; - -int m2enA = 12; -int m2enB = 11; -int m2pwm1 = 9; -int m2pwm2 = 10; -int m2encoA = 30; -int m2encoB = 29; - -int m3enA = 27; -int m3enB = 26; -int m3pwm1 = 24; -int m3pwm2 = 25; -int m3encoA = 28; -int m3encoB = 23; - - -void setup() { - pinMode(m1enA, OUTPUT); - pinMode(m1enB, OUTPUT); - pinMode(m1pwm1, OUTPUT); - pinMode(m1pwm2, OUTPUT); - - pinMode(m2enA, OUTPUT); - pinMode(m2enB, OUTPUT); - pinMode(m2pwm1, OUTPUT); - pinMode(m2pwm2, OUTPUT); - - pinMode(m3enA, OUTPUT); - pinMode(m3enB, OUTPUT); - pinMode(m3pwm1, OUTPUT); - pinMode(m3pwm2, OUTPUT); - Serial.begin(9600); - Serial.print("debug 001"); - -} - -// the loop routine runs over and over again forever: -void loop() { - digitalWrite(led, HIGH); - - digitalWrite(m1enA, HIGH); - digitalWrite(m1enB, LOW); - digitalWrite(m1pwm1, HIGH); - digitalWrite(m1pwm2, LOW); - - - digitalWrite(m2enA, HIGH); - digitalWrite(m2enB, LOW); - digitalWrite(m2pwm1, HIGH); - digitalWrite(m2pwm2, LOW); - - digitalWrite(m3enA, HIGH); - digitalWrite(m3enB, LOW); - digitalWrite(m3pwm1, HIGH); - digitalWrite(m3pwm2, LOW); - - delay(5000); - - - digitalWrite(led, LOW); - - digitalWrite(m1enA, HIGH); - digitalWrite(m1enB, LOW); - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, LOW); - - digitalWrite(m2enA, HIGH); - digitalWrite(m2enB, LOW); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, LOW); - - digitalWrite(m3enA, HIGH); - digitalWrite(m3enB, LOW); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, LOW); - - - delay(5000); - - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/driving/base_drive/base_drive.ino b/OLD_CODE_REMOVE_LATER/debug/driving/base_drive/base_drive.ino deleted file mode 100644 index 0e82170..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/driving/base_drive/base_drive.ino +++ /dev/null @@ -1,140 +0,0 @@ -//base code for six direction driving -int led = 13; - -int m1enA = 6; -int m1enB = 5; -int m1pwm1 = 4; -int m1pwm2 = 3; -int m1encoA = 32; -int m1encoB = 31; - -int m2enA = 12; -int m2enB = 11; -int m2pwm1 = 9; -int m2pwm2 = 10; -int m2encoA = 30; -int m2encoB = 29; - -int m3enA = 27; -int m3enB = 26; -int m3pwm1 = 24; -int m3pwm2 = 25; -int m3encoA = 28; -int m3encoB = 23; - -void setup() { - pinMode(m1enA, OUTPUT); - pinMode(m1enB, OUTPUT); - pinMode(m1pwm1, OUTPUT); - pinMode(m1pwm2, OUTPUT); - - pinMode(m2enA, OUTPUT); - pinMode(m2enB, OUTPUT); - pinMode(m2pwm1, OUTPUT); - pinMode(m2pwm2, OUTPUT); - - pinMode(m3enA, OUTPUT); - pinMode(m3enB, OUTPUT); - pinMode(m3pwm1, OUTPUT); - pinMode(m3pwm2, OUTPUT); - Serial.begin(9600); - Serial.print("start"); - -} - - -void drive(int speed, int direction){ - // - // Direction............|.Motor 1.|.Motor 2.|.Motor 3. - // 0deg(forward)........|....0....|....-....|....+.... - // 60deg................|....+....|....-....|....0.... - // 120deg...............|....+....|....0....|....-.... - // 180 deg (backward)...|....0....|....+....|....-.... - // 240 deg..............|....-....|....+....|....0.... - // 300 deg..............|....-....|....0....|....+.... - // - - digitalWrite(m1enA, HIGH); - digitalWrite(m2enA, HIGH); - digitalWrite(m3enA, HIGH); - digitalWrite(m1enB, LOW); - digitalWrite(m2enB, LOW); - digitalWrite(m3enB, LOW); - Serial.println("debug2"); - Serial.println(direction); - if(direction>330 || direction<=30){ - //0 deg - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, HIGH); - - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, LOW); - - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, HIGH); - Serial.println("0 deg"); - }else if (direction>30 && direction <= 90){ - //60 deg - Serial.println("60deg"); - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, LOW); - - digitalWrite(m2pwm1, HIGH); - digitalWrite(m2pwm2, LOW); - - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, HIGH); - }else if (direction>90 && direction <= 150){ - //120 deg - Serial.println("120 deg"); - digitalWrite(m1pwm1, HIGH); - digitalWrite(m1pwm2, LOW); - digitalWrite(m2pwm1, HIGH); - digitalWrite(m2pwm2, LOW); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, LOW); - }else if (direction > 150 && direction <= 210) { - //180 degrees - Serial.println("on 180"); - digitalWrite(m1pwm1, HIGH); - digitalWrite(m1pwm2, LOW); - - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, LOW); - - digitalWrite(m3pwm1, HIGH); - digitalWrite(m3pwm2, LOW); - }else if (direction > 210 && direction <= 270) { - //240 degrees - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, LOW); - - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, HIGH); - - digitalWrite(m3pwm1, HIGH); - digitalWrite(m3pwm2, LOW); - }else if (direction > 270 && direction <= 330) { - //300 degrees - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, HIGH); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, HIGH); - Serial.println("300deg"); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, LOW); - }else{ - Serial.println("how?"); - } -} - -// the loop routine runs over and over again forever: -void loop() { - drive(255, 0); - Serial.println("ffor"); - delay(1500); - drive(255, 180); - Serial.println("back"); - delay(1500); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/driving/base_drive_with_speed_control/base_drive_with_speed_control.ino b/OLD_CODE_REMOVE_LATER/debug/driving/base_drive_with_speed_control/base_drive_with_speed_control.ino deleted file mode 100644 index e5a783e..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/driving/base_drive_with_speed_control/base_drive_with_speed_control.ino +++ /dev/null @@ -1,214 +0,0 @@ -#include <TimerThree.h> - -int m1enA = 6; -int m1enB = 5; -int m1pwm1 = 4; -int m1pwm2 = 3; -int m1encoA = 32; -int m1encoB = 31; - -int m2enA = 12; -int m2enB = 11; -int m2pwm1 = 9; -int m2pwm2 = 10; -int m2encoA = 30; -int m2encoB = 29; - -int m3enA = 27; -int m3enB = 26; -int m3pwm1 = 24; -int m3pwm2 = 25; -int m3encoA = 28; -int m3encoB = 23; - -int speed = 1000; // speed 0-1 - -double sp1 = 0.00; -double sp2 = 0.00; -double sp3 = 0.00; - -volatile int PWMval1 = 0; // PWM value 0-100 -volatile int PWMval2 = 0; // PWM value 0-100 -volatile int PWMval3 = 0; // PWM value 0-100 - - -void setup() { - pinMode(m1enA, OUTPUT); - pinMode(m1enB, OUTPUT); - pinMode(m1pwm1, OUTPUT); - pinMode(m1pwm2, OUTPUT); - - pinMode(m2enA, OUTPUT); - pinMode(m2enB, OUTPUT); - pinMode(m2pwm1, OUTPUT); - pinMode(m2pwm2, OUTPUT); - - pinMode(m3enA, OUTPUT); - pinMode(m3enB, OUTPUT); - pinMode(m3pwm1, OUTPUT); - pinMode(m3pwm2, OUTPUT); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval1) { - digitalWrite(m1enA, HIGH); - } else { - digitalWrite(m1enA, LOW); - } - - if (counter < PWMval2) { - digitalWrite(m2enA, HIGH); - } else { - digitalWrite(m2enA, LOW); - } - - if (counter < PWMval3) { - digitalWrite(m3enA, HIGH); - } else { - digitalWrite(m3enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} - -void mcpsoftpwm1(int value1) { - if (value1 < 0) value1 = 0; - if (value1 > 100) value1 = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value1); - PWMval1 = value1; -} -void mcpsoftpwm2(int value2) { - if (value2 < 0) value2 = 0; - if (value2 > 100) value2 = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value2); - PWMval2 = value2; -}void mcpsoftpwm3(int value3) { - if (value3 < 0) value3 = 0; - if (value3 > 100) value3 = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value3); - PWMval3 = value3; -} - -void move1(int sped1) { - sp1 = abs(sped1)*0.1; - mcpsoftpwm1(sp1); - digitalWrite(m1enB, LOW); - if (sped1 < 0) { - Serial.print("back "); - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(m1pwm1, HIGH); - digitalWrite(m1pwm2, LOW); - } - Serial.println(sp1); -} - -void move2(int sped2) { - sp2 = abs(sped2)*0.1; - mcpsoftpwm2(sp2); - digitalWrite(m2enB, LOW); - if (sped2 < 0) { - Serial.print("back "); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(m2pwm1, HIGH); - digitalWrite(m2pwm2, LOW); - } - Serial.println(sp2); -} - -void move3(int sped3) { - sp3 = abs(sped3)*0.1; - mcpsoftpwm3(sp3); - digitalWrite(m3enB, LOW); - if (sped3 < 0) { - Serial.print("back "); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(m3pwm1, HIGH); - digitalWrite(m3pwm2, LOW); - } - Serial.println(sp3); -} - -void drive(int speeeed, int direction){ - // - // Direction............|.Motor 1.|.Motor 2.|.Motor 3. - // 0deg(forward)........|....0....|....-....|....+.... - // 60deg................|....+....|....-....|....0.... - // 120deg...............|....+....|....0....|....-.... - // 180 deg (backward)...|....0....|....+....|....-.... - // 240 deg..............|....-....|....+....|....0.... - // 300 deg..............|....-....|....0....|....+.... - // - if(direction>330 || direction<=30){ - //0 deg - //Serial.println("drive 0 deg"); - move1(0); - move2(-speeeed); - move3(speeeed); - }else if (direction>30 && direction <= 90){ - //60 deg - //Serial.println("drive 60deg"); - move1(speeeed); - move2(-speeeed); - move3(0); - }else if (direction>90 && direction <= 150){ - //120 deg - //Serial.println("drive 120 deg"); - move1(speeeed); - move2(0); - move3(-speeeed); - }else if (direction > 150 && direction <= 210) { - //180 degrees - //Serial.println("drive 180 deg"); - move1(0); - move2(speeeed); - move3(-speeeed); - }else if (direction > 210 && direction <= 270) { - //240 degrees - //Serial.println("drive 240 deg"); - move1(-speeeed); - move2(speeeed); - move3(0); - }else if (direction > 270 && direction <= 330) { - //300 degrees - //Serial.println("drive 300 deg"); - move1(-speeeed); - move2(0); - move3(speeeed); - }else{ - Serial.println("how?"); - } -} - -void loop() { - drive(1000, 0); - Serial.println("ffor"); - delay(1500); - drive(500, 180); - Serial.println("back"); - delay(3000); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/driving/onemotor_softPWM/onemotor_softPWM.ino b/OLD_CODE_REMOVE_LATER/debug/driving/onemotor_softPWM/onemotor_softPWM.ino deleted file mode 100644 index 68d95dd..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/driving/onemotor_softPWM/onemotor_softPWM.ino +++ /dev/null @@ -1,126 +0,0 @@ -#include <TimerThree.h> - -int enA = 6; //PWM pin -int enB = 5; //GND -int pwm1 = 4; // -int pwm2 = 3; -int encoA = 32; -int encoB = 31; - -int speed = 1000; // speed 0-1 - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-100 - - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(enA, HIGH); - } else { - digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value); - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - Serial.print("RPM: "); - Serial.print(rpm); - Serial.print(" Sample period:"); - Serial.print(Ptime); - Serial.print("ms, encoder count:"); - Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*0.1; - mcpsoftpwm(sp); - digitalWrite(enB, LOW); - if (sped < 0) { - Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - Serial.println(sp); -} - -void loop() { - move(speed); - delay(1000); - readenc(); - delay(1000); - - Serial.println(); - - move(0); - delay(1000); - resetenc(); - delay(1000); - readenc(); - delay(1000); - - Serial.println(); - - move(500); - delay(1000); - readenc(); - delay(1000); - - Serial.println(); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/Calibrate/Calibrate.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/Calibrate/Calibrate.ino deleted file mode 100644 index c5db31c..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/Calibrate/Calibrate.ino +++ /dev/null @@ -1,42 +0,0 @@ -//example from https://github.com/pololu/lis3mdl-arduino -#include <Wire.h> -#include <LIS3MDL.h> - -LIS3MDL mag; -LIS3MDL::vector<int16_t> running_min = {32767, 32767, 32767}, running_max = {-32768, -32768, -32768}; - -char report[80]; - -void setup() -{ - Serial.begin(9600); - Wire.begin(); - - if (!mag.init()) - { - Serial.println("Failed to detect and initialize magnetometer!"); - while (1); - } - - mag.enableDefault(); -} - -void loop() -{ - mag.read(); - - running_min.x = min(running_min.x, mag.m.x); - running_min.y = min(running_min.y, mag.m.y); - running_min.z = min(running_min.z, mag.m.z); - - running_max.x = max(running_max.x, mag.m.x); - running_max.y = max(running_max.y, mag.m.y); - running_max.z = max(running_max.z, mag.m.z); - - snprintf(report, sizeof(report), "min: {%+6d, %+6d, %+6d} max: {%+6d, %+6d, %+6d}", - running_min.x, running_min.y, running_min.z, - running_max.x, running_max.y, running_max.z); - Serial.println(report); - - delay(100); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/HeadingWithLSM6/HeadingWithLSM6.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/HeadingWithLSM6/HeadingWithLSM6.ino deleted file mode 100644 index ac60515..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/HeadingWithLSM6/HeadingWithLSM6.ino +++ /dev/null @@ -1,120 +0,0 @@ -/* -This sketch combines magnetometer readings from an LIS3MDL and accelerometer -readings from an LSM6 to calculate a tilt-compensated magnetic heading. It -requires Pololu's LSM6 Arduino library to be installed: - -https://github.com/pololu/lsm6-arduino - -This program can be used with a board that includes both sensors, like the -Pololu MinIMU-9 v5 and AltIMU-10 v5, or with separate carrier boards for the two -sensors, both connected to the same I2C bus. If you are using separate boards, -make sure the axes are oriented the same way on both (i.e. the X, Y, and Z axes -of both boards should point in the same direction, and the surfaces of the -boards should be as close to parallel as possible). -*/ - -#include <Wire.h> -#include <LIS3MDL.h> -#include <LSM6.h> - -LIS3MDL mag; -LSM6 imu; - -/* -Calibration values; the default values of +/-32767 for each axis -lead to an assumed magnetometer bias of 0. Use the Calibrate example -program to determine appropriate values for your particular unit. -*/ -LIS3MDL::vector<int16_t> m_min = {+5862, +2474, -6186}; -LIS3MDL::vector<int16_t> m_max = {+6610, +2849, -5547}; - -void setup() -{ - Serial.begin(9600); - Wire.begin(); - - if (!mag.init()) - { - Serial.println("Failed to detect and initialize LIS3MDL magnetometer!"); - while (1); - } - mag.enableDefault(); - - if (!imu.init()) - { - Serial.println("Failed to detect and initialize LSM6 IMU!"); - while (1); - } - imu.enableDefault(); -} - -void loop() -{ - mag.read(); - imu.read(); - - /* - When given no arguments, the heading() function returns the angular - difference in the horizontal plane between a default vector (the - +X axis) and north, in degrees. - */ - float heading = computeHeading(); - - /* - To use a different vector as a reference, use the version of - computeHeading() that takes a vector argument; for example, call it like this - to use the -Z axis as a reference: - */ - //float heading = computeHeading((LIS3MDL::vector<int>){0, 0, -1}); - - Serial.println(heading); - delay(100); -} - -/* -Returns the angular difference in the horizontal plane between the -"from" vector and north, in degrees. - -Description of heading algorithm: -Shift and scale the magnetic reading based on calibration data to find -the North vector. Use the acceleration readings to determine the Up -vector (gravity is measured as an upward acceleration). The cross -product of North and Up vectors is East. The vectors East and North -form a basis for the horizontal plane. The From vector is projected -into the horizontal plane and the angle between the projected vector -and horizontal north is returned. -*/ -template <typename T> float computeHeading(LIS3MDL::vector<T> from) -{ - LIS3MDL::vector<int32_t> temp_m = {mag.m.x, mag.m.y, mag.m.z}; - - // copy acceleration readings from LSM6::vector into an LIS3MDL::vector - LIS3MDL::vector<int16_t> a = {imu.a.x, imu.a.y, imu.a.z}; - - // subtract offset (average of min and max) from magnetometer readings - temp_m.x -= ((int32_t)m_min.x + m_max.x) / 2; - temp_m.y -= ((int32_t)m_min.y + m_max.y) / 2; - temp_m.z -= ((int32_t)m_min.z + m_max.z) / 2; - - // compute E and N - LIS3MDL::vector<float> E; - LIS3MDL::vector<float> N; - LIS3MDL::vector_cross(&temp_m, &a, &E); - LIS3MDL::vector_normalize(&E); - LIS3MDL::vector_cross(&a, &E, &N); - LIS3MDL::vector_normalize(&N); - - // compute heading - float heading = atan2(LIS3MDL::vector_dot(&E, &from), LIS3MDL::vector_dot(&N, &from)) * 180 / PI; - if (heading < 0) heading += 360; - return heading; -} - -/* -Returns the angular difference in the horizontal plane between a -default vector (the +X axis) and north, in degrees. -*/ -float computeHeading() -{ - return computeHeading((LIS3MDL::vector<int>){1, 0, 0}); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/IMU_comp.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/IMU_comp.ino deleted file mode 100644 index c4578cb..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/IMU_comp.ino +++ /dev/null @@ -1,116 +0,0 @@ -/* -This sketch combines magnetometer readings from an LIS3MDL and accelerometer -readings from an LSM6 to calculate a tilt-compensated magnetic heading. It -requires Pololu's LSM6 Arduino library to be installed: - -https://github.com/pololu/lsm6-arduino - -This program can be used with a board that includes both sensors, like the -Pololu MinIMU-9 v5 and AltIMU-10 v5, or with separate carrier boards for the two -sensors, both connected to the same I2C bus. If you are using separate boards, -make sure the axes are oriented the same way on both (i.e. the X, Y, and Z axes -of both boards should point in the same direction, and the surfaces of the -boards should be as close to parallel as possible). -*/ - -#include <Wire.h> -#include <LIS3MDL.h> -#include <LSM6.h> - -LIS3MDL mag; -LSM6 imu; -int front = 0; - -/* -Calibration values; the default values of +/-32767 for each axis -lead to an assumed magnetometer bias of 0. Use the Calibrate example -program to determine appropriate values for your particular unit. -*/ -LIS3MDL::vector<int16_t> m_min = {+942, +3436, -3323}; -LIS3MDL::vector<int16_t> m_max = {+1053, +3559, -3142}; - -void setup() -{ - Serial.begin(9600); - Wire.begin(); - - if (!mag.init()) - { - Serial.println("Failed to detect and initialize LIS3MDL magnetometer!"); - while (1); - } - mag.enableDefault(); - - if (!imu.init()) - { - Serial.println("Failed to detect and initialize LSM6 IMU!"); - while (1); - } - imu.enableDefault(); - - //get start heading - mag.read(); - imu.read(); - float heading = computeHeading(); - front = heading; - Serial.println(heading); - -} - -void loop() -{ - mag.read(); - imu.read(); - - - float heading = computeHeading(); - int offset = front - heading; - if(offset<0){ - offset=360+offset; - } - - Serial.print("heading: "); - Serial.print(heading); - Serial.print(", goal location: "); - Serial.print(front); - Serial.print(", offset: "); - - Serial.println(offset); - - delay(100); -} - -template <typename T> float computeHeading(LIS3MDL::vector<T> from) -{ - LIS3MDL::vector<int32_t> temp_m = {mag.m.x, mag.m.y, mag.m.z}; - - // copy acceleration readings from LSM6::vector into an LIS3MDL::vector - LIS3MDL::vector<int16_t> a = {imu.a.x, imu.a.y, imu.a.z}; - - // subtract offset (average of min and max) from magnetometer readings - temp_m.x -= ((int32_t)m_min.x + m_max.x) / 2; - temp_m.y -= ((int32_t)m_min.y + m_max.y) / 2; - temp_m.z -= ((int32_t)m_min.z + m_max.z) / 2; - - // compute E and N - LIS3MDL::vector<float> E; - LIS3MDL::vector<float> N; - LIS3MDL::vector_cross(&temp_m, &a, &E); - LIS3MDL::vector_normalize(&E); - LIS3MDL::vector_cross(&a, &E, &N); - LIS3MDL::vector_normalize(&N); - - // compute heading - float heading = atan2(LIS3MDL::vector_dot(&E, &from), LIS3MDL::vector_dot(&N, &from)) * 180 / PI; - if (heading < 0) heading += 360; - return heading; -} - -/* -Returns the angular difference in the horizontal plane between a -default vector (the +X axis) and north, in degrees. -*/ -float computeHeading() -{ - return computeHeading((LIS3MDL::vector<int>){1, 0, 0}); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/calcoffset/calcoffset.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/calcoffset/calcoffset.ino deleted file mode 100644 index fc5f752..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/calcoffset/calcoffset.ino +++ /dev/null @@ -1,27 +0,0 @@ -void setup() { - randomSeed(analogRead(0)); - Serial.begin(9600); - -} - -void loop() { - int front = random(0, 360); - int heading = random(0, 360); - Serial.print("Front: "); - Serial.println(front); - Serial.print("heading: "); - Serial.println(heading); - - int offset = heading - front; - if(offset<0){ - offset=(offset+360); - } - Serial.print("offset: "); - Serial.println(offset); - - Serial.println(); - Serial.println(); - - delay(5000); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/.gitignore b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/.gitignore deleted file mode 100644 index 1089bae..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/.gitignore +++ /dev/null @@ -1 +0,0 @@ -Serial*.txt
\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/COPYING b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/COPYING deleted file mode 100644 index 94a9ed0..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/COPYING +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. 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See the GNU Lesser General Public License for -# more details. - -# You should have received a copy of the GNU Lesser General Public License along -# with MinIMU9ArduinoAHRS. If not, see <http://www.gnu.org/licenses/>. - -################################################################################ - -# This is a test/3D visualization program for the Pololu MinIMU-9 + Arduino -# AHRS, based on "Test for Razor 9DOF IMU" by Jose Julio, copyright 2009. - -# This script needs VPython, pyserial and pywin modules - -# First Install Python 2.6.4 (Python 2.7 also works) -# Install pywin from http://sourceforge.net/projects/pywin32/ -# Install pyserial from http://sourceforge.net/projects/pyserial/files/ -# Install VPython from http://vpython.org/contents/download_windows.html - -from visual import * -import serial -import string -import math - -from time import time - -grad2rad = 3.141592/180.0 - -# Check your COM port and baud rate -ser = serial.Serial(port='COM9',baudrate=115200, timeout=1) - -# Main scene -scene=display(title="Pololu MinIMU-9 + Arduino AHRS") -scene.range=(1.2,1.2,1.2) -#scene.forward = (0,-1,-0.25) -scene.forward = (1,0,-0.25) -scene.up=(0,0,1) - -# Second scene (Roll, Pitch, Yaw) -scene2 = display(title='Pololu MinIMU-9 + Arduino AHRS',x=0, y=0, width=500, height=200,center=(0,0,0), background=(0,0,0)) -scene2.range=(1,1,1) -scene.width=500 -scene.y=200 - -scene2.select() -#Roll, Pitch, Yaw -cil_roll = cylinder(pos=(-0.4,0,0),axis=(0.2,0,0),radius=0.01,color=color.red) -cil_roll2 = cylinder(pos=(-0.4,0,0),axis=(-0.2,0,0),radius=0.01,color=color.red) -cil_pitch = cylinder(pos=(0.1,0,0),axis=(0.2,0,0),radius=0.01,color=color.green) -cil_pitch2 = cylinder(pos=(0.1,0,0),axis=(-0.2,0,0),radius=0.01,color=color.green) -#cil_course = cylinder(pos=(0.6,0,0),axis=(0.2,0,0),radius=0.01,color=color.blue) -#cil_course2 = cylinder(pos=(0.6,0,0),axis=(-0.2,0,0),radius=0.01,color=color.blue) -arrow_course = arrow(pos=(0.6,0,0),color=color.cyan,axis=(-0.2,0,0), shaftwidth=0.02, fixedwidth=1) - -#Roll,Pitch,Yaw labels -label(pos=(-0.4,0.3,0),text="Roll",box=0,opacity=0) -label(pos=(0.1,0.3,0),text="Pitch",box=0,opacity=0) -label(pos=(0.55,0.3,0),text="Yaw",box=0,opacity=0) -label(pos=(0.6,0.22,0),text="N",box=0,opacity=0,color=color.yellow) -label(pos=(0.6,-0.22,0),text="S",box=0,opacity=0,color=color.yellow) -label(pos=(0.38,0,0),text="W",box=0,opacity=0,color=color.yellow) -label(pos=(0.82,0,0),text="E",box=0,opacity=0,color=color.yellow) -label(pos=(0.75,0.15,0),height=7,text="NE",box=0,color=color.yellow) -label(pos=(0.45,0.15,0),height=7,text="NW",box=0,color=color.yellow) -label(pos=(0.75,-0.15,0),height=7,text="SE",box=0,color=color.yellow) -label(pos=(0.45,-0.15,0),height=7,text="SW",box=0,color=color.yellow) - -L1 = label(pos=(-0.4,0.22,0),text="-",box=0,opacity=0) -L2 = label(pos=(0.1,0.22,0),text="-",box=0,opacity=0) -L3 = label(pos=(0.7,0.3,0),text="-",box=0,opacity=0) - -# Main scene objects -scene.select() -# Reference axis (x,y,z) -arrow(color=color.green,axis=(1,0,0), shaftwidth=0.02, fixedwidth=1) -arrow(color=color.green,axis=(0,-1,0), shaftwidth=0.02 , fixedwidth=1) -arrow(color=color.green,axis=(0,0,-1), shaftwidth=0.02, fixedwidth=1) -# labels -label(pos=(0,0,0.8),text="Pololu MinIMU-9 + Arduino AHRS",box=0,opacity=0) -label(pos=(1,0,0),text="X",box=0,opacity=0) -label(pos=(0,-1,0),text="Y",box=0,opacity=0) -label(pos=(0,0,-1),text="Z",box=0,opacity=0) -# IMU object -platform = box(length=1, height=0.05, width=1, color=color.blue) -p_line = box(length=1,height=0.08,width=0.1,color=color.yellow) -plat_arrow = arrow(color=color.green,axis=(1,0,0), shaftwidth=0.06, fixedwidth=1) - - -f = open("Serial"+str(time())+".txt", 'w') - -roll=0 -pitch=0 -yaw=0 -while 1: - line = ser.readline() - if line.find("!ANG:") != -1: # filter out incomplete (invalid) lines - line = line.replace("!ANG:","") # Delete "!ANG:" - print line - f.write(line) # Write to the output log file - words = string.split(line,",") # Fields split - if len(words) > 2: - try: - roll = float(words[0])*grad2rad - pitch = float(words[1])*grad2rad - yaw = float(words[2])*grad2rad - except: - print "Invalid line" - - axis=(cos(pitch)*cos(yaw),-cos(pitch)*sin(yaw),sin(pitch)) - up=(sin(roll)*sin(yaw)+cos(roll)*sin(pitch)*cos(yaw),sin(roll)*cos(yaw)-cos(roll)*sin(pitch)*sin(yaw),-cos(roll)*cos(pitch)) - platform.axis=axis - platform.up=up - platform.length=1.0 - platform.width=0.65 - plat_arrow.axis=axis - plat_arrow.up=up - plat_arrow.length=0.8 - p_line.axis=axis - p_line.up=up - cil_roll.axis=(0.2*cos(roll),0.2*sin(roll),0) - cil_roll2.axis=(-0.2*cos(roll),-0.2*sin(roll),0) - cil_pitch.axis=(0.2*cos(pitch),0.2*sin(pitch),0) - cil_pitch2.axis=(-0.2*cos(pitch),-0.2*sin(pitch),0) - arrow_course.axis=(0.2*sin(yaw),0.2*cos(yaw),0) - L1.text = str(float(words[0])) - L2.text = str(float(words[1])) - L3.text = str(float(words[2])) -ser.close -f.close diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino deleted file mode 100644 index 767227b..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino +++ /dev/null @@ -1,56 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -void Compass_Heading() -{ - float MAG_X; - float MAG_Y; - float cos_roll; - float sin_roll; - float cos_pitch; - float sin_pitch; - - cos_roll = cos(roll); - sin_roll = sin(roll); - cos_pitch = cos(pitch); - sin_pitch = sin(pitch); - - // adjust for LSM303 compass axis offsets/sensitivity differences by scaling to +/-0.5 range - c_magnetom_x = (float)(magnetom_x - SENSOR_SIGN[6]*M_X_MIN) / (M_X_MAX - M_X_MIN) - SENSOR_SIGN[6]*0.5; - c_magnetom_y = (float)(magnetom_y - SENSOR_SIGN[7]*M_Y_MIN) / (M_Y_MAX - M_Y_MIN) - SENSOR_SIGN[7]*0.5; - c_magnetom_z = (float)(magnetom_z - SENSOR_SIGN[8]*M_Z_MIN) / (M_Z_MAX - M_Z_MIN) - SENSOR_SIGN[8]*0.5; - - // Tilt compensated Magnetic filed X: - MAG_X = c_magnetom_x*cos_pitch+c_magnetom_y*sin_roll*sin_pitch+c_magnetom_z*cos_roll*sin_pitch; - // Tilt compensated Magnetic filed Y: - MAG_Y = c_magnetom_y*cos_roll-c_magnetom_z*sin_roll; - // Magnetic Heading - MAG_Heading = atan2(-MAG_Y,MAG_X); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino deleted file mode 100644 index 7f9f276..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino +++ /dev/null @@ -1,164 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -/**************************************************/ -void Normalize(void) -{ - float error=0; - float temporary[3][3]; - float renorm=0; - - error= -Vector_Dot_Product(&DCM_Matrix[0][0],&DCM_Matrix[1][0])*.5; //eq.19 - - Vector_Scale(&temporary[0][0], &DCM_Matrix[1][0], error); //eq.19 - Vector_Scale(&temporary[1][0], &DCM_Matrix[0][0], error); //eq.19 - - Vector_Add(&temporary[0][0], &temporary[0][0], &DCM_Matrix[0][0]);//eq.19 - Vector_Add(&temporary[1][0], &temporary[1][0], &DCM_Matrix[1][0]);//eq.19 - - Vector_Cross_Product(&temporary[2][0],&temporary[0][0],&temporary[1][0]); // c= a x b //eq.20 - - renorm= .5 *(3 - Vector_Dot_Product(&temporary[0][0],&temporary[0][0])); //eq.21 - Vector_Scale(&DCM_Matrix[0][0], &temporary[0][0], renorm); - - renorm= .5 *(3 - Vector_Dot_Product(&temporary[1][0],&temporary[1][0])); //eq.21 - Vector_Scale(&DCM_Matrix[1][0], &temporary[1][0], renorm); - - renorm= .5 *(3 - Vector_Dot_Product(&temporary[2][0],&temporary[2][0])); //eq.21 - Vector_Scale(&DCM_Matrix[2][0], &temporary[2][0], renorm); -} - -/**************************************************/ -void Drift_correction(void) -{ - float mag_heading_x; - float mag_heading_y; - float errorCourse; - //Compensation the Roll, Pitch and Yaw drift. - static float Scaled_Omega_P[3]; - static float Scaled_Omega_I[3]; - float Accel_magnitude; - float Accel_weight; - - - //*****Roll and Pitch*************** - - // Calculate the magnitude of the accelerometer vector - Accel_magnitude = sqrt(Accel_Vector[0]*Accel_Vector[0] + Accel_Vector[1]*Accel_Vector[1] + Accel_Vector[2]*Accel_Vector[2]); - Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity. - // Dynamic weighting of accelerometer info (reliability filter) - // Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0) - Accel_weight = constrain(1 - 2*abs(1 - Accel_magnitude),0,1); // - - Vector_Cross_Product(&errorRollPitch[0],&Accel_Vector[0],&DCM_Matrix[2][0]); //adjust the ground of reference - Vector_Scale(&Omega_P[0],&errorRollPitch[0],Kp_ROLLPITCH*Accel_weight); - - Vector_Scale(&Scaled_Omega_I[0],&errorRollPitch[0],Ki_ROLLPITCH*Accel_weight); - Vector_Add(Omega_I,Omega_I,Scaled_Omega_I); - - //*****YAW*************** - // We make the gyro YAW drift correction based on compass magnetic heading - - mag_heading_x = cos(MAG_Heading); - mag_heading_y = sin(MAG_Heading); - errorCourse=(DCM_Matrix[0][0]*mag_heading_y) - (DCM_Matrix[1][0]*mag_heading_x); //Calculating YAW error - Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position. - - Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);//.01proportional of YAW. - Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional. - - Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);//.00001Integrator - Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I -} -/**************************************************/ -/* -void Accel_adjust(void) -{ - Accel_Vector[1] += Accel_Scale(speed_3d*Omega[2]); // Centrifugal force on Acc_y = GPS_speed*GyroZ - Accel_Vector[2] -= Accel_Scale(speed_3d*Omega[1]); // Centrifugal force on Acc_z = GPS_speed*GyroY -} -*/ -/**************************************************/ - -void Matrix_update(void) -{ - Gyro_Vector[0]=Gyro_Scaled_X(gyro_x); //gyro x roll - Gyro_Vector[1]=Gyro_Scaled_Y(gyro_y); //gyro y pitch - Gyro_Vector[2]=Gyro_Scaled_Z(gyro_z); //gyro Z yaw - - Accel_Vector[0]=accel_x; - Accel_Vector[1]=accel_y; - Accel_Vector[2]=accel_z; - - Vector_Add(&Omega[0], &Gyro_Vector[0], &Omega_I[0]); //adding proportional term - Vector_Add(&Omega_Vector[0], &Omega[0], &Omega_P[0]); //adding Integrator term - - //Accel_adjust(); //Remove centrifugal acceleration. We are not using this function in this version - we have no speed measurement - - #if OUTPUTMODE==1 - Update_Matrix[0][0]=0; - Update_Matrix[0][1]=-G_Dt*Omega_Vector[2];//-z - Update_Matrix[0][2]=G_Dt*Omega_Vector[1];//y - Update_Matrix[1][0]=G_Dt*Omega_Vector[2];//z - Update_Matrix[1][1]=0; - Update_Matrix[1][2]=-G_Dt*Omega_Vector[0];//-x - Update_Matrix[2][0]=-G_Dt*Omega_Vector[1];//-y - Update_Matrix[2][1]=G_Dt*Omega_Vector[0];//x - Update_Matrix[2][2]=0; - #else // Uncorrected data (no drift correction) - Update_Matrix[0][0]=0; - Update_Matrix[0][1]=-G_Dt*Gyro_Vector[2];//-z - Update_Matrix[0][2]=G_Dt*Gyro_Vector[1];//y - Update_Matrix[1][0]=G_Dt*Gyro_Vector[2];//z - Update_Matrix[1][1]=0; - Update_Matrix[1][2]=-G_Dt*Gyro_Vector[0]; - Update_Matrix[2][0]=-G_Dt*Gyro_Vector[1]; - Update_Matrix[2][1]=G_Dt*Gyro_Vector[0]; - Update_Matrix[2][2]=0; - #endif - - Matrix_Multiply(DCM_Matrix,Update_Matrix,Temporary_Matrix); //a*b=c - - for(int x=0; x<3; x++) //Matrix Addition (update) - { - for(int y=0; y<3; y++) - { - DCM_Matrix[x][y]+=Temporary_Matrix[x][y]; - } - } -} - -void Euler_angles(void) -{ - pitch = -asin(DCM_Matrix[2][0]); - roll = atan2(DCM_Matrix[2][1],DCM_Matrix[2][2]); - yaw = atan2(DCM_Matrix[1][0],DCM_Matrix[0][0]); -} - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino deleted file mode 100644 index 5ca58e2..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino +++ /dev/null @@ -1,159 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -#ifdef IMU_V5 - -#include <LSM6.h> -#include <LIS3MDL.h> - -LSM6 gyro_acc; -LIS3MDL mag; - -#else // older IMUs through v4 - -#include <L3G.h> -#include <LSM303.h> - -L3G gyro; -LSM303 compass; - -#endif - - -void I2C_Init() -{ - Wire.begin(); -} - -void Gyro_Init() -{ -#ifdef IMU_V5 - // Accel_Init() should have already called gyro_acc.init() and enableDefault() - gyro_acc.writeReg(LSM6::CTRL2_G, 0x4C); // 104 Hz, 2000 dps full scale -#else - gyro.init(); - gyro.enableDefault(); - gyro.writeReg(L3G::CTRL_REG4, 0x20); // 2000 dps full scale - gyro.writeReg(L3G::CTRL_REG1, 0x0F); // normal power mode, all axes enabled, 100 Hz -#endif -} - -void Read_Gyro() -{ -#ifdef IMU_V5 - gyro_acc.readGyro(); - - AN[0] = gyro_acc.g.x; - AN[1] = gyro_acc.g.y; - AN[2] = gyro_acc.g.z; -#else - gyro.read(); - - AN[0] = gyro.g.x; - AN[1] = gyro.g.y; - AN[2] = gyro.g.z; -#endif - - gyro_x = SENSOR_SIGN[0] * (AN[0] - AN_OFFSET[0]); - gyro_y = SENSOR_SIGN[1] * (AN[1] - AN_OFFSET[1]); - gyro_z = SENSOR_SIGN[2] * (AN[2] - AN_OFFSET[2]); -} - -void Accel_Init() -{ -#ifdef IMU_V5 - gyro_acc.init(); - gyro_acc.enableDefault(); - gyro_acc.writeReg(LSM6::CTRL1_XL, 0x3C); // 52 Hz, 8 g full scale -#else - compass.init(); - compass.enableDefault(); - switch (compass.getDeviceType()) - { - case LSM303::device_D: - compass.writeReg(LSM303::CTRL2, 0x18); // 8 g full scale: AFS = 011 - break; - case LSM303::device_DLHC: - compass.writeReg(LSM303::CTRL_REG4_A, 0x28); // 8 g full scale: FS = 10; high resolution output mode - break; - default: // DLM, DLH - compass.writeReg(LSM303::CTRL_REG4_A, 0x30); // 8 g full scale: FS = 11 - } -#endif -} - -// Reads x,y and z accelerometer registers -void Read_Accel() -{ -#ifdef IMU_V5 - gyro_acc.readAcc(); - - AN[3] = gyro_acc.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256) - AN[4] = gyro_acc.a.y >> 4; - AN[5] = gyro_acc.a.z >> 4; -#else - compass.readAcc(); - - AN[3] = compass.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256) - AN[4] = compass.a.y >> 4; - AN[5] = compass.a.z >> 4; -#endif - accel_x = SENSOR_SIGN[3] * (AN[3] - AN_OFFSET[3]); - accel_y = SENSOR_SIGN[4] * (AN[4] - AN_OFFSET[4]); - accel_z = SENSOR_SIGN[5] * (AN[5] - AN_OFFSET[5]); -} - -void Compass_Init() -{ -#ifdef IMU_V5 - mag.init(); - mag.enableDefault(); -#else - // LSM303: doesn't need to do anything because Accel_Init() should have already called compass.enableDefault() -#endif -} - -void Read_Compass() -{ -#ifdef IMU_V5 - mag.read(); - - magnetom_x = SENSOR_SIGN[6] * mag.m.x; - magnetom_y = SENSOR_SIGN[7] * mag.m.y; - magnetom_z = SENSOR_SIGN[8] * mag.m.z; -#else - compass.readMag(); - - magnetom_x = SENSOR_SIGN[6] * compass.m.x; - magnetom_y = SENSOR_SIGN[7] * compass.m.y; - magnetom_z = SENSOR_SIGN[8] * compass.m.z; -#endif -} - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino deleted file mode 100644 index 5307f5e..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino +++ /dev/null @@ -1,241 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -// Uncomment the following line to use a MinIMU-9 v5 or AltIMU-10 v5. Leave commented for older IMUs (up through v4). -#define IMU_V5 - -// Uncomment the below line to use this axis definition: - // X axis pointing forward - // Y axis pointing to the right - // and Z axis pointing down. -// Positive pitch : nose up -// Positive roll : right wing down -// Positive yaw : clockwise -int SENSOR_SIGN[9] = {1,1,1,-1,-1,-1,1,1,1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer -// Uncomment the below line to use this axis definition: - // X axis pointing forward - // Y axis pointing to the left - // and Z axis pointing up. -// Positive pitch : nose down -// Positive roll : right wing down -// Positive yaw : counterclockwise -//int SENSOR_SIGN[9] = {1,-1,-1,-1,1,1,1,-1,-1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer - -// tested with Arduino Uno with ATmega328 and Arduino Duemilanove with ATMega168 - -#include <Wire.h> - -// accelerometer: 8 g sensitivity -// 3.9 mg/digit; 1 g = 256 -#define GRAVITY 256 //this equivalent to 1G in the raw data coming from the accelerometer - -#define ToRad(x) ((x)*0.01745329252) // *pi/180 -#define ToDeg(x) ((x)*57.2957795131) // *180/pi - -// gyro: 2000 dps full scale -// 70 mdps/digit; 1 dps = 0.07 -#define Gyro_Gain_X 0.07 //X axis Gyro gain -#define Gyro_Gain_Y 0.07 //Y axis Gyro gain -#define Gyro_Gain_Z 0.07 //Z axis Gyro gain -#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second -#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second -#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second - -// LSM303/LIS3MDL magnetometer calibration constants; use the Calibrate example from -// the Pololu LSM303 or LIS3MDL library to find the right values for your board - -#define M_X_MIN -1000 -#define M_Y_MIN -1000 -#define M_Z_MIN -1000 -#define M_X_MAX +1000 -#define M_Y_MAX +1000 -#define M_Z_MAX +1000 - -#define Kp_ROLLPITCH 0.02 -#define Ki_ROLLPITCH 0.00002 -#define Kp_YAW 1.2 -#define Ki_YAW 0.00002 - -/*For debugging purposes*/ -//OUTPUTMODE=1 will print the corrected data, -//OUTPUTMODE=0 will print uncorrected data of the gyros (with drift) -#define OUTPUTMODE 1 - -#define PRINT_DCM 0 //Will print the whole direction cosine matrix -#define PRINT_ANALOGS 0 //Will print the analog raw data -#define PRINT_EULER 1 //Will print the Euler angles Roll, Pitch and Yaw - -#define STATUS_LED 13 - -float G_Dt=0.02; // Integration time (DCM algorithm) We will run the integration loop at 50Hz if possible - -long timer=0; //general purpuse timer -long timer_old; -long timer24=0; //Second timer used to print values -int AN[6]; //array that stores the gyro and accelerometer data -int AN_OFFSET[6]={0,0,0,0,0,0}; //Array that stores the Offset of the sensors - -int gyro_x; -int gyro_y; -int gyro_z; -int accel_x; -int accel_y; -int accel_z; -int magnetom_x; -int magnetom_y; -int magnetom_z; -float c_magnetom_x; -float c_magnetom_y; -float c_magnetom_z; -float MAG_Heading; - -float Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector -float Gyro_Vector[3]= {0,0,0};//Store the gyros turn rate in a vector -float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data -float Omega_P[3]= {0,0,0};//Omega Proportional correction -float Omega_I[3]= {0,0,0};//Omega Integrator -float Omega[3]= {0,0,0}; - -// Euler angles -float roll; -float pitch; -float yaw; - -float errorRollPitch[3]= {0,0,0}; -float errorYaw[3]= {0,0,0}; - -unsigned int counter=0; -byte gyro_sat=0; - -float DCM_Matrix[3][3]= { - { - 1,0,0 } - ,{ - 0,1,0 } - ,{ - 0,0,1 } -}; -float Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here - - -float Temporary_Matrix[3][3]={ - { - 0,0,0 } - ,{ - 0,0,0 } - ,{ - 0,0,0 } -}; - -void setup() -{ - Serial.begin(115200); - pinMode (STATUS_LED,OUTPUT); // Status LED - - I2C_Init(); - - Serial.println("Pololu MinIMU-9 + Arduino AHRS"); - - digitalWrite(STATUS_LED,LOW); - delay(1500); - - Accel_Init(); - Compass_Init(); - Gyro_Init(); - - delay(20); - - for(int i=0;i<32;i++) // We take some readings... - { - Read_Gyro(); - Read_Accel(); - for(int y=0; y<6; y++) // Cumulate values - AN_OFFSET[y] += AN[y]; - delay(20); - } - - for(int y=0; y<6; y++) - AN_OFFSET[y] = AN_OFFSET[y]/32; - - AN_OFFSET[5]-=GRAVITY*SENSOR_SIGN[5]; - - //Serial.println("Offset:"); - for(int y=0; y<6; y++) - Serial.println(AN_OFFSET[y]); - - delay(2000); - digitalWrite(STATUS_LED,HIGH); - - timer=millis(); - delay(20); - counter=0; -} - -void loop() //Main Loop -{ - if((millis()-timer)>=20) // Main loop runs at 50Hz - { - counter++; - timer_old = timer; - timer=millis(); - if (timer>timer_old) - { - G_Dt = (timer-timer_old)/1000.0; // Real time of loop run. We use this on the DCM algorithm (gyro integration time) - if (G_Dt > 0.2) - G_Dt = 0; // ignore integration times over 200 ms - } - else - G_Dt = 0; - - - - // *** DCM algorithm - // Data adquisition - Read_Gyro(); // This read gyro data - Read_Accel(); // Read I2C accelerometer - - if (counter > 5) // Read compass data at 10Hz... (5 loop runs) - { - counter=0; - Read_Compass(); // Read I2C magnetometer - Compass_Heading(); // Calculate magnetic heading - } - - // Calculations... - Matrix_update(); - Normalize(); - Drift_correction(); - Euler_angles(); - // *** - - printdata(); - } - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino deleted file mode 100644 index f1f31e5..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino +++ /dev/null @@ -1,91 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -void printdata(void) -{ - Serial.print("!"); - - #if PRINT_EULER == 1 - Serial.print("ANG:"); - Serial.print(ToDeg(roll)); - Serial.print(","); - Serial.print(ToDeg(pitch)); - Serial.print(","); - Serial.print(ToDeg(yaw)); - #endif - #if PRINT_ANALOGS==1 - Serial.print(",AN:"); - Serial.print(AN[0]); //(int)read_adc(0) - Serial.print(","); - Serial.print(AN[1]); - Serial.print(","); - Serial.print(AN[2]); - Serial.print(","); - Serial.print(AN[3]); - Serial.print (","); - Serial.print(AN[4]); - Serial.print (","); - Serial.print(AN[5]); - Serial.print(","); - Serial.print(c_magnetom_x); - Serial.print (","); - Serial.print(c_magnetom_y); - Serial.print (","); - Serial.print(c_magnetom_z); - #endif - #if PRINT_DCM == 1 - Serial.print (",DCM:"); - Serial.print(DCM_Matrix[0][0]); - Serial.print (","); - Serial.print(DCM_Matrix[0][1]); - Serial.print (","); - Serial.print(DCM_Matrix[0][2]); - Serial.print (","); - Serial.print(DCM_Matrix[1][0]); - Serial.print (","); - Serial.print(DCM_Matrix[1][1]); - Serial.print (","); - Serial.print(DCM_Matrix[1][2]); - Serial.print (","); - Serial.print(DCM_Matrix[2][0]); - Serial.print (","); - Serial.print(DCM_Matrix[2][1]); - Serial.print (","); - Serial.print(DCM_Matrix[2][2]); - #endif - Serial.println(); - -} - -/*long convert_to_dec(float x) -{ - return x*10000000; -}*/ - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino deleted file mode 100644 index d69b49c..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino +++ /dev/null @@ -1,70 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -//Computes the dot product of two vectors -float Vector_Dot_Product(float vector1[3],float vector2[3]) -{ - float op=0; - - for(int c=0; c<3; c++) - { - op+=vector1[c]*vector2[c]; - } - - return op; -} - -//Computes the cross product of two vectors -void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3]) -{ - vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]); - vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]); - vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]); -} - -//Multiply the vector by a scalar. -void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2) -{ - for(int c=0; c<3; c++) - { - vectorOut[c]=vectorIn[c]*scale2; - } -} - -void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]) -{ - for(int c=0; c<3; c++) - { - vectorOut[c]=vectorIn1[c]+vectorIn2[c]; - } -} - - - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino deleted file mode 100644 index c8a7a15..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino +++ /dev/null @@ -1,49 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -/**************************************************/ -//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!). -void Matrix_Multiply(float a[3][3], float b[3][3], float mat[3][3]) -{ - for(int x = 0; x < 3; x++) - { - for(int y = 0; y < 3; y++) - { - mat[x][y] = 0; - - for(int w = 0; w < 3; w++) - { - mat[x][y] += a[x][w] * b[w][y]; - } - } - } -} - - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/README.textile b/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/README.textile deleted file mode 100644 index ac1cb3f..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IMU_comp/minimu-9-ahrs-arduino-master/README.textile +++ /dev/null @@ -1,108 +0,0 @@ -h1. Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Version: 1.3.0 -Release Date: 2016-04-27 -"www.pololu.com":http://www.pololu.com/ - -h2. Summary - -This is a program (sketch) for the "Arduino":http://pololu.com/catalog/product/2191 that interfaces with the Pololu MinIMU-9 inertial measurement units: - -* "MinIMU-9 v5 <notextile>(LSM6DS33 and LIS3MDL carrier)</notextile>":http://www.pololu.com/product/2738 -* "MinIMU-9 v3 <notextile>(L3GD20H and LSM303D carrier)</notextile>":http://www.pololu.com/product/2468 -* "MinIMU-9 v2 <notextile>(L3GD20 and LSM303DLHC carrier)</notextile>":http://www.pololu.com/catalog/product/1268 (discontinued) -* "MinIMU-9 <notextile>(L3G4200D and LSM303DLM carrier)</notextile>":http://www.pololu.com/catalog/product/1265 (discontinued) -* "MinIMU-9 <notextile>(L3G4200D and LSM303DLH carrier)</notextile>":http://www.pololu.com/catalog/product/1264 (discontinued) - -It also works with the Pololu AltIMU-10 boards, although the output from the barometer is not used: - -* "AltIMU-10 v5 <notextile>(LSM6DS33, LIS3MDL, and LPS25H carrier)</notextile>":http://www.pololu.com/product/2739 -* "AltIMU-10 v4 <notextile>(L3GD20H, LSM303D, and LPS25H carrier)</notextile>":http://www.pololu.com/catalog/product/2470 -* "AltIMU-10 v3 <notextile>(L3GD20H, LSM303D, and LPS331AP carrier)</notextile>":http://www.pololu.com/catalog/product/2469 -* "AltIMU-10 <notextile>(L3GD20, LSM303DLHC, and LPS331AP carrier)</notextile>":http://www.pololu.com/catalog/product/1269 (discontinued) - -This Arduino program processes the raw rotation, acceleration, and magnetic data from the MinIMU-9 to derive an estimate of the board's absolute orientation, which it outputs through the Arduino's serial interface, turning the MinIMU-9 and Arduino into an attitude and heading reference system (AHRS). - -A Python test program is also included. It communicates with the Arduino serially and displays a 3D representation of the MinIMU-9 board, allowing you to visualize the output of the AHRS in real time. - -Both the Arduino software and Python test program are based on "sf9domahrs":http://code.google.com/p/sf9domahrs/ by Doug Weibel and Jose Julio, which is in turn based on "ArduIMU":http://code.google.com/p/ardu-imu/ v1.5 by Jordi Munoz, William Premerlani, Jose Julio, and Doug Weibel. - -h2. Getting Started - -h3. Software - -The Arduino program uses Pololu's Arduino libraries for the sensors on the IMU board, which can also be downloaded from GitHub. Follow the instructions on their respective pages to install the libraries. - -* *v5* IMUs: "LSM6":https://github.com/pololu/LSM6-arduino and "LIS3MDL":https://github.com/pololu/LIS3MDL-arduino libraries -* *v4 and earlier* IMUs: "L3G":https://github.com/pololu/L3G and "LSM303":https://github.com/pololu/LSM303 libraries - -The Python test program also has several dependencies you must install before you can run it: - -* "Python 2.7":http://www.python.org/download/ (download the 32-bit version) -* "pywin32":http://sourceforge.net/projects/pywin32/files/pywin32/ (direct link: "pywin32-218.win32-py2.7.exe":http://sourceforge.net/projects/pywin32/files/pywin32/Build%20218/pywin32-218.win32-py2.7.exe/download) -* "pyserial":http://sourceforge.net/projects/pyserial/files/pyserial/ (direct link: "pyserial-2.5.win32.exe":http://sourceforge.net/projects/pyserial/files/pyserial/2.5/pyserial-2.5.win32.exe/download) -* "VPython 5":http://vpython.org/contents/download_windows.html (direct link: "VPython-Win-Py2.7-5.74.exe":http://vpython.org/contents/download/VPython-Win-Py2.7-5.74.exe) - -After you have set up the prerequisites, download the archive from "GitHub":https://github.com/pololu/MinIMU-9-Arduino-AHRS and decompress it. - -h3. Hardware - -Make the following connections with wires between the Arduino and the MinIMU-9: - -h4. 5V Arduino boards - -(including Arduino Uno, Leonardo, Mega; Pololu A-Star 32U4) - -pre. Arduino IMU -------- --- - 5V - VIN - GND - GND - SDA - SDA - SCL - SCL - -h4. 3.3V Arduino boards - -(including Arduino Due) - -pre. Arduino IMU -------- --- - 3V3 - VIN - GND - GND - SDA - SDA - SCL - SCL - -h3. Using the AHRS - -From the Arduino environment, open MinIMU9AHRS.ino, which can be found in the MinIMU9AHRS folder. - -The Arduino program is set up for a *v4 or earlier* IMU by default. If you are using a MinIMU or AltIMU *v5*, uncomment the line that says @//#define IMU_V5@ at the beginning of MinIMU9AHRS.ino. - -By default, the Arduino code treats the positive X axis of the MinIMU-9 as forward and the negative Z axis as up (so that the components are on the bottom of the board and the silkscreen is on top). If you want the positive Z axis to be up instead (so that the components are on top), find the definition of @SENSOR_SIGN[9]@ at the beginning of MinIMU9AHRS.ino and uncomment the appropriate line (after commenting the original). - -To ensure that the heading derived from the compass is accurate, you should change the @M_X_MIN@ through @M_Z_MAX@ calibration constants to appropriate values. You can use the Calibrate example from the "LIS3MDL library":https://github.com/pololu/LIS3MDL-arduino (v5) or "LSM303 library":https://github.com/pololu/LSM303 (v4 or earlier) to find the right values for your board. - -In the Tools menu, select the appropriate board and serial port. Click the "Upload" button to compile the sketch and load it onto your Arduino. - -When the AHRS program first starts running, it takes some readings to establish a baseline orientation, during which it expects both the roll and the pitch of the sensors to be zero. Therefore, it is important to keep the MinIMU-9 level for a few seconds after powering on or resetting the Arduino or connecting to it from a computer. - -After performing the startup routine, the program constantly takes readings from the gyro, accelerometer, and magnetometer on the MinIMU-9 and calculates an estimate of the board's orientation. It outputs estimated roll, pitch, and yaw angles (in degrees) through the Arduino's serial interface, and you can view the output with the Arduino Serial Monitor. - -Example output: - -pre. !ANG:0.08,0.09,137.01 -!ANG:0.14,0.11,137.04 -!ANG:0.15,0.12,137.06 - -To visualize the output of the AHRS, you can run the Python test program (MinIMU-9-test.py) while the Arduino is connected to your computer. (You will probably have to edit the file first and change the definition of @ser@ to match the COM port your Arduino is using.) You should be able to see three indicators showing the roll, pitch, and yaw angles being calculated by the AHRS, as well as a 3D representation of the MinIMU-9 board (the arrow indicates the positive X direction). You can watch these change in real time as you move the board around. - -!http://b.pololu-files.com/picture/0J3722.600.jpg! - -h2. Version History - -* 1.3.0 (2016-04-27): Added support for MinIMU-9 v5 and AltIMU-10 v5. Added a check to help work around nan (not a number) problems caused by USB serial stalling the main loop. -* 1.2.3 (2015-02-05): Updated to work with L3G library version 2.0.0. -* 1.2.2 (2013-11-27): Updated to work with LSM303 library version 2.0.0. -* 1.2.1 (2013-03-15): Fixed issue with properly enabling high-resolution mode on accelerometer. -* 1.2.0 (2012-07-06): Added support for MinIMU-9 v2 (L3GD20 and LSM303DLHC); L3G4200D library dependency changed to L3G. -* 1.1.0 (2011-11-15): Added support for LSM303DLM; LSM303DLH library dependency changed to LSM303. -* 1.0.0 (2011-09-26): Original release. diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/IR_seeker/IR_seeker.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/IR_seeker/IR_seeker.ino deleted file mode 100644 index 90c9965..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/IR_seeker/IR_seeker.ino +++ /dev/null @@ -1,205 +0,0 @@ -#include <Adafruit_MCP23X17.h> - -#define ir1 0 // GPA0 -#define ir2 1 // GPA1 -#define ir3 2 // GPA2 -#define ir4 3 // GPA3 -#define ir5 4 // GPA4 -#define ir6 5 // GPA5 -#define ir7 6 // GPA6 -#define ir8 7 // GPA7 -#define ir9 8 // GPB0 -#define ir10 9 // GPB1 -#define ir11 10 // GPB2 -#define ir12 11 // GPB3 -#define ir13 12 // GPB4 -#define ir14 13 // GPB5 -#define ir15 14 // GPB6 -#define ir16 15 // GPB7 - -int dir1 = 1; // data IR1 -int dir2 = 1; // data IR2 -int dir3 = 1; // etc -int dir4 = 1; -int dir5 = 1; -int dir6 = 1; -int dir7 = 1; -int dir8 = 1; -int dir9 = 1; -int dir10 = 1; -int dir11 = 1; -int dir12 = 1; -int dir13 = 1; -int dir14 = 1; -int dir15 = 1; -int dir16 = 1; - -volatile long IRcount1 = 0; -volatile long IRcount2 = 0; -volatile long IRcount3 = 0; -volatile long IRcount4 = 0; -volatile long IRcount5 = 0; -volatile long IRcount6 = 0; -volatile long IRcount7 = 0; -volatile long IRcount8 = 0; -volatile long IRcount9 = 0; -volatile long IRcount10 = 0; -volatile long IRcount11 = 0; -volatile long IRcount12 = 0; -volatile long IRcount13 = 0; -volatile long IRcount14 = 0; -volatile long IRcount15 = 0; -volatile long IRcount16 = 0; - -// Instance for the first MCP23017 at address 0x20 -Adafruit_MCP23X17 mcp1; - -void setup() { - Serial.begin(9600); - while (!Serial); - Serial.println("MCP23xxx Button Test!"); - - // Initialize first MCP23017 with I2C address 0x20 - if (!mcp1.begin_I2C(0x20)) { - Serial.println("Error initializing MCP23017 at 0x20."); - while (1); - } - - // Configure pins for the first MCP23017 (0x20) - mcp1.pinMode(ir1, INPUT); - mcp1.pinMode(ir2, INPUT); - mcp1.pinMode(ir3, INPUT); - mcp1.pinMode(ir4, INPUT); - mcp1.pinMode(ir5, INPUT); - mcp1.pinMode(ir6, INPUT); - mcp1.pinMode(ir7, INPUT); - mcp1.pinMode(ir8, INPUT); - mcp1.pinMode(ir9, INPUT); - mcp1.pinMode(ir10, INPUT); - mcp1.pinMode(ir11, INPUT); - mcp1.pinMode(ir12, INPUT); - mcp1.pinMode(ir13, INPUT); - mcp1.pinMode(ir14, INPUT); - mcp1.pinMode(ir15, INPUT); - mcp1.pinMode(ir16, INPUT); - - attachInterrupt(digitalPinToInterrupt(ir1), IRtrigger1, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir2), IRtrigger2, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir3), IRtrigger3, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir4), IRtrigger4, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir5), IRtrigger5, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir6), IRtrigger6, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir7), IRtrigger7, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir8), IRtrigger8, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir9), IRtrigger9, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir10), IRtrigger10, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir11), IRtrigger11, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir12), IRtrigger12, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir13), IRtrigger13, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir14), IRtrigger14, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir15), IRtrigger15, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir16), IRtrigger16, CHANGE); - - Serial.println("Looping..."); -} - -void IRtrigger1() { - IRcount1++; -} -void IRtrigger2() { - IRcount2++; -} -void IRtrigger3() { - IRcount3++; -} -void IRtrigger4() { - IRcount4++; -} -void IRtrigger5() { - IRcount5++; -} -void IRtrigger6() { - IRcount6++; -} -void IRtrigger7() { - IRcount7++; -} -void IRtrigger8() { - IRcount8++; -} -void IRtrigger9() { - IRcount9++; -} -void IRtrigger10() { - IRcount10++; -} -void IRtrigger11() { - IRcount11++; -} -void IRtrigger12() { - IRcount12++; -} -void IRtrigger13() { - IRcount13++; -} -void IRtrigger14() { - IRcount14++; -} -void IRtrigger15() { - IRcount15++; -} -void IRtrigger16() { - IRcount16++; -} - - -void loop() { - Serial.print("ir 1 changes: "); - Serial.print(IRcount1); - Serial.print(", ir 2 changes: "); - Serial.print(IRcount2); - Serial.print(", ir 3 changes: "); - Serial.print(IRcount3); - Serial.print(", ir 4 changes: "); - Serial.print(IRcount4); - Serial.print(", ir 5 changes: "); - Serial.print(IRcount5); - Serial.print(", ir 6 changes: "); - Serial.print(IRcount6); - Serial.print(", ir 7 changes: "); - Serial.print(IRcount7); - Serial.print(", ir 8 changes: "); - Serial.print(IRcount8); - Serial.print(", ir 9 changes: "); - Serial.print(IRcount9); - Serial.print(", ir 10 changes: "); - Serial.print(IRcount10); - Serial.print(", ir 11 changes: "); - Serial.print(IRcount11); - Serial.print(", ir 12 changes: "); - Serial.print(IRcount12); - Serial.print(", ir 13 changes: "); - Serial.print(IRcount13); - Serial.print(", ir 14 changes: "); - Serial.print(IRcount14); - Serial.print(", ir 15 changes: "); - Serial.print(IRcount15); - Serial.print(", ir 16 changes: "); - Serial.println(IRcount16); - - volatile long IRcounts[] = {IRcount1, IRcount2, IRcount3, IRcount4, IRcount5, IRcount6, IRcount7, IRcount8, IRcount9, IRcount10, IRcount11, IRcount12, IRcount13, IRcount14, IRcount15, IRcount16}; - long maxCount = IRcounts[0]; - int highessensor = 1; - for (int i = 0; i < 15; ++i) { - if (IRcounts[i] > maxCount) { - maxCount = IRcounts[i]; - highessensor = i + 1; - } - } - Serial.print("Ball is at sensor: "); - Serial.print(highessensor); - Serial.print(", with value of "); - Serial.println(maxCount); - - delay(250); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/MCP23017/MCP23017.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/MCP23017/MCP23017.ino deleted file mode 100644 index d295e7c..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/MCP23017/MCP23017.ino +++ /dev/null @@ -1,177 +0,0 @@ -#include <Adafruit_MCP23X17.h> - -#define ir1 0 // GPA0 -#define ir2 1 // GPA1 -#define ir3 2 // GPA2 -#define ir4 3 // GPA3 -#define ir5 4 // GPA4 -#define ir6 5 // GPA5 -#define ir7 6 // GPA6 -#define ir8 7 // GPA7 -#define ir9 8 // GPB0 -#define ir10 9 // GPB1 -#define ir11 10 // GPB2 -#define ir12 11 // GPB3 -#define ir13 12 // GPB4 -#define ir14 13 // GPB5 -#define ir15 14 // GPB6 -#define ir16 15 // GPB7 - -int dir1 = 1; // data IR1 -int dir2 = 1; // data IR2 -int dir3 = 1; // etc -int dir4 = 1; -int dir5 = 1; -int dir6 = 1; -int dir7 = 1; -int dir8 = 1; -int dir9 = 1; -int dir10 = 1; -int dir11 = 1; -int dir12 = 1; -int dir13 = 1; -int dir14 = 1; -int dir15 = 1; -int dir16 = 1; - -int dir17 = 1; // data IR17 -int dir18 = 1; // data IR18 -int dir19 = 1; // etc -int dir20 = 1; -int dir21 = 1; -int dir22 = 1; -int dir23 = 1; -int dir24 = 1; -int dir25 = 1; -int dir26 = 1; -int dir27 = 1; -int dir28 = 1; -int dir29 = 1; -int dir30 = 1; -int dir31 = 1; -int dir32 = 1; - -// Instance for the first MCP23017 at address 0x20 -Adafruit_MCP23X17 mcp1; - -// Instance for the second MCP23017 at address 0x22 -Adafruit_MCP23X17 mcp2; - -void setup() { - Serial.begin(9600); - while (!Serial); - Serial.println("MCP23xxx Button Test!"); - - // Initialize first MCP23017 with I2C address 0x20 - if (!mcp1.begin_I2C(0x20)) { - Serial.println("Error initializing MCP23017 at 0x20."); - while (1); - } - - // Initialize second MCP23017 with I2C address 0x22 - if (!mcp2.begin_I2C(0x22)) { - Serial.println("Error initializing MCP23017 at 0x22."); - while (1); - } - - // Configure pins for the first MCP23017 (0x20) - mcp1.pinMode(ir1, INPUT); - mcp1.pinMode(ir2, INPUT); - mcp1.pinMode(ir3, INPUT); - mcp1.pinMode(ir4, INPUT); - mcp1.pinMode(ir5, INPUT); - mcp1.pinMode(ir6, INPUT); - mcp1.pinMode(ir7, INPUT); - mcp1.pinMode(ir8, INPUT); - mcp1.pinMode(ir9, INPUT); - mcp1.pinMode(ir10, INPUT); - mcp1.pinMode(ir11, INPUT); - mcp1.pinMode(ir12, INPUT); - mcp1.pinMode(ir13, INPUT); - mcp1.pinMode(ir14, INPUT); - mcp1.pinMode(ir15, INPUT); - mcp1.pinMode(ir16, INPUT); - - // Configure pins for the second MCP23017 (0x22) - mcp2.pinMode(ir1, INPUT); - mcp2.pinMode(ir2, INPUT); - mcp2.pinMode(ir3, INPUT); - mcp2.pinMode(ir4, INPUT); - mcp2.pinMode(ir5, INPUT); - mcp2.pinMode(ir6, INPUT); - mcp2.pinMode(ir7, INPUT); - mcp2.pinMode(ir8, INPUT); - mcp2.pinMode(ir9, INPUT); - mcp2.pinMode(ir10, INPUT); - mcp2.pinMode(ir11, INPUT); - mcp2.pinMode(ir12, INPUT); - mcp2.pinMode(ir13, INPUT); - mcp2.pinMode(ir14, INPUT); - mcp2.pinMode(ir15, INPUT); - mcp2.pinMode(ir16, INPUT); - - Serial.println("Looping..."); -} - -void loop() { - // Read pins from the first MCP23017 (0x20) - dir1 = mcp1.digitalRead(ir1); - dir2 = mcp1.digitalRead(ir2); - dir3 = mcp1.digitalRead(ir3); - dir4 = mcp1.digitalRead(ir4); - dir5 = mcp1.digitalRead(ir5); - dir6 = mcp1.digitalRead(ir6); - dir7 = mcp1.digitalRead(ir7); - dir8 = mcp1.digitalRead(ir8); - dir9 = mcp1.digitalRead(ir9); - dir10 = mcp1.digitalRead(ir10); - dir11 = mcp1.digitalRead(ir11); - dir12 = mcp1.digitalRead(ir12); - dir13 = mcp1.digitalRead(ir13); - dir14 = mcp1.digitalRead(ir14); - dir15 = mcp1.digitalRead(ir15); - dir16 = mcp1.digitalRead(ir16); - - // Read pins from the second MCP23017 (0x22) - dir17 = mcp2.digitalRead(ir1); - dir18 = mcp2.digitalRead(ir2); - dir19 = mcp2.digitalRead(ir3); - dir20 = mcp2.digitalRead(ir4); - dir21 = mcp2.digitalRead(ir5); - dir22 = mcp2.digitalRead(ir6); - dir23 = mcp2.digitalRead(ir7); - dir24 = mcp2.digitalRead(ir8); - dir25 = mcp2.digitalRead(ir9); - dir26 = mcp2.digitalRead(ir10); - dir27 = mcp2.digitalRead(ir11); - dir28 = mcp2.digitalRead(ir12); - dir29 = mcp2.digitalRead(ir13); - dir30 = mcp2.digitalRead(ir14); - dir31 = mcp2.digitalRead(ir15); - dir32 = mcp2.digitalRead(ir16); - - // Print the results from the first MCP23017 (0x20) - Serial.print("MCP23017 @ 0x20: "); - Serial.print(dir1); Serial.print(", "); Serial.print(dir2); - Serial.print(", "); Serial.print(dir3); Serial.print(", "); Serial.print(dir4); - Serial.print(", "); Serial.print(dir5); Serial.print(", "); Serial.print(dir6); - Serial.print(", "); Serial.print(dir7); Serial.print(", "); Serial.print(dir8); - Serial.print(", "); Serial.print(dir9); Serial.print(", "); Serial.print(dir10); - Serial.print(", "); Serial.print(dir11); Serial.print(", "); Serial.print(dir12); - Serial.print(", "); Serial.print(dir13); Serial.print(", "); Serial.print(dir14); - Serial.print(", "); Serial.print(dir15); Serial.print(", "); Serial.print(dir16); - - // Print the results from the second MCP23017 (0x22) - Serial.print(" MCP23017 @ 0x22: "); - Serial.print(dir17); Serial.print(", "); Serial.print(dir18); - Serial.print(", "); Serial.print(dir19); Serial.print(", "); Serial.print(dir20); - Serial.print(", "); Serial.print(dir21); Serial.print(", "); Serial.print(dir22); - Serial.print(", "); Serial.print(dir23); Serial.print(", "); Serial.print(dir24); - Serial.print(", "); Serial.print(dir25); Serial.print(", "); Serial.print(dir26); - Serial.print(", "); Serial.print(dir27); Serial.print(", "); Serial.print(dir28); - Serial.print(", "); Serial.print(dir29); Serial.print(", "); Serial.print(dir30); - Serial.print(", "); Serial.print(dir31); Serial.print(", "); Serial.println(dir32); - - Serial.println(); - delay(250); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/MCP23017/mcp20317_schemss.jpg b/OLD_CODE_REMOVE_LATER/debug/prewk/MCP23017/mcp20317_schemss.jpg Binary files differdeleted file mode 100644 index 5231394..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/MCP23017/mcp20317_schemss.jpg +++ /dev/null diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/Scanner/Scanner.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/Scanner/Scanner.ino deleted file mode 100644 index 879dbd6..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/Scanner/Scanner.ino +++ /dev/null @@ -1,194 +0,0 @@ -// Wire Scanner - scans for I2C devices on all Wire ports -// -// This Wire library adapted is for Teensy boards -// -// https://github.com/PaulStoffregen/Wire/ -// -// Adapted from I2C Scanner originally published on Arduino Playground -// see comments below for link and credits for original authors. - -#include <Wire.h> - -void setup() { -#if WIRE_INTERFACES_COUNT >= 1 - //Wire.setSCL(16); // uncomment these to use alternate Wire pins - //Wire.setSDA(17); - Wire.begin(); -#endif - Serial.begin(9600); - while (!Serial); // Wait for Arduino Serial Monitor - Serial.println(F("\nI2C Scanner")); -} - - -void loop() { - Serial.println(); -#if WIRE_INTERFACES_COUNT >= 1 - Serial.println(F("Scanning Wire...")); - scan(Wire); - delay(500); -#endif - delay(2000); // wait 5 seconds for next scan -} - - -void scan(TwoWire &myport) { - int nDevices = 0; - for (int address = 1; address < 127; address++) { - // The i2c_scanner uses the return value of - // the Write.endTransmisstion to see if - // a device did acknowledge to the address. - myport.beginTransmission(address); - int error = myport.endTransmission(); - - if (error == 0) { - Serial.print(F("Device found at address 0x")); - if (address < 16) { - Serial.print("0"); - } - Serial.print(address,HEX); - Serial.print(" ("); - printKnownChips(address); - Serial.println(")"); - nDevices++; - } else if (error==4) { - Serial.print(F("Unknown error at address 0x")); - if (address < 16) { - Serial.print("0"); - } - Serial.println(address,HEX); - } - } - if (nDevices == 0) { - Serial.println(F("No I2C devices found")); - } else { - Serial.println(F("done")); - } - Serial.println(); -} - - -void printKnownChips(byte address) -{ - // Is this list missing part numbers for chips you use? - // Please suggest additions here: - // https://github.com/PaulStoffregen/Wire/issues/new - switch (address) { - case 0x00: Serial.print(F("AS3935")); break; - case 0x01: Serial.print(F("AS3935")); break; - case 0x02: Serial.print(F("AS3935")); break; - case 0x03: Serial.print(F("AS3935")); break; - case 0x04: Serial.print(F("ADAU1966")); break; - case 0x0A: Serial.print(F("SGTL5000")); break; // MCLK required - case 0x0B: Serial.print(F("SMBusBattery?")); break; - case 0x0C: Serial.print(F("AK8963")); break; - case 0x10: Serial.print(F("CS4272")); break; - case 0x11: Serial.print(F("Si4713")); break; - case 0x13: Serial.print(F("VCNL4000,AK4558")); break; - case 0x18: Serial.print(F("LIS331DLH")); break; - case 0x19: Serial.print(F("LSM303,LIS331DLH")); break; - case 0x1A: Serial.print(F("WM8731")); break; - case 0x1C: Serial.print(F("LIS3MDL")); break; - case 0x1D: Serial.print(F("LSM303D,LSM9DS0,ADXL345,MMA7455L,LSM9DS1,LIS3DSH")); break; - case 0x1E: Serial.print(F("LSM303D,HMC5883L,FXOS8700,LIS3DSH")); break; - case 0x20: Serial.print(F("MCP23017,MCP23008,PCF8574,FXAS21002,SoilMoisture")); break; - case 0x21: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x22: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x23: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x24: Serial.print(F("MCP23017,MCP23008,PCF8574,ADAU1966,HM01B0")); break; - case 0x25: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x26: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x27: Serial.print(F("MCP23017,MCP23008,PCF8574,LCD16x2,DigoleDisplay")); break; - case 0x28: Serial.print(F("BNO055,EM7180,CAP1188")); break; - case 0x29: Serial.print(F("TSL2561,VL6180,TSL2561,TSL2591,BNO055,CAP1188")); break; - case 0x2A: Serial.print(F("SGTL5000,CAP1188")); break; - case 0x2B: Serial.print(F("CAP1188")); break; - case 0x2C: Serial.print(F("MCP44XX ePot")); break; - case 0x2D: Serial.print(F("MCP44XX ePot")); break; - case 0x2E: Serial.print(F("MCP44XX ePot")); break; - case 0x2F: Serial.print(F("MCP44XX ePot")); break; - case 0x30: Serial.print(F("Si7210")); break; - case 0x31: Serial.print(F("Si7210")); break; - case 0x32: Serial.print(F("Si7210")); break; - case 0x33: Serial.print(F("MAX11614,MAX11615,Si7210,MLX90640,MLX90641")); break; - case 0x34: Serial.print(F("MAX11612,MAX11613")); break; - case 0x35: Serial.print(F("MAX11616,MAX11617")); break; - case 0x38: Serial.print(F("RA8875,FT6206,MAX98390")); break; - case 0x39: Serial.print(F("TSL2561, APDS9960")); break; - case 0x3A: Serial.print(F("MLX90632")); break; - case 0x3C: Serial.print(F("SSD1306,DigisparkOLED")); break; - case 0x3D: Serial.print(F("SSD1306")); break; - case 0x40: Serial.print(F("PCA9685,Si7021,MS8607")); break; - case 0x41: Serial.print(F("STMPE610,PCA9685")); break; - case 0x42: Serial.print(F("PCA9685")); break; - case 0x43: Serial.print(F("PCA9685")); break; - case 0x44: Serial.print(F("PCA9685, SHT3X, ADAU1966")); break; - case 0x45: Serial.print(F("PCA9685, SHT3X")); break; - case 0x46: Serial.print(F("PCA9685")); break; - case 0x47: Serial.print(F("PCA9685")); break; - case 0x48: Serial.print(F("ADS1115,PN532,TMP102,LM75,PCF8591,CS42448")); break; - case 0x49: Serial.print(F("ADS1115,TSL2561,PCF8591,CS42448,TC74A1")); break; - case 0x4A: Serial.print(F("ADS1115,Qwiic Keypad,CS42448")); break; - case 0x4B: Serial.print(F("ADS1115,TMP102,BNO080,Qwiic Keypad,CS42448")); break; - case 0x50: Serial.print(F("EEPROM,FRAM")); break; - case 0x51: Serial.print(F("EEPROM")); break; - case 0x52: Serial.print(F("Nunchuk,EEPROM")); break; - case 0x53: Serial.print(F("ADXL345,EEPROM")); break; - case 0x54: Serial.print(F("EEPROM")); break; - case 0x55: Serial.print(F("EEPROM")); break; - case 0x56: Serial.print(F("EEPROM")); break; - case 0x57: Serial.print(F("EEPROM")); break; - case 0x58: Serial.print(F("TPA2016,MAX21100")); break; - case 0x5A: Serial.print(F("MPR121,MLX90614")); break; - case 0x60: Serial.print(F("MPL3115,MCP4725,MCP4728,TEA5767,Si5351")); break; - case 0x61: Serial.print(F("MCP4725,AtlasEzoDO")); break; - case 0x62: Serial.print(F("LidarLite,MCP4725,AtlasEzoORP")); break; - case 0x63: Serial.print(F("MCP4725,AtlasEzoPH")); break; - case 0x64: Serial.print(F("AtlasEzoEC, ADAU1966")); break; - case 0x66: Serial.print(F("AtlasEzoRTD")); break; - case 0x68: Serial.print(F("DS1307,DS3231,MPU6050,MPU9050,MPU9250,ITG3200,ITG3701,LSM9DS0,L3G4200D")); break; - case 0x69: Serial.print(F("MPU6050,MPU9050,MPU9250,ITG3701,L3G4200D")); break; - case 0x6A: Serial.print(F("LSM9DS1")); break; - case 0x6B: Serial.print(F("LSM9DS0")); break; - case 0x6F: Serial.print(F("Qwiic Button")); break; - case 0x70: Serial.print(F("HT16K33,TCA9548A")); break; - case 0x71: Serial.print(F("SFE7SEG,HT16K33")); break; - case 0x72: Serial.print(F("HT16K33")); break; - case 0x73: Serial.print(F("HT16K33")); break; - case 0x76: Serial.print(F("MS5607,MS5611,MS5637,BMP280")); break; - case 0x77: Serial.print(F("BMP085,BMA180,BMP280,MS5611")); break; - case 0x7C: Serial.print(F("FRAM_ID")); break; - default: Serial.print(F("unknown chip")); - } -} - - -// -------------------------------------- -// i2c_scanner -// https://playground.arduino.cc/Main/I2cScanner/ -// -// Version 1 -// This program (or code that looks like it) -// can be found in many places. -// For example on the Arduino.cc forum. -// The original author is not know. -// Version 2, Juni 2012, Using Arduino 1.0.1 -// Adapted to be as simple as possible by Arduino.cc user Krodal -// Version 3, Feb 26 2013 -// V3 by louarnold -// Version 4, March 3, 2013, Using Arduino 1.0.3 -// by Arduino.cc user Krodal. -// Changes by louarnold removed. -// Scanning addresses changed from 0...127 to 1...119, -// according to the i2c scanner by Nick Gammon -// http://www.gammon.com.au/forum/?id=10896 -// Version 5, March 28, 2013 -// As version 4, but address scans now to 127. -// A sensor seems to use address 120. -// Version 6, November 27, 2015. -// Added waiting for the Leonardo serial communication. -// -// -// This sketch tests the standard 7-bit addresses -// Devices with higher bit address might not be seen properly. -// diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/color_sensor/color_sensor.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/color_sensor/color_sensor.ino deleted file mode 100644 index c800f16..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/color_sensor/color_sensor.ino +++ /dev/null @@ -1,183 +0,0 @@ -/** -i2c port scanner based on: - in wire library examples i2c_scanner - https://learn.adafruit.com/adafruit-pca9548-8-channel-stemma-qt-qwiic-i2c-multiplexer/arduino - -color sensor based on± - adafruit TCS34725 librarys - - type var: - https://arduino.stackexchange.com/questions/3079/how-to-retrieve-the-data-type-of-a-variable - - * - */ - -#include <Wire.h> //https://www.arduino.cc/reference/en/language/functions/communication/wire/ -#include "Adafruit_TCS34725.h" //https://github.com/adafruit/Adafruit_TCS34725 - -#define PCAADDR 0x70 //i2c address of the i2c multiplexer - -/* Initialise with default values (int time = 2.4ms, gain = 1x) */ -Adafruit_TCS34725 tcs = Adafruit_TCS34725(); -//Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_614MS, TCS34725_GAIN_1X); - -const int buzzer = 6; //buzzer to arduino pin 9 - - -int colsensdata[6] = {99, 99, 99, 99, 99, 99}; - - - -void setup() { - Serial.begin(115200); - //while (!Serial); // Leonardo: wait for Serial Monitor - Serial.println("\nI2C Scanner"); - pinMode(buzzer, OUTPUT); - -} - -void pcaselect(uint8_t i) { - if (i > 7) return; - - Wire.beginTransmission(PCAADDR); - Wire.write(1 << i); - Wire.endTransmission(); -} -void scandirectports(){ - Wire.begin(); - int nDevices = 0; - Serial.println("Scanning for i2c ports on board..."); - - for (byte address = 1; address < 127; ++address) { - // The i2c_scanner uses the return value of - // the Wire.endTransmission to see if - // a device did acknowledge to the address. - Wire.beginTransmission(address); - byte error = Wire.endTransmission(); - - if (error == 0) { - Serial.print("I2C device found at address 0x"); - if (address < 16) { - Serial.print("0"); - } - Serial.print(address, HEX); - Serial.println(" !"); - - ++nDevices; - } else if (error == 4) { - Serial.print("Unknown error at address 0x"); - if (address < 16) { - Serial.print("0"); - } - Serial.println(address, HEX); - } - } - if (nDevices == 0) { - Serial.println("No I2C devices found\n"); - } else { - Serial.println("done\n"); - } -} - - -// Generic catch-all implementation. -template <typename T_ty> struct TypeInfo { static const char * name; }; -template <typename T_ty> const char * TypeInfo<T_ty>::name = "unknown"; - -// Handy macro to make querying stuff easier. -#define TYPE_NAME(var) TypeInfo< typeof(var) >::name - -// Handy macro to make defining stuff easier. -#define MAKE_TYPE_INFO(type) template <> const char * TypeInfo<type>::name = #type; - -// Type-specific implementations. -MAKE_TYPE_INFO( int ) -MAKE_TYPE_INFO( float ) -MAKE_TYPE_INFO( short ) - -void loop() { - Wire.begin(); - - for (uint8_t t=0; t<50; t++) { - Serial.println(); - } - - scandirectports(); - - Serial.println(); - Serial.println(); - - for (uint8_t t=0; t<6; t++) { - pcaselect(t); - Serial.print("PCA Port #"); Serial.println(t); - for (uint8_t addr = 0; addr<=127; addr++) { - if (addr == PCAADDR) continue; - Wire.beginTransmission(addr); - if (!Wire.endTransmission()) { - Serial.print("Found I2C 0x"); Serial.println(addr,HEX); - Serial.println("scanning for tcs sensor"); - if (tcs.begin()) { - Serial.println("Found sensor"); - Serial.println("collecting data"); - uint16_t r, g, b, c, colorTemp, lux; - tcs.getRawData(&r, &g, &b, &c); - colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c); - lux = tcs.calculateLux(r, g, b); - Serial.print("Color Temp: "); Serial.print(colorTemp, DEC); Serial.print(" K - "); - Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" "); - if ((colorTemp) == 5201){ - Serial.println("sensor in air"); - tone(buzzer, 100); - colsensdata[t] = 0; - } - else if ((g)>=(2*(r)) && (g)>=12){ - Serial.println("green"); - tone(buzzer, 200); - colsensdata[t] = 1; - } - else if ((colorTemp)>= 6750){ - Serial.println("black"); - tone(buzzer, 300); - colsensdata[t] = 2; - } - else if ((colorTemp) < 6750){ - Serial.println("white"); - tone(buzzer, 400); - colsensdata[t] = 3; - } - else{ - Serial.println(colorTemp); - Serial.println(TYPE_NAME((colorTemp, DEC))); - colsensdata[t] = 98; - } - Serial.println(); - - - } else { - Serial.println("No TCS34725 found ... check your connections"); - colsensdata[t] = 97; - } - delay(500); - } - } - } - Serial.println(); - Serial.print("sensor data = "); - for(int i = 0; i < 6; i++){ - Serial.print(colsensdata[i]); - Serial.print(", "); - } - /** -0 = air -1 = green -2 = black -3 = white -90 = error - - * - */ - Serial.println(""); - Serial.println("DONE"); - tone(buzzer, 1000); - delay(2500); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/color_sensor/short/short.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/color_sensor/short/short.ino deleted file mode 100644 index 2f80412..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/color_sensor/short/short.ino +++ /dev/null @@ -1,94 +0,0 @@ - -#include <Wire.h> //https://www.arduino.cc/reference/en/language/functions/communication/wire/ -#include "Adafruit_TCS34725.h" //https://github.com/adafruit/Adafruit_TCS34725 - -#define PCAADDR 0x70 //i2c address of the i2c multiplexer - - -Adafruit_TCS34725 tcs = Adafruit_TCS34725();/* Initialise with default values (int time = 2.4ms, gain = 1x) */ - -int colsensdata[6] = {99, 99, 99, 99, 99, 99}; - -void setup() { - Serial.begin(115200); - Serial.println("\nI2C Scanner"); - -} - -void pcaselect(uint8_t i) { - if (i > 7) return; - - Wire.beginTransmission(PCAADDR); - Wire.write(1 << i); - Wire.endTransmission(); -} - -template <typename T_ty> struct TypeInfo { static const char * name; }; -template <typename T_ty> const char * TypeInfo<T_ty>::name = "unknown"; -#define TYPE_NAME(var) TypeInfo< typeof(var) >::name -#define MAKE_TYPE_INFO(type) template <> const char * TypeInfo<type>::name = #type; -MAKE_TYPE_INFO( int ) -MAKE_TYPE_INFO( float ) -MAKE_TYPE_INFO( short ) - -void loop() { - Wire.begin(); - for (uint8_t t=0; t<6; t++) { - pcaselect(t); - Serial.print("PCA Port #"); Serial.println(t); - for (uint8_t addr = 0; addr<=127; addr++) { - if (addr == PCAADDR) continue; - Wire.beginTransmission(addr); - if (!Wire.endTransmission()) { - Serial.print("Found I2C 0x"); Serial.println(addr,HEX); - if (tcs.begin()) { - Serial.println("Found sensor"); - Serial.println("collecting data"); - uint16_t r, g, b, c, colorTemp, lux; - tcs.getRawData(&r, &g, &b, &c); - colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c); - lux = tcs.calculateLux(r, g, b); - Serial.print("Color Temp: "); Serial.print(colorTemp, DEC); Serial.print(" K - "); - Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" "); - if ((colorTemp) == 5201){ - colsensdata[t] = 0; - } - else if ((g)>=(2*(r)) && (g)>=12){ - colsensdata[t] = 1; - } - else if ((colorTemp)>= 6750){ - colsensdata[t] = 2; - } - else if ((colorTemp) < 6750){ - colsensdata[t] = 3; - } - else{ - Serial.println(colorTemp); - Serial.println(TYPE_NAME((colorTemp, DEC))); - colsensdata[t] = 98; - } - } else { - Serial.println("No TCS34725 found ... check your connections"); - colsensdata[t] = 97; - } - } - } - } - Serial.print("sensor data = "); - for(int i = 0; i < 6; i++){ - Serial.print(colsensdata[i]); - Serial.print(", "); - } - /** -0 = air -1 = green -2 = black -3 = white -90 = error - - * - */ - Serial.println(""); - Serial.println("DONE"); - delay(2500); -}
\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/arduino_binairy_decoder/arduino_binairy_decoder.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/comm/arduino_binairy_decoder/arduino_binairy_decoder.ino deleted file mode 100644 index eb257e5..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/arduino_binairy_decoder/arduino_binairy_decoder.ino +++ /dev/null @@ -1,28 +0,0 @@ -String inp = "01101000"; -int decimalValue = 0; - -void setup() { - Serial.begin(115200); - while (!Serial) { - ; // wait for serial port to connect. Needed for native USB - } - Serial.println(""); - - Serial.println(inp); - String binary = inp.substring(2); - Serial.println(binary); - for (int i = 0; i < binary.length(); i++) { - // Calculate the value of the current bit - int bitValue = binary.charAt(i) - '0'; - // Update the decimal value by shifting the bit to its correct position - decimalValue = (decimalValue << 1) | bitValue; - } - Serial.println(decimalValue); - Serial.println(""); -} - -void loop() { - // put your main code here, to run repeatedly: - delay(1000); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/arduino_comm/arduino_comm.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/comm/arduino_comm/arduino_comm.ino deleted file mode 100644 index 4a2b205..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/arduino_comm/arduino_comm.ino +++ /dev/null @@ -1,37 +0,0 @@ -String tlocd = ""; -String locd = ""; -bool readloc = false; -unsigned long datatime = 0; - -void setup() { - Serial1.begin(19200); - Serial.begin(19200); -} - -void loop() { - if(Serial1.available()){ - datatime = millis(); - - byte byteRead = Serial1.read(); - - if(byteRead == 's'){ - tlocd = ""; - readloc = true; - } - else if(byteRead == 'e'){ - readloc = false; - locd = tlocd; - } - else if(readloc == true){ - tlocd += (char)byteRead; - } - } - else{ - if(millis() - datatime > 5000){ - Serial.println("Err no data recieved for 5 sec"); - locd = "999"; - } - } - Serial.println(locd); - delay(134); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/seeed-teensy/readme.txt.txt b/OLD_CODE_REMOVE_LATER/debug/prewk/comm/seeed-teensy/readme.txt.txt deleted file mode 100644 index ef9f996..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/seeed-teensy/readme.txt.txt +++ /dev/null @@ -1,3 +0,0 @@ -serial communication between two Seeed Studio XIAO SAMD21 and one teensy. -Teensy Serial 2 and 3 on read -Seeed XIAO SAMD21 write a 8 values on Serial1 between 0-10000 (pulses from IR sensor) every 0,25 seconds. For example 100 pulses in 1 second = 00025 diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/seeed-teensy/seeed_uart/seeed_uart.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/comm/seeed-teensy/seeed_uart/seeed_uart.ino deleted file mode 100644 index 32750de..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/seeed-teensy/seeed_uart/seeed_uart.ino +++ /dev/null @@ -1,9 +0,0 @@ -void setup() { - Serial1.begin(9600) - -} - -void loop() { - Serial1.println("/D:00025:/E"); - delay(250); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/seeed-teensy/teensy_uard_read/teensy_uard_read.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/comm/seeed-teensy/teensy_uard_read/teensy_uard_read.ino deleted file mode 100644 index 684c199..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/seeed-teensy/teensy_uard_read/teensy_uard_read.ino +++ /dev/null @@ -1,17 +0,0 @@ -void setup() { - // Initialize Serial1 with a baud rate of 19200 - Serial1.begin(9600); - Serial.begin(9600); // Initialize Serial for debugging -} - -void loop() { - // Check if there is any data available to read from Serial1 - if (Serial1.available()) { - // Read the most recent byte - byte byteRead = Serial1.read(); - // Echo the value that was read - Serial1.write(byteRead); - // Print the received byte for debugging - Serial.print((char)byteRead); - } -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/spi/arduino_spi_master/arduino_spi_master.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/comm/spi/arduino_spi_master/arduino_spi_master.ino deleted file mode 100644 index 248ef0f..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/spi/arduino_spi_master/arduino_spi_master.ino +++ /dev/null @@ -1,34 +0,0 @@ -#include <SPI.h> -#define SS_PIN 10 -#define BAUD_RATE 19200 -#define CHAR_BUF 128 - -void setup() { - pinMode(SS_PIN, OUTPUT); - Serial.begin(BAUD_RATE); - SPI.begin(); - SPI.setBitOrder(MSBFIRST); - SPI.setClockDivider(SPI_CLOCK_DIV16); - SPI.setDataMode(SPI_MODE0); - delay(1000); // Give the OpenMV Cam time to bootup. -} - -void loop() { - int32_t len = 0; - char buff[CHAR_BUF] = {0}; - digitalWrite(SS_PIN, LOW); - delay(1); // Give the OpenMV Cam some time to setup to send data. - - if(SPI.transfer(1) == 85) { // saw sync char? - SPI.transfer(&len, 4); // get length - if (len) { - SPI.transfer(&buff, min(len, CHAR_BUF)); - len -= min(len, CHAR_BUF); - } - while (len--) SPI.transfer(0); // eat any remaining bytes - } - - digitalWrite(SS_PIN, HIGH); - Serial.print(buff); - delay(1); // Don't loop to quickly. -}
\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/spi/arduino_spi_slave_1.py b/OLD_CODE_REMOVE_LATER/debug/prewk/comm/spi/arduino_spi_slave_1.py deleted file mode 100644 index e05c2f0..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/spi/arduino_spi_slave_1.py +++ /dev/null @@ -1,102 +0,0 @@ -# This work is licensed under the MIT license. -# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved. -# https://github.com/openmv/openmv/blob/master/LICENSE -# -# SPI with the Arduino as the master device and the OpenMV Cam as the slave. -# -# Please wire up your OpenMV Cam to your Arduino like this: -# -# OpenMV Cam Master Out Slave In (P0) - Arduino Uno MOSI (11) -# OpenMV Cam Master In Slave Out (P1) - Arduino Uno MISO (12) -# OpenMV Cam Serial Clock (P2) - Arduino Uno SCK (13) -# OpenMV Cam Slave Select (P3) - Arduino Uno SS (10) -# OpenMV Cam Ground - Arduino Ground - -import pyb -import ustruct -import time - -text = "Hello World!\n" -data = ustruct.pack("<bi%ds" % len(text), 85, len(text), text) # 85 is a sync char. -# Use "ustruct" to build data packets to send. -# "<" puts the data in the struct in little endian order. -# "b" puts a signed char in the data stream. -# "i" puts a signed integer in the data stream. -# "%ds" puts a string in the data stream. E.g. "13s" for "Hello World!\n" (13 chars). -# See https://docs.python.org/3/library/struct.html - -# READ ME!!! -# -# Please understand that when your OpenMV Cam is not the SPI master it may miss responding to -# sending data as a SPI slave no matter if you call "spi.send()" in an interrupt callback or in the -# main loop below. Because of this you must absolutely design your communications protocol such -# that if the slave device (the OpenMV Cam) doesn't call "spi.send()" in time that garbage data -# read from the SPI peripheral by the master (the Arduino) is tossed. To accomplish this we use a -# sync character of 85 (binary 01010101) which the Arduino will look for as the first byte read. -# If it doesn't see this then it aborts the SPI transaction and will try again. Second, in order to -# clear out the SPI peripheral state we always send a multiple of four bytes and an extra four zero -# bytes to make sure that the SPI peripheral doesn't hold any stale data which could be 85. Note -# that the OpenMV Cam will miss the "spi.send()" window randomly because it has to service -# interrupts. Interrupts will happen a lot more while connected to your PC. - -# The hardware SPI bus for your OpenMV Cam is always SPI bus 2. -# polarity = 0 -> clock is idle low. -# phase = 0 -> sample data on rising clock edge, output data on falling clock edge. -spi = pyb.SPI(2, pyb.SPI.SLAVE, polarity=0, phase=0) - - -# NSS callback. -def nss_callback(line): - global spi, data - try: - spi.send(data, timeout=1000) - except OSError as err: - pass # Don't care about errors - so pass. - # Note that there are 3 possible errors. A timeout error, a general purpose error, or - # a busy error. The error codes are 116, 5, 16 respectively for "err.arg[0]". - - -# Configure NSS/CS in IRQ mode to send data when requested by the master. -pyb.ExtInt(pyb.Pin("P3"), pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_UP, nss_callback) - -while True: - time.sleep_ms(1000) - -################################################################################################### -# Arduino Code -################################################################################################### -# -# #include <SPI.h> -# #define SS_PIN 10 -# #define BAUD_RATE 19200 -# #define CHAR_BUF 128 -# -# void setup() { -# pinMode(SS_PIN, OUTPUT); -# Serial.begin(BAUD_RATE); -# SPI.begin(); -# SPI.setBitOrder(MSBFIRST); -# SPI.setClockDivider(SPI_CLOCK_DIV16); -# SPI.setDataMode(SPI_MODE0); -# delay(1000); // Give the OpenMV Cam time to bootup. -# } -# -# void loop() { -# int32_t len = 0; -# char buff[CHAR_BUF] = {0}; -# digitalWrite(SS_PIN, LOW); -# delay(1); // Give the OpenMV Cam some time to setup to send data. -# -# if(SPI.transfer(1) == 85) { // saw sync char? -# SPI.transfer(&len, 4); // get length -# if (len) { -# SPI.transfer(&buff, min(len, CHAR_BUF)); -# len -= min(len, CHAR_BUF); -# } -# while (len--) SPI.transfer(0); // eat any remaining bytes -# } -# -# digitalWrite(SS_PIN, HIGH); -# Serial.print(buff); -# delay(1); // Don't loop to quickly. -# } diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/uart/arduino_uart/arduino_uart.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/comm/uart/arduino_uart/arduino_uart.ino deleted file mode 100644 index 6385695..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/uart/arduino_uart/arduino_uart.ino +++ /dev/null @@ -1,17 +0,0 @@ -void setup() { - // Initialize Serial1 with a baud rate of 19200 - Serial1.begin(19200); - Serial.begin(19200); // Initialize Serial for debugging -} - -void loop() { - // Check if there is any data available to read from Serial1 - if (Serial1.available()) { - // Read the most recent byte - byte byteRead = Serial1.read(); - // Echo the value that was read - Serial1.write(byteRead); - // Print the received byte for debugging - Serial.print((char)byteRead); - } -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/uart/arduino_uart_1.py b/OLD_CODE_REMOVE_LATER/debug/prewk/comm/uart/arduino_uart_1.py deleted file mode 100644 index 3996cf7..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/comm/uart/arduino_uart_1.py +++ /dev/null @@ -1,42 +0,0 @@ -# This work is licensed under the MIT license. -# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved. -# https://github.com/openmv/openmv/blob/master/LICENSE -# -# Basic UART communications between OpenMV and Arduino Uno. - -# 1) Wire up your OpenMV Cam to your Arduino Uno like this: -# -# OpenMV Cam Ground Pin ----> Arduino Ground -# OpenMV Cam UART3_TX(P4) ----> Arduino Uno UART_RX(0) -# OpenMV Cam UART3_RX(P5) ----> Arduino Uno UART_TX(1) - -# 2) Uncomment and upload the following sketch to Arduino: -# -# void setup() { -# // put your setup code here, to run once: -# Serial.begin(19200); -# } -# -# void loop() { -# // put your main code here, to run repeatedly: -# if (Serial.available()) { -# // Read the most recent byte -# byte byteRead = Serial.read(); -# // ECHO the value that was read -# Serial.write(byteRead); -# } -# } - -# 3) Run the following script in OpenMV IDE: - -import time -from pyb import UART - -# UART 3, and baudrate. -uart = UART(3, 19200, timeout_char=200) - -while True: - uart.write("Hello World!\n") - if uart.any(): - print(uart.read()) - time.sleep_ms(1000) diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/data_logging_teensy_temp/InternalTemperature-master.zip b/OLD_CODE_REMOVE_LATER/debug/prewk/data_logging_teensy_temp/InternalTemperature-master.zip Binary files differdeleted file mode 100644 index 64b7dc4..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/data_logging_teensy_temp/InternalTemperature-master.zip +++ /dev/null diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/data_logging_teensy_temp/data_logging_teensy_temp.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/data_logging_teensy_temp/data_logging_teensy_temp.ino deleted file mode 100644 index fcd6c64..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/data_logging_teensy_temp/data_logging_teensy_temp.ino +++ /dev/null @@ -1,63 +0,0 @@ -#include <InternalTemperature.h> -#include <SD.h> -#include <SPI.h> - -File ; -File avrage; -const int chipSelect = BUILTIN_SDCARD; - -/ - -void setup() -{ - Serial.begin(9600); - - //open current loop motor values file - current = SD.open("motor_values.csv", FILE_WRITE); - - while(true){ - if (current) { - if (SD.exists((String("motor_values") + x + ".csv").c_str())){ - Serial.println(((String)"motor_values"+x+".csv already exists")); - x++; - } else { - Serial.println((String)"motor_values"+x+".csv"" doesn't exist."); - Serial.println((String)"creating motor_values"+x+".csv"); - current = SD.open(((String("motor_values") + x + ".csv").c_str()), FILE_WRITE); - break; - } - } - delay(1); - } - Serial.println("!!!setup complete!!!"); -} - - -void loop() -{ - String currentvals = ""; - String avrvals = ""; - - currentvals += InternalTemperature.readTemperatureC(); - d_println("°C"); - debugdataString += "°C"; - - //log sensor data to sensor log - sensordataString += InternalTemperature.readTemperatureC(); - sensordataString += ", "; - - //open sensor log file - File csvfile = SD.open((String("motor_values") + x + ".csv").c_str()), FILE_WRITE); - if (csvfile) { - csvfile.println(sensordataString); - csvfile.close(); - } - - //open debug file - File dataFile = SD.open("avrage_motor_values.txt", FILE_WRITE); - if (dataFile) { - dataFile.println((String)"debug data:"+debugdataString+"sensor data"+sensordataString); - dataFile.close(); - } - delay(1000); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/CODE.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/CODE.ino deleted file mode 100644 index 5b993c3..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/CODE.ino +++ /dev/null @@ -1,992 +0,0 @@ -#include <Wire.h> //https://www.arduino.cc/reference/en/language/functions/communication/wire/ -#include "Adafruit_TCS34725.h" //https://github.com/adafruit/Adafruit_TCS34725 -#include <Adafruit_MCP23X17.h> //https://github.com/adafruit/Adafruit-MCP23017-Arduino-Library/tree/master -#include <LIS3MDL.h> //https://github.com/pololu/lis3mdl-arduino -#include <LSM6.h> //https://github.com/pololu/lsm6-arduino -#include <TimerThree.h> //https://www.arduino.cc/reference/en/libraries/timerthree/ - - -const int minpulsbal = 1100; //minimum pulses needed to be able to say it has the ball in posesion -double sp = 1200.000; //estemate needed speed in RPM ~0-1800 - -//i2c addr -#define PCAADDR 0x70 //i2c address of the i2c multiplexer -#define mcp1ADDR 0x20 //first portmultiplexer for ir sensors -#define mcp2ADDR 0x22 //first portmultiplexer for motors - -//IR sensors on multiplex1 0x20 -#define ir1 0 // GPA0 -#define ir2 1 // GPA1 -#define ir3 2 // GPA2 -#define ir4 3 // GPA3 -#define ir5 4 // GPA4 -#define ir6 5 // GPA5 -#define ir7 6 // GPA6 -#define ir8 7 // GPA7 -#define ir9 8 // GPB0 -#define ir10 9 // GPB1 -#define ir11 10 // GPB2 -#define ir12 11 // GPB3 -#define ir13 12 // GPB4 -#define ir14 13 // GPB5 -#define ir15 14 // GPB6 -#define ir16 15 // GPB7 -#define irBALL 25 // IR sensor to see if we have the ball, teensy pin NO 25 - -//motors on multiplex2 0x22 -#define ArrayElementCount(needRPM) (sizeof(needRPM) / sizeof(needRPM[0])) //used to calculate array size -const int maxspeed = 1000; //max speed in PWM value -//calibration data -int Amotordata[] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 2, 1, 0, 1, 1, 1, 0, 14, 12, 14, 9, 11, 16, 9, 9, 9, 16, 28, 28, 32, 42, 39, 29, 29, 45, 36, 30, 60, 102, 109, 113, 124, 154, 153, 154, 151, 172, 183, 214, 243, 288, 302, 306, 320, 336, 337, 338, 356, 420, 438, 451, 465, 501, 499, 492, 509, 519, 528, 561, 567, 611, 632, 610, 616, 638, 641, 641, - 667, 705, 721, 735, 724, 772, 756, 761, 748, 773, 774, 810, 817, 849, 840, 840, 861, 858, 876, 857, 883, 917, 917, 920, 932, 954, 936, 925, 918, 963, 951, 960, 995, 1011, 1011, 1008, 1011, 1052, 1022, 1033, 1014, 1059, 1059, 1092, 1053, 1092, 1080, 1056, 1062, 1097, 1111, 1096, 1094, 1170, 1131, 1137, 1134, 1158, 1174, 1137, 1185, 1234, 1198, 1203, 1192, - 1223, 1194, 1207, 1204, 1241, 1222, 1252, 1229, 1291, 1232, 1241, 1226, 1246, 1244, 1225, 1230, 1298, 1295, 1271, 1270, 1306, 1300, 1280, 1265, 1357, 1283, 1278, 1307, 1369, 1297, 1337, 1299, 1357, 1326, 1326, 1316, 1375, 1341, 1373, 1366, 1351, 1366, 1326, 1314, 1404, 1364, 1373, 1366, 1417, 1431, 1381, 1349, 1468, 1383, 1367, 1352, 1460, 1411, 1420, 1400, - 1471, 1435, 1415, 1429, 1455, 1424, 1432, 1406, 1506, 1447, 1444, 1416, 1511, 1438, 1442, 1476, 1578, 1498, 1444, 1440, 1521, 1539, 1448, 1448, 1539, 1492, 1518, 1464, 1604, 1565, 1503, 1468, 1539, 1479, 1492, 1481, 1582, 1549, 1495, 1525, 1618, 1543, 1515, 1546, 1631, 1597, 1532, 1569, 1712, 1577, 1537, 1557, 1621, 1596, 1532, 1546, 1721, 1572, 1566, 1562, - 1645, 1602, 1592, 1580, 1708, 1587, 1587, 1599, 1639, 1566, 1576, 1540, 1699, 1664, 1561, 1593, 1731, 1589, 1613, 1563, 1695, 1608, 1628, 1597, 1721, 1737, 1613, 1613, 1772, 1665, 1670, 1656, 1758, 1645, 1649, 1603, 1772, 1702, 1688, 1678, 1782, 1685, 1718, 1650, 1863, 1793, 1687, 1717, 1804, 1782, 1695, 1704, 1789, 1769, 1674, 1715, 1867, 1795, 1675, 1702, - 1761, 1673, 1676, 1667, 1765, 1708, 1721, 1667, 1792, 1728, 1681, 1674, 1792, 1770, 1745, 1698, 1816, 1797, 1715, 1776, 1938, 1796, 1742, 1745, 1911, 1832, 1800, 1772, 1930, 1752, 1721, 1714, 1920, 1805, 1730, 1711, 1864, 1862, 1700, 1762, 1897, 1805, 1753, 1761, 1951, 1790, 1749, 1773, 1947, 1781, 1712, 1782, 1901, 1799, 1732, 1724, 1856, 1772, 1759, 1751, - 1923, 1846, 1765, 1765, 1944, 1822, 1791, 1776, 1945, 1854, 1830, 1800, 1921, 1860, 1776, 1748, 1954, 1874, 1858, 1773, 2035, 1852, 1775, 1826, 2072, 1934, 1859, 1897, 2003, 2054, 1860, 1887, 2214, 1993, 1970, 1874, 2041, 2043, 1894, 1839, 2080, 1905, 1822, 1907, 2124, 1935, 1857, 1883, 1957, 1940, 1860, 1870, 1865, 1877, 1876, 1846, 2092, 1928, 1825, 1833, - 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1891, 1905, 1883, 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910 }; -int Bmotordata[] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 2, 1, 0, 1, 1, 1, 0, 14, 12, 14, 9, 11, 16, 9, 9, 9, 16, 28, 28, 32, 42, 39, 29, 29, 45, 36, 30, 60, 102, 109, 113, 124, 154, 153, 154, 151, 172, 183, 214, 243, 288, 302, 306, 320, 336, 337, 338, 356, 420, 438, 451, 465, 501, 499, 492, 509, 519, 528, 561, 567, 611, 632, 610, 616, 638, 641, 641, 667, - 705, 721, 735, 724, 772, 756, 761, 748, 773, 774, 810, 817, 849, 840, 840, 861, 858, 876, 857, 883, 917, 917, 920, 932, 954, 936, 925, 918, 963, 951, 960, 995, 1011, 1011, 1008, 1011, 1052, 1022, 1033, 1014, 1059, 1059, 1092, 1053, 1092, 1080, 1056, 1062, 1097, 1111, 1096, 1094, 1170, 1131, 1137, 1134, 1158, 1174, 1137, 1185, 1234, 1198, 1203, 1192, 1223, 1194, - 1207, 1204, 1241, 1222, 1252, 1229, 1291, 1232, 1241, 1226, 1246, 1244, 1225, 1230, 1298, 1295, 1271, 1270, 1306, 1300, 1280, 1265, 1357, 1283, 1278, 1307, 1369, 1297, 1337, 1299, 1357, 1326, 1326, 1316, 1375, 1341, 1373, 1366, 1351, 1366, 1326, 1314, 1404, 1364, 1373, 1366, 1417, 1431, 1381, 1349, 1468, 1383, 1367, 1352, 1460, 1411, 1420, 1400, 1471, 1435, - 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1857, 1955, 1921, 1866, 1841, 1890, 1876, 1821, 1855, 1961, 1895, 1877, 1852, 1873, 1857, 1915, 1820, 1850, 1897, 1856, 1833, 1921, 1915, 1823, 1807, 1904, 1830, 1817, 1790, 1911, 1864, 1883, 1843, 1915, 1989, 1917, 1863, 1921, 1951, 1958, 1971, 1958, 1983, 1901, 1934, 1934, 1987, 2011, 1979, 2023, 2059, 2026, 1890, 2052, 1931, 1917, 1923, 2126, 2036, 1965, - 1899, 1971, 1913, 1870, 1835, 1911, 1962, 2005, 1971, 2039, 2050, 1986, 1857, 1993, 1958, 2041, 2025, 1969, 2004, 2012, 1931, 2101, 1939, 2006, 2063, 2035, 2146, 1971, 1972, 2018, 2028, 1917, 1835, 1923, 1988, 1884, 1924, 1947, 1894, 1968, 1952, 1931, 1909, 1914, 1883, 1901, 1933, 2001, 1952, 1992, 2019, 1938, 1952, 1921, 2009, 1999, 1982, 1985, 1949, 1907, - 1968, 1911, 2006, 1935, 1944, 1921, 1924, 1981, 1930, 1928, 2046, 1877, 1811, 1888, 1912, 1866, 1887, 1918, 1929, 1913, 1922, 1923, 1915, 1918, 1918, 1937, 1981, 1948, 1959, 1978, 1972, 1981, 1920, 1994, 1995, 1987, 1890, 1929, 1985, 1978, 2042, 2070, 2006, 1999, 1948, 1961, 2046, 1971, 1984, 2097, 1942, 1937, 1887, 2011, 1999, 2016, 1979, 2008, 1992, 2034, - 2003, 1988, 2052, 2025, 1931, 2030, 1952, 1900, 1878, 1930, 2038, 1954, 1941, 2003, 2013, 1992, 1920, 2005, 1957, 1960, 1911, 1931, 1954, 1927, 1935, 1971, 2023, 1931, 1900, 1962, 1952, 1979, 1941, 1957, 1985, 1944, 1961, 2029, 1998, 1995, 1946, 1955, 1949, 1938, 1921, 1908, 1941, 1943, 1932, 1948, 1924, 1989, 1974, 1977, 1994, 2033, 1948, 1907, 1948, 1880, - 1915, 1941, 1921, 1949, 1938, 1958, 1956, 1937, 1931, 2032, 1996, 2008, 1937, 1937, 1935, 1962, 1941, 1938, 2029, 2013, 1999, 2021, 2029, 1899, 1886, 2013, 1871, 1853, 1901, 1860, 1907, 1880, 1910, 1943, 1881, 1893, 1873, 1870, 1908, 1917, 1908, 1904, 1895, 1854, 1889, 1900, 1857, 1934, 1873, 1936, 1920, 1900, 1903, 1925, 1910, 1886, 1924, 1891, 1905, 1883, - 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910 }; -//how much rpm the robot aims for -int AneedRPM = 0; -int BneedRPM = 0; -int CneedRPM = 0; -//kiwidrive values -double dirA = 0.00; -double dirB = 0.00; -double dirC = 0.00; -double spdA = 0.00; -double spdB = 0.00; -double spdC = 0.00; -double dirrad = 0.00; -double pi = 3.1415926535897; -#define m1enA 3 // GPA3 PWM1 -#define m1enB 2 // GPA2 -#define m1pwm1 0 // GPA0 -#define m1pwm2 1 // GPA1 -#define m1encA 12 // GPB4 -#define m1encB 13 // GPB5 -// motor two/B left -#define m2enA 7 // GPA7 PWM2 -#define m2enB 6 // GPA6 -#define m2pwm1 4 // GPA4 -#define m2pwm2 5 // GPA5 -#define m2encA 14 // GPB6 -#define m2encB 15 // GPB7 -// motor three/C right -#define m3enA 11 // GPB3 PWM3 -#define m3enB 10 // GPB2 -#define m3pwm1 8 // GPB0 -#define m3pwm2 9 // GPB1 -#define m3encA 24 // teensy port 24 -#define m3encB 9 // teensy port 9 -//encoder values -double Arpm = 0.00; -volatile long Aencount = 0; -unsigned long ALtime = 0; -unsigned long ACtime = 0; -unsigned long APtime = 0; -double Brpm = 0.00; -volatile long Bencount = 0; -unsigned long BLtime = 0; -unsigned long BCtime = 0; -unsigned long BPtime = 0; -double Crpm = 0.00; -volatile long Cencount = 0; -unsigned long CLtime = 0; -unsigned long CCtime = 0; -unsigned long CPtime = 0; -//softPWM values -volatile int PWMval1 = 0; // PWM m1enA value 0-100 -volatile int PWMval2 = 0; // PWM m2enA value 0-100 -volatile int PWMval3 = 0; // PWM m3enA value 0-100 - -//settings -#define dip1 2 //settings dip switch port 1 -#define dip2 3 //settings dip switch port 2 -#define dip3 4 //settings dip switch port 3 -#define dip4 5 //settings dip switch port 4 -#define buz 8 //buzzer - -//NOT USED CONNECT TO PULLUP -#define P1 6 //pin 6 on Teensy -#define P2 7 //pin 7 on Teensy -#define P3 10 //pin 10 on Teensy -#define P4 11 //pin 11 on Teensy -#define P5 12 //pin 12 on Teensy -#define P6 13 //pin 13 on Teensy -#define P7 14 //pin 14 on Teensy -#define P8 15 //pin 15 on Teensy -#define P9 16 //pin 16 on Teensy -#define P10 17 //pin 17 on Teensy -#define P11 20 //pin 20 on Teensy -#define P12 21 //pin 21 on Teensy -#define P13 22 //pin 22 on Teensy -#define P14 23 //pin 23 on Teensy -#define P15 29 //pin 29 on Teensy -#define P16 30 //pin 30 on Teensy -#define P17 31 //pin 31 on Teensy -#define P18 32 //pin 32 on Teensy -#define P19 33 //pin 33 on Teensy -#define P20 34 //pin 34 on Teensy -#define P21 35 //pin 35 on Teensy -#define P22 36 //pin 36 on Teensy -#define P23 37 //pin 37 on Teensy -#define P24 38 //pin 38 on Teensy -#define P25 39 //pin 39 on Teensy -#define P26 40 //pin 40 on Teensy -#define P27 41 //pin 41 on Teensy -//extra pins -// #define EP1 25 //pin 41 on Teensy used for IR seeker -#define EP2 26 //pin 41 on Teensy -#define EP3 27 //pin 41 on Teensy -#define EP4 28 //pin 41 on Teensy - -volatile long IRcount1 = 0; -volatile long IRcount2 = 0; -volatile long IRcount3 = 0; -volatile long IRcount4 = 0; -volatile long IRcount5 = 0; -volatile long IRcount6 = 0; -volatile long IRcount7 = 0; -volatile long IRcount8 = 0; -volatile long IRcount9 = 0; -volatile long IRcount10 = 0; -volatile long IRcount11 = 0; -volatile long IRcount12 = 0; -volatile long IRcount13 = 0; -volatile long IRcount14 = 0; -volatile long IRcount15 = 0; -volatile long IRcount16 = 0; -volatile long IRcountBALL = 0; -int ballpos = 0; //location of ball in degrees - -int errorbuz = 0; //if there is an error someware it goes to 1 and the buzzer starts - -int ballinpos = 0; //is ball in our posesion. 0=no 1=yes -int colsensdata[6] = { 99, 99, 99, 99, 99, 99 }; //data colorsensors - -int dip1val = 0; //value of dip, 0=LOW, 1=HIGH -int dip2val = 0; -int dip3val = 0; -int dip4val = 0; -int settingval = 1; - -Adafruit_MCP23X17 mcp1; // Instance for the first MCP23017 at address 0x20 -Adafruit_MCP23X17 mcp2; // Instance for the second MCP23017 at address 0x22 - -Adafruit_TCS34725 tcs = Adafruit_TCS34725(); // Initialise color sensorwith default values (int time = 2.4ms, gain = 1x) - -String tlocd = ""; //temp data for goal location -String locd = ""; //goal location in deg -int gloc = 0; //goal location in deg int -bool readloc = false; -unsigned long datatime = 0; - -LIS3MDL mag; -LSM6 imu; -int front = 0; -//enter calibration values -LIS3MDL::vector<int16_t> m_min = { +942, +3436, -3323 }; -LIS3MDL::vector<int16_t> m_max = { +1053, +3559, -3142 }; - -void setup() { - Serial.begin(9600); //serial debug - Serial1.begin(19200); //connection to openMV - - //connect unconected pins to GND - pinMode(P1, INPUT_PULLUP); - pinMode(P2, INPUT_PULLUP); - pinMode(P3, INPUT_PULLUP); - pinMode(P4, INPUT_PULLUP); - pinMode(P5, INPUT_PULLUP); - pinMode(P6, INPUT_PULLUP); - pinMode(P7, INPUT_PULLUP); - pinMode(P8, INPUT_PULLUP); - pinMode(P9, INPUT_PULLUP); - pinMode(P10, INPUT_PULLUP); - pinMode(P11, INPUT_PULLUP); - pinMode(P12, INPUT_PULLUP); - pinMode(P13, INPUT_PULLUP); - pinMode(P14, INPUT_PULLUP); - pinMode(P15, INPUT_PULLUP); - pinMode(P16, INPUT_PULLUP); - pinMode(P17, INPUT_PULLUP); - pinMode(P18, INPUT_PULLUP); - pinMode(P19, INPUT_PULLUP); - pinMode(P20, INPUT_PULLUP); - pinMode(P21, INPUT_PULLUP); - pinMode(P22, INPUT_PULLUP); - pinMode(P23, INPUT_PULLUP); - pinMode(P24, INPUT_PULLUP); - pinMode(P25, INPUT_PULLUP); - pinMode(P26, INPUT_PULLUP); - pinMode(P27, INPUT_PULLUP); - //connect unconected extrapins to GND - pinMode(EP2, INPUT_PULLUP); - pinMode(EP3, INPUT_PULLUP); - pinMode(EP4, INPUT_PULLUP); - - // Initialize first MCP23017 with I2C address 0x20 - if (!mcp1.begin_I2C(mcp1ADDR)) { - Serial.println("(IR_sensors)Error initializing MCP23017 at 0x20."); - } - - // Initialize second MCP23017 with I2C address 0x22 - if (!mcp2.begin_I2C(mcp2ADDR)) { - Serial.println("(Motors)Error initializing MCP23017 at 0x22."); - } - //magnetometer - if (!mag.init()) { - Serial.println("Error initializing LIS3MDL magnetometer."); - } - //IMU - if (!imu.init()) { - Serial.println("Error initializing LSM6 IMU."); - } - imu.enableDefault(); - //get start heading to use as refreance point - mag.read(); - imu.read(); - float heading = computeHeading(); - front = heading; - Serial.println(heading); - - // Configure pins for the IR seekers - mcp1.pinMode(ir1, INPUT); - mcp1.pinMode(ir2, INPUT); - mcp1.pinMode(ir3, INPUT); - mcp1.pinMode(ir4, INPUT); - mcp1.pinMode(ir5, INPUT); - mcp1.pinMode(ir6, INPUT); - mcp1.pinMode(ir7, INPUT); - mcp1.pinMode(ir8, INPUT); - mcp1.pinMode(ir9, INPUT); - mcp1.pinMode(ir10, INPUT); - mcp1.pinMode(ir11, INPUT); - mcp1.pinMode(ir12, INPUT); - mcp1.pinMode(ir13, INPUT); - mcp1.pinMode(ir14, INPUT); - mcp1.pinMode(ir15, INPUT); - mcp1.pinMode(ir16, INPUT); - pinMode(irBALL, INPUT); - - // Configure pins for the motor - mcp2.pinMode(m1enA, OUTPUT); - mcp2.pinMode(m1enB, OUTPUT); - mcp2.pinMode(m2enA, OUTPUT); - mcp2.pinMode(m2enB, OUTPUT); - mcp2.pinMode(m3enA, OUTPUT); - mcp2.pinMode(m3enB, OUTPUT); - mcp2.pinMode(m1pwm1, OUTPUT); - mcp2.pinMode(m1pwm2, OUTPUT); - mcp2.pinMode(m2pwm1, OUTPUT); - mcp2.pinMode(m2pwm2, OUTPUT); - mcp2.pinMode(m3pwm1, OUTPUT); - mcp2.pinMode(m3pwm2, OUTPUT); - - //set encoder pins - mcp2.pinMode(m1encA, INPUT); - mcp2.pinMode(m1encB, INPUT); - mcp2.pinMode(m2encA, INPUT); - mcp2.pinMode(m2encB, INPUT); - pinMode(m3encA, INPUT); - pinMode(m3encB, INPUT); - - //IR seeker interupts - attachInterrupt(digitalPinToInterrupt(ir1), IRtrigger1, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir2), IRtrigger2, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir3), IRtrigger3, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir4), IRtrigger4, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir5), IRtrigger5, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir6), IRtrigger6, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir7), IRtrigger7, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir8), IRtrigger8, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir9), IRtrigger9, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir10), IRtrigger10, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir11), IRtrigger11, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir12), IRtrigger12, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir13), IRtrigger13, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir14), IRtrigger14, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir15), IRtrigger15, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir16), IRtrigger16, CHANGE); - attachInterrupt(digitalPinToInterrupt(irBALL), IRtrigger16, CHANGE); - - //encoder interupst - attachInterrupt(digitalPinToInterrupt(m1encA), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m1encB), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encA), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encB), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encA), CencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encB), CencoderISR, CHANGE); - - //PWM interupst - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM1); - Timer3.attachInterrupt(updatePWM2); - Timer3.attachInterrupt(updatePWM3); - - pinMode(buz, OUTPUT); - Serial.println("SETUP COMPLETE GOING TO LOOP"); - tone(buz, 1000); -} -void updatePWM1() { - static int counter1 = 0; - if (counter1 < PWMval1) { - mcp2.digitalWrite(m1enA, HIGH); - } else { - mcp2.digitalWrite(m1enA, LOW); - } - counter1++; - if (counter1 >= 100) { - counter1 = 0; - } -} -void updatePWM2() { - static int counter2 = 0; - if (counter2 < PWMval2) { - mcp2.digitalWrite(m2enA, HIGH); - } else { - mcp2.digitalWrite(m2enA, LOW); - } - counter2++; - if (counter2 >= 100) { - counter2 = 0; - } -} -void updatePWM3() { - static int counter3 = 0; - if (counter3 < PWMval3) { - mcp2.digitalWrite(m3enA, HIGH); - } else { - mcp2.digitalWrite(m3enA, LOW); - } - counter3++; - if (counter3 >= 100) { - counter3 = 0; - } -} -void mcpsoftpwm(int pin, int vall) { - //M1enA = 3 = GPA3 - //M2enA = 7 = GPA7 - //M3enA = 11 = GPB3 - Serial.print("softPWM pin: "); - Serial.print(pin); - Serial.print(", value: "); - Serial.println(vall); - if (pin = 3) { - PWMval1 = vall; - Serial.print("Motor 1 enA PWM set"); - } - if (pin = 7) { - PWMval2 = vall; - Serial.print("Motor 2 enA PWM set"); - } - if (pin = 11) { - PWMval3 = vall; - Serial.print("Motor 3 enA PWM set"); - } -} - -void AencoderISR() { - Aencount++; -} -void BencoderISR() { - Bencount++; -} -void CencoderISR() { - Cencount++; -} - -void IRtrigger1() { - IRcount1++; -} -void IRtrigger2() { - IRcount2++; -} -void IRtrigger3() { - IRcount3++; -} -void IRtrigger4() { - IRcount4++; -} -void IRtrigger5() { - IRcount5++; -} -void IRtrigger6() { - IRcount6++; -} -void IRtrigger7() { - IRcount7++; -} -void IRtrigger8() { - IRcount8++; -} -void IRtrigger9() { - IRcount9++; -} -void IRtrigger10() { - IRcount10++; -} -void IRtrigger11() { - IRcount11++; -} -void IRtrigger12() { - IRcount12++; -} -void IRtrigger13() { - IRcount13++; -} -void IRtrigger14() { - IRcount14++; -} -void IRtrigger15() { - IRcount15++; -} -void IRtrigger16() { - IRcount16++; -} -void IRtriggerBALL() { - IRcountBALL++; -} - -void pcaselect(uint8_t i) { - if (i > 7) return; - - Wire.beginTransmission(PCAADDR); - Wire.write(1 << i); - Wire.endTransmission(); -} - -void Areadenc() { - ACtime = micros(); - APtime = ACtime - ALtime; - ALtime = ACtime; - Arpm = (Aencount / 211.2) * (60000000.0 / APtime); - Serial.print("Motor A RPM: "); - Serial.print(Arpm); - Serial.print(" Sample period:"); - Serial.print(APtime); - Serial.print("ms, encoder count:"); - Serial.println(Aencount); - Aencount = 0; -} -void Breadenc() { - BCtime = micros(); - BPtime = BCtime - BLtime; - BLtime = BCtime; - Brpm = (Bencount / 211.2) * (60000000.0 / BPtime); - Serial.print("Motor B RPM: "); - Serial.print(Brpm); - Serial.print(" Sample period: "); - Serial.print(BPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Bencount); - Bencount = 0; -} -void Creadenc() { - CCtime = micros(); - CPtime = CCtime - CLtime; - CLtime = CCtime; - Crpm = (Cencount / 211.2) * (60000000.0 / CPtime); - Serial.print("Motor C RPM: "); - Serial.print(Crpm); - Serial.print(" Sample period: "); - Serial.print(CPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Cencount); - Cencount = 0; -} -void Aresetenc() { - ACtime = micros(); - ALtime = ACtime; - Aencount = 0; -} -void Bresetenc() { - BCtime = micros(); - BLtime = BCtime; - Bencount = 0; -} -void Cresetenc() { - CCtime = micros(); - CLtime = CCtime; - Cencount = 0; -} - -void Amove(double Rsped) { - double sped = nearest(Rsped, Amotordata, ArrayElementCount(Amotordata)); - spdA = abs(sped) * 0.1; - mcpsoftpwm(m1enA, spdA); - mcp2.digitalWrite(m1enB, LOW); - if (sped < 0) { - Serial.print("Motor A back "); - mcp2.digitalWrite(m1pwm1, LOW); - mcp2.digitalWrite(m1pwm2, HIGH); - } else { - Serial.print("Motor A forward "); - mcp2.digitalWrite(m1pwm1, HIGH); - mcp2.digitalWrite(m1pwm2, LOW); - } - Serial.println(spdA); -} -void Bmove(double Rsped) { - double sped = nearest(Rsped, Bmotordata, ArrayElementCount(Bmotordata)); - spdB = abs(sped) * 0.1; - mcpsoftpwm(m2enA, spdB); - mcp2.digitalWrite(m2enB, LOW); - if (sped < 0) { - Serial.print("Motor B back "); - mcp2.digitalWrite(m2pwm1, LOW); - mcp2.digitalWrite(m2pwm2, HIGH); - } else { - Serial.print("Motor B forward "); - mcp2.digitalWrite(m2pwm1, HIGH); - mcp2.digitalWrite(m2pwm2, LOW); - } - Serial.println(spdB); -} -void Cmove(double Rsped) { - double sped = nearest(Rsped, Cmotordata, ArrayElementCount(Cmotordata)); - spdC = abs(sped) * 0.1; - mcpsoftpwm(m3enA, spdC); - mcp2.digitalWrite(m3enB, LOW); - if (sped < 0) { - Serial.print("Motor C back "); - mcp2.digitalWrite(m3pwm1, LOW); - mcp2.digitalWrite(m3pwm2, HIGH); - } else { - Serial.print("Motor C forward "); - mcp2.digitalWrite(m3pwm1, HIGH); - mcp2.digitalWrite(m3pwm2, LOW); - } - Serial.println(spdC); -} - -void moveohmi(int speed, int direction) { - Amove(0); - Bmove(0); - Cmove(0); - - double dirrad = (direction * 71.0000) / 4068.0000; - Serial.println(dirrad); - //vector ontbinden in x en y - double y = sin(dirrad); - double x = cos(dirrad); - Serial.println((String) "x:" + x + " y:" + y); - double spdeA = y * speed; //speed motor A = Y vector - double spdeB = (-0.500 * x - 0.8660054 * y) * speed; //speed motor B = -1/2 X - sqrt(3)/2 Y - double spdeC = (-0.500 * x + 0.8660054 * y) * speed; //speed motor C = -1/2 X + sqrt(3)/2 Y - Amove(spdeA); - Bmove(spdeB); - Cmove(spdeC); - Serial.println(); - Serial.println(); -} -void rotate(int speed) { - Amove(speed); - Bmove(speed); - Cmove(speed); -} -void compasrotate(int speed, int direction, int accuracy, int curheading) { - //inacurate compas data - //0deg is start heading offset(deg) - int headmin = direction - accuracy; - if (headmin < 0) { - headmin = 360 - headmin; - } - int headmax = direction + accuracy; - if (headmax > 360) { - headmax = headmax - 360; - } - if (!(curheading >= headmin) && !(curheading <= headmax)) { - if ((direction - curheading) > 180) { - Amove(-speed); - Bmove(-speed); - Cmove(-speed); - } else { - Amove(speed); - Bmove(speed); - Cmove(speed); - } - } -} - -void loop() { - /* - 1. it proceses/collects the sensor data - 2. It prints the data for debugging - 3. It do stuff with the data - */ - /* - 1. collect data - 2. do stuff with data --> 3 - 3. check if we are on any white lines: - Yes: go oppiside direction for 250ms --> 1 - No: --> 4 - 4. do we have the ball - Yes: go towards goal --> 1 - No: --> 5 - 5. Go towards the ball --> 1 - */ - Wire.begin(); - //IR sensors data collection done in background, finding highest value and see if we have ball in posesion - volatile long IRcounts[] = { IRcount1, IRcount2, IRcount3, IRcount4, IRcount5, IRcount6, IRcount7, IRcount8, IRcount9, IRcount10, IRcount11, IRcount12, IRcount13, IRcount14, IRcount15, IRcount16 }; - long maxCount = IRcounts[0]; - int highessensor = 1; - for (int i = 0; i < 15; ++i) { - if (IRcounts[i] > maxCount) { - maxCount = IRcounts[i]; - highessensor = i + 1; - ballpos = (360 - (22.5 * i)); - } - } - if (IRcountBALL > minpulsbal) { - ballinpos = 1; - } else { - ballinpos = 0; - } - //Read color sensors - for (uint8_t t = 0; t < 6; t++) { - pcaselect(t); - for (uint8_t addr = 0; addr <= 127; addr++) { - if (addr == PCAADDR) continue; - Wire.beginTransmission(addr); - if (!Wire.endTransmission()) { - if (tcs.begin()) { - uint16_t r, g, b, c, colorTemp, lux; - tcs.getRawData(&r, &g, &b, &c); - colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c); - lux = tcs.calculateLux(r, g, b); - if ((colorTemp) == 5201) { - colsensdata[t] = 0; - } else if ((g) >= (2 * (r)) && (g) >= 12) { - colsensdata[t] = 1; - } else if ((colorTemp) >= 6750) { - colsensdata[t] = 2; - } else if ((colorTemp) < 6750) { - colsensdata[t] = 3; - } else { - Serial.println(colorTemp); - colsensdata[t] = 98; - } - } else { - Serial.println("No TCS34725 found ... check your connections"); - colsensdata[t] = 97; - } - } - } - } - //read camera - if (Serial1.available()) { - datatime = millis(); - - byte byteRead = Serial1.read(); - - if (byteRead == 's') { - tlocd = ""; - readloc = true; - } else if (byteRead == 'e') { - readloc = false; - locd = tlocd; - } else if (readloc == true) { - tlocd += (char)byteRead; - } - } else { - if (millis() - datatime > 5000) { - locd = "999"; - } - } - int gloc = locd.toInt(); - //read and calculate compas - mag.read(); - imu.read(); - float heading = computeHeading(); - int offset = heading - front; - if (offset < 0) { - offset = (offset + 360); - } - //read dip settings - dip1val = digitalRead(dip1); - dip2val = digitalRead(dip2); - dip3val = digitalRead(dip3); - dip4val = digitalRead(dip4); - //printing sensor data - //IR - Serial.println("IR data: "); - Serial.print("ir 1 changes: "); - Serial.print(IRcount1); - Serial.print(", ir 2 changes: "); - Serial.print(IRcount2); - Serial.print(", ir 3 changes: "); - Serial.print(IRcount3); - Serial.print(", ir 4 changes: "); - Serial.print(IRcount4); - Serial.print(", ir 5 changes: "); - Serial.print(IRcount5); - Serial.print(", ir 6 changes: "); - Serial.print(IRcount6); - Serial.print(", ir 7 changes: "); - Serial.print(IRcount7); - Serial.print(", ir 8 changes: "); - Serial.print(IRcount8); - Serial.print(", ir 9 changes: "); - Serial.print(IRcount9); - Serial.print(", ir 10 changes: "); - Serial.print(IRcount10); - Serial.print(", ir 11 changes: "); - Serial.print(IRcount11); - Serial.print(", ir 12 changes: "); - Serial.print(IRcount12); - Serial.print(", ir 13 changes: "); - Serial.print(IRcount13); - Serial.print(", ir 14 changes: "); - Serial.print(IRcount14); - Serial.print(", ir 15 changes: "); - Serial.print(IRcount15); - Serial.print(", ir 16 changes: "); - Serial.println(IRcount16); - Serial.print(", ball in posesion ir changes: "); - Serial.println(IRcountBALL); - Serial.print("Ball is at sensor: "); - Serial.print(highessensor); - Serial.print(", with value of "); - Serial.print(maxCount); - Serial.print(", withs it also at"); - Serial.print(ballpos); - Serial.print(" degrees"); - if (ballinpos == 1) { - Serial.print("Ball is in our posesion with: "); - Serial.print(IRcountBALL); - Serial.println(" pulses."); - } else { - Serial.println("ball is not in our posesion"); - } - //color - Serial.print("sensor data = "); // 0=air, 1=green, 2=black, 3=white, 90=error - for (int i = 0; i < 6; i++) { - Serial.print(colsensdata[i]); - Serial.print(", "); - } - Serial.println(); - //camera - Serial.print("location of the goal is: "); - if (gloc == 999) { - Serial.println("unknown, there is no working connection with the camera"); - } else { - Serial.println(gloc); - } - //compas - Serial.print("heading: "); - Serial.print(heading); - Serial.print(", goal location: "); - Serial.print(front); - Serial.print(", offset: "); - //dip - if ((dip1val = 0) && (dip1val = 1)) { - settingval = 1; - } else if ((dip1val = 1) && (dip1val = 1)) { - settingval = 2; - } else if ((dip1val = 0) && (dip1val = 0)) { - settingval = 3; - } else if ((dip1val = 1) && (dip1val = 0)) { - settingval = 4; - } - - - /* - dip 1-4 settings: - dip 1 = rotation 1=enables 0 = disables - dip 2 = buzzer err/debug (buzz only if err = 1 -debug buzz = 0) - dip 3 = on/off 1=on 0 = off - dip 4 = camera 1=enables 0 = disables - settings: - 1. rotation OFF - camera ON - 2. rotation ON - camera ON - 3. rotation OFF - camera OFF - 4. rotation ON - camera OFF - /*dip3val - - - - - /* - data we have: - rotation since start: offset(deg) - if we have an ball in posesion ballinpos = 1, else ballinpos = 0 - location of the ball on the field: ballpos(deg) - colorsensordata list: colsensdata[6]. 0=air, 1=green, 2=black, 3=white, 90=error - goal location: gloc(deg) - */ - //select with version of the code using dip switches - - //do stuf with data version 1: rotation disables and camera enabled - if (dip3val = 1) { - if (settingval = 1) { - //check if we arent on any white lines - for (int i = 0; i < 6; i++) { - if (colsensdata[i] = 3) { - Serial.println((String) "detected white collor on sensor:" + i + "going back " + (360 - (i * 60)) + "degrees"); - moveohmi(sp, (i * 60)); - delay(250); - return; //restart loop - } - } - //if we have the bal go towards the goal - if (ballinpos = 1) { - moveohmi(sp, 0); - } else { //go towards ball - moveohmi(sp, ballpos); - } - } - - //do stuf with data version 2: rotation enabled and camera enabled N - if (settingval = 2) { - //check if we arent on any white lines - for (int i = 0; i < 6; i++) { - if (colsensdata[i] = 3) { - Serial.println((String) "detected white collor on sensor:" + i + "going back " + (360 - (i * 60)) + "degrees"); - moveohmi(sp, (i * 60)); - delay(250); - return; //restart loop - } - if (ballinpos = 1) { - moveohmi(sp, gloc); - } else { //go towards ball - moveohmi(sp, ballpos); - } - } - } - - //do stuf with data version 3: rotation disabled and camera disabled (use compas to detect goal) - if (settingval = 3) { - //check if we arent on any white lines - for (int i = 0; i < 6; i++) { - if (colsensdata[i] = 3) { - Serial.println((String) "detected white collor on sensor:" + i + "going back " + (360 - (i * 60)) + "degrees"); - moveohmi(sp, (i * 60)); - delay(250); - return; //restart loop - } - } - } - - //do stuf with data version 4: rotation enabled and camera disabled (use compas to detect goal) - if (settingval = 4) { - //check if we arent on any white lines - for (int i = 0; i < 6; i++) { - if (colsensdata[i] = 3) { - Serial.println((String) "detected white collor on sensor:" + i + "going back " + (360 - (i * 60)) + "degrees"); - moveohmi(sp, (i * 60)); - delay(250); - return; //restart loop - } - } - } - } else { - Serial.println("skipping loop robot is off"); - } - - if (errorbuz = 1) { - tone(buz, 2000); - } - - - Serial.println(); - Serial.println(); - Serial.println(); -} - - -template<typename T> float computeHeading(LIS3MDL::vector<T> from) { - //from https://github.com/pololu/lis3mdl-arduino/tree/master/examples/HeadingWithLSM6 - LIS3MDL::vector<int32_t> temp_m = { mag.m.x, mag.m.y, mag.m.z }; - - // copy acceleration readings from LSM6::vector into an LIS3MDL::vector - LIS3MDL::vector<int16_t> a = { imu.a.x, imu.a.y, imu.a.z }; - - // subtract offset (average of min and max) from magnetometer readings - temp_m.x -= ((int32_t)m_min.x + m_max.x) / 2; - temp_m.y -= ((int32_t)m_min.y + m_max.y) / 2; - temp_m.z -= ((int32_t)m_min.z + m_max.z) / 2; - - // compute E and N - LIS3MDL::vector<float> E; - LIS3MDL::vector<float> N; - LIS3MDL::vector_cross(&temp_m, &a, &E); - LIS3MDL::vector_normalize(&E); - LIS3MDL::vector_cross(&a, &E, &N); - LIS3MDL::vector_normalize(&N); - - // compute heading - float heading = atan2(LIS3MDL::vector_dot(&E, &from), LIS3MDL::vector_dot(&N, &from)) * 180 / PI; - if (heading < 0) heading += 360; - return heading; -} - -/* -Returns the angular difference in the horizontal plane between a -default vector (the +X axis) and north, in degrees. -*/ -float computeHeading() { - //from https://github.com/pololu/lis3mdl-arduino/tree/master/examples/HeadingWithLSM6 - return computeHeading((LIS3MDL::vector<int>){ 1, 0, 0 }); -} -int nearest(int x, int myArray[], int elements) { - //https://forum.arduino.cc/t/search-for-nearest-number-in-an-array-help/245843/5 - int idx = 0; // by default near first element - - int distance = abs(myArray[idx] - x); - for (int i = 1; i < elements; i++) { - int d = abs(myArray[i] - x); - if (d < distance) { - idx = i; - distance = d; - } - } - return idx; -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/Calibrate/Calibrate.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/Calibrate/Calibrate.ino deleted file mode 100644 index c5db31c..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/Calibrate/Calibrate.ino +++ /dev/null @@ -1,42 +0,0 @@ -//example from https://github.com/pololu/lis3mdl-arduino -#include <Wire.h> -#include <LIS3MDL.h> - -LIS3MDL mag; -LIS3MDL::vector<int16_t> running_min = {32767, 32767, 32767}, running_max = {-32768, -32768, -32768}; - -char report[80]; - -void setup() -{ - Serial.begin(9600); - Wire.begin(); - - if (!mag.init()) - { - Serial.println("Failed to detect and initialize magnetometer!"); - while (1); - } - - mag.enableDefault(); -} - -void loop() -{ - mag.read(); - - running_min.x = min(running_min.x, mag.m.x); - running_min.y = min(running_min.y, mag.m.y); - running_min.z = min(running_min.z, mag.m.z); - - running_max.x = max(running_max.x, mag.m.x); - running_max.y = max(running_max.y, mag.m.y); - running_max.z = max(running_max.z, mag.m.z); - - snprintf(report, sizeof(report), "min: {%+6d, %+6d, %+6d} max: {%+6d, %+6d, %+6d}", - running_min.x, running_min.y, running_min.z, - running_max.x, running_max.y, running_max.z); - Serial.println(report); - - delay(100); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/HeadingWithLSM6/HeadingWithLSM6.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/HeadingWithLSM6/HeadingWithLSM6.ino deleted file mode 100644 index ac60515..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/HeadingWithLSM6/HeadingWithLSM6.ino +++ /dev/null @@ -1,120 +0,0 @@ -/* -This sketch combines magnetometer readings from an LIS3MDL and accelerometer -readings from an LSM6 to calculate a tilt-compensated magnetic heading. It -requires Pololu's LSM6 Arduino library to be installed: - -https://github.com/pololu/lsm6-arduino - -This program can be used with a board that includes both sensors, like the -Pololu MinIMU-9 v5 and AltIMU-10 v5, or with separate carrier boards for the two -sensors, both connected to the same I2C bus. If you are using separate boards, -make sure the axes are oriented the same way on both (i.e. the X, Y, and Z axes -of both boards should point in the same direction, and the surfaces of the -boards should be as close to parallel as possible). -*/ - -#include <Wire.h> -#include <LIS3MDL.h> -#include <LSM6.h> - -LIS3MDL mag; -LSM6 imu; - -/* -Calibration values; the default values of +/-32767 for each axis -lead to an assumed magnetometer bias of 0. Use the Calibrate example -program to determine appropriate values for your particular unit. -*/ -LIS3MDL::vector<int16_t> m_min = {+5862, +2474, -6186}; -LIS3MDL::vector<int16_t> m_max = {+6610, +2849, -5547}; - -void setup() -{ - Serial.begin(9600); - Wire.begin(); - - if (!mag.init()) - { - Serial.println("Failed to detect and initialize LIS3MDL magnetometer!"); - while (1); - } - mag.enableDefault(); - - if (!imu.init()) - { - Serial.println("Failed to detect and initialize LSM6 IMU!"); - while (1); - } - imu.enableDefault(); -} - -void loop() -{ - mag.read(); - imu.read(); - - /* - When given no arguments, the heading() function returns the angular - difference in the horizontal plane between a default vector (the - +X axis) and north, in degrees. - */ - float heading = computeHeading(); - - /* - To use a different vector as a reference, use the version of - computeHeading() that takes a vector argument; for example, call it like this - to use the -Z axis as a reference: - */ - //float heading = computeHeading((LIS3MDL::vector<int>){0, 0, -1}); - - Serial.println(heading); - delay(100); -} - -/* -Returns the angular difference in the horizontal plane between the -"from" vector and north, in degrees. - -Description of heading algorithm: -Shift and scale the magnetic reading based on calibration data to find -the North vector. Use the acceleration readings to determine the Up -vector (gravity is measured as an upward acceleration). The cross -product of North and Up vectors is East. The vectors East and North -form a basis for the horizontal plane. The From vector is projected -into the horizontal plane and the angle between the projected vector -and horizontal north is returned. -*/ -template <typename T> float computeHeading(LIS3MDL::vector<T> from) -{ - LIS3MDL::vector<int32_t> temp_m = {mag.m.x, mag.m.y, mag.m.z}; - - // copy acceleration readings from LSM6::vector into an LIS3MDL::vector - LIS3MDL::vector<int16_t> a = {imu.a.x, imu.a.y, imu.a.z}; - - // subtract offset (average of min and max) from magnetometer readings - temp_m.x -= ((int32_t)m_min.x + m_max.x) / 2; - temp_m.y -= ((int32_t)m_min.y + m_max.y) / 2; - temp_m.z -= ((int32_t)m_min.z + m_max.z) / 2; - - // compute E and N - LIS3MDL::vector<float> E; - LIS3MDL::vector<float> N; - LIS3MDL::vector_cross(&temp_m, &a, &E); - LIS3MDL::vector_normalize(&E); - LIS3MDL::vector_cross(&a, &E, &N); - LIS3MDL::vector_normalize(&N); - - // compute heading - float heading = atan2(LIS3MDL::vector_dot(&E, &from), LIS3MDL::vector_dot(&N, &from)) * 180 / PI; - if (heading < 0) heading += 360; - return heading; -} - -/* -Returns the angular difference in the horizontal plane between a -default vector (the +X axis) and north, in degrees. -*/ -float computeHeading() -{ - return computeHeading((LIS3MDL::vector<int>){1, 0, 0}); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/IMU_comp.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/IMU_comp.ino deleted file mode 100644 index c4578cb..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/IMU_comp.ino +++ /dev/null @@ -1,116 +0,0 @@ -/* -This sketch combines magnetometer readings from an LIS3MDL and accelerometer -readings from an LSM6 to calculate a tilt-compensated magnetic heading. It -requires Pololu's LSM6 Arduino library to be installed: - -https://github.com/pololu/lsm6-arduino - -This program can be used with a board that includes both sensors, like the -Pololu MinIMU-9 v5 and AltIMU-10 v5, or with separate carrier boards for the two -sensors, both connected to the same I2C bus. If you are using separate boards, -make sure the axes are oriented the same way on both (i.e. the X, Y, and Z axes -of both boards should point in the same direction, and the surfaces of the -boards should be as close to parallel as possible). -*/ - -#include <Wire.h> -#include <LIS3MDL.h> -#include <LSM6.h> - -LIS3MDL mag; -LSM6 imu; -int front = 0; - -/* -Calibration values; the default values of +/-32767 for each axis -lead to an assumed magnetometer bias of 0. Use the Calibrate example -program to determine appropriate values for your particular unit. -*/ -LIS3MDL::vector<int16_t> m_min = {+942, +3436, -3323}; -LIS3MDL::vector<int16_t> m_max = {+1053, +3559, -3142}; - -void setup() -{ - Serial.begin(9600); - Wire.begin(); - - if (!mag.init()) - { - Serial.println("Failed to detect and initialize LIS3MDL magnetometer!"); - while (1); - } - mag.enableDefault(); - - if (!imu.init()) - { - Serial.println("Failed to detect and initialize LSM6 IMU!"); - while (1); - } - imu.enableDefault(); - - //get start heading - mag.read(); - imu.read(); - float heading = computeHeading(); - front = heading; - Serial.println(heading); - -} - -void loop() -{ - mag.read(); - imu.read(); - - - float heading = computeHeading(); - int offset = front - heading; - if(offset<0){ - offset=360+offset; - } - - Serial.print("heading: "); - Serial.print(heading); - Serial.print(", goal location: "); - Serial.print(front); - Serial.print(", offset: "); - - Serial.println(offset); - - delay(100); -} - -template <typename T> float computeHeading(LIS3MDL::vector<T> from) -{ - LIS3MDL::vector<int32_t> temp_m = {mag.m.x, mag.m.y, mag.m.z}; - - // copy acceleration readings from LSM6::vector into an LIS3MDL::vector - LIS3MDL::vector<int16_t> a = {imu.a.x, imu.a.y, imu.a.z}; - - // subtract offset (average of min and max) from magnetometer readings - temp_m.x -= ((int32_t)m_min.x + m_max.x) / 2; - temp_m.y -= ((int32_t)m_min.y + m_max.y) / 2; - temp_m.z -= ((int32_t)m_min.z + m_max.z) / 2; - - // compute E and N - LIS3MDL::vector<float> E; - LIS3MDL::vector<float> N; - LIS3MDL::vector_cross(&temp_m, &a, &E); - LIS3MDL::vector_normalize(&E); - LIS3MDL::vector_cross(&a, &E, &N); - LIS3MDL::vector_normalize(&N); - - // compute heading - float heading = atan2(LIS3MDL::vector_dot(&E, &from), LIS3MDL::vector_dot(&N, &from)) * 180 / PI; - if (heading < 0) heading += 360; - return heading; -} - -/* -Returns the angular difference in the horizontal plane between a -default vector (the +X axis) and north, in degrees. -*/ -float computeHeading() -{ - return computeHeading((LIS3MDL::vector<int>){1, 0, 0}); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/calcoffset/calcoffset.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/calcoffset/calcoffset.ino deleted file mode 100644 index fc5f752..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/calcoffset/calcoffset.ino +++ /dev/null @@ -1,27 +0,0 @@ -void setup() { - randomSeed(analogRead(0)); - Serial.begin(9600); - -} - -void loop() { - int front = random(0, 360); - int heading = random(0, 360); - Serial.print("Front: "); - Serial.println(front); - Serial.print("heading: "); - Serial.println(heading); - - int offset = heading - front; - if(offset<0){ - offset=(offset+360); - } - Serial.print("offset: "); - Serial.println(offset); - - Serial.println(); - Serial.println(); - - delay(5000); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/.gitignore b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/.gitignore deleted file mode 100644 index 1089bae..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/.gitignore +++ /dev/null @@ -1 +0,0 @@ -Serial*.txt
\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/COPYING b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/COPYING deleted file mode 100644 index 94a9ed0..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/COPYING +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. 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Such new -versions will be similar in spirit to the present version, but may -differ in detail to address new problems or concerns. - - Each version is given a distinguishing version number. If the -Library as you received it specifies that a certain numbered version -of the GNU Lesser General Public License "or any later version" -applies to it, you have the option of following the terms and -conditions either of that published version or of any later version -published by the Free Software Foundation. If the Library as you -received it does not specify a version number of the GNU Lesser -General Public License, you may choose any version of the GNU Lesser -General Public License ever published by the Free Software Foundation. - - If the Library as you received it specifies that a proxy can decide -whether future versions of the GNU Lesser General Public License shall -apply, that proxy's public statement of acceptance of any version is -permanent authorization for you to choose that version for the -Library. diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU-9-test.py b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU-9-test.py deleted file mode 100644 index 993c8e8..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU-9-test.py +++ /dev/null @@ -1,148 +0,0 @@ -# MinIMU9ArduinoAHRS -# Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -# Copyright (c) 2011 Pololu Corporation. -# http://www.pololu.com/ - -# MinIMU9ArduinoAHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -# http://code.google.com/p/sf9domahrs/ - -# sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -# Julio and Doug Weibel: -# http://code.google.com/p/ardu-imu/ - -# MinIMU9ArduinoAHRS is free software: you can redistribute it and/or modify it -# under the terms of the GNU Lesser General Public License as published by the -# Free Software Foundation, either version 3 of the License, or (at your option) -# any later version. - -# MinIMU9ArduinoAHRS is distributed in the hope that it will be useful, but -# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -# more details. - -# You should have received a copy of the GNU Lesser General Public License along -# with MinIMU9ArduinoAHRS. If not, see <http://www.gnu.org/licenses/>. - -################################################################################ - -# This is a test/3D visualization program for the Pololu MinIMU-9 + Arduino -# AHRS, based on "Test for Razor 9DOF IMU" by Jose Julio, copyright 2009. - -# This script needs VPython, pyserial and pywin modules - -# First Install Python 2.6.4 (Python 2.7 also works) -# Install pywin from http://sourceforge.net/projects/pywin32/ -# Install pyserial from http://sourceforge.net/projects/pyserial/files/ -# Install VPython from http://vpython.org/contents/download_windows.html - -from visual import * -import serial -import string -import math - -from time import time - -grad2rad = 3.141592/180.0 - -# Check your COM port and baud rate -ser = serial.Serial(port='COM9',baudrate=115200, timeout=1) - -# Main scene -scene=display(title="Pololu MinIMU-9 + Arduino AHRS") -scene.range=(1.2,1.2,1.2) -#scene.forward = (0,-1,-0.25) -scene.forward = (1,0,-0.25) -scene.up=(0,0,1) - -# Second scene (Roll, Pitch, Yaw) -scene2 = display(title='Pololu MinIMU-9 + Arduino AHRS',x=0, y=0, width=500, height=200,center=(0,0,0), background=(0,0,0)) -scene2.range=(1,1,1) -scene.width=500 -scene.y=200 - -scene2.select() -#Roll, Pitch, Yaw -cil_roll = cylinder(pos=(-0.4,0,0),axis=(0.2,0,0),radius=0.01,color=color.red) -cil_roll2 = cylinder(pos=(-0.4,0,0),axis=(-0.2,0,0),radius=0.01,color=color.red) -cil_pitch = cylinder(pos=(0.1,0,0),axis=(0.2,0,0),radius=0.01,color=color.green) -cil_pitch2 = cylinder(pos=(0.1,0,0),axis=(-0.2,0,0),radius=0.01,color=color.green) -#cil_course = cylinder(pos=(0.6,0,0),axis=(0.2,0,0),radius=0.01,color=color.blue) -#cil_course2 = cylinder(pos=(0.6,0,0),axis=(-0.2,0,0),radius=0.01,color=color.blue) -arrow_course = arrow(pos=(0.6,0,0),color=color.cyan,axis=(-0.2,0,0), shaftwidth=0.02, fixedwidth=1) - -#Roll,Pitch,Yaw labels -label(pos=(-0.4,0.3,0),text="Roll",box=0,opacity=0) -label(pos=(0.1,0.3,0),text="Pitch",box=0,opacity=0) -label(pos=(0.55,0.3,0),text="Yaw",box=0,opacity=0) -label(pos=(0.6,0.22,0),text="N",box=0,opacity=0,color=color.yellow) -label(pos=(0.6,-0.22,0),text="S",box=0,opacity=0,color=color.yellow) -label(pos=(0.38,0,0),text="W",box=0,opacity=0,color=color.yellow) -label(pos=(0.82,0,0),text="E",box=0,opacity=0,color=color.yellow) -label(pos=(0.75,0.15,0),height=7,text="NE",box=0,color=color.yellow) -label(pos=(0.45,0.15,0),height=7,text="NW",box=0,color=color.yellow) -label(pos=(0.75,-0.15,0),height=7,text="SE",box=0,color=color.yellow) -label(pos=(0.45,-0.15,0),height=7,text="SW",box=0,color=color.yellow) - -L1 = label(pos=(-0.4,0.22,0),text="-",box=0,opacity=0) -L2 = label(pos=(0.1,0.22,0),text="-",box=0,opacity=0) -L3 = label(pos=(0.7,0.3,0),text="-",box=0,opacity=0) - -# Main scene objects -scene.select() -# Reference axis (x,y,z) -arrow(color=color.green,axis=(1,0,0), shaftwidth=0.02, fixedwidth=1) -arrow(color=color.green,axis=(0,-1,0), shaftwidth=0.02 , fixedwidth=1) -arrow(color=color.green,axis=(0,0,-1), shaftwidth=0.02, fixedwidth=1) -# labels -label(pos=(0,0,0.8),text="Pololu MinIMU-9 + Arduino AHRS",box=0,opacity=0) -label(pos=(1,0,0),text="X",box=0,opacity=0) -label(pos=(0,-1,0),text="Y",box=0,opacity=0) -label(pos=(0,0,-1),text="Z",box=0,opacity=0) -# IMU object -platform = box(length=1, height=0.05, width=1, color=color.blue) -p_line = box(length=1,height=0.08,width=0.1,color=color.yellow) -plat_arrow = arrow(color=color.green,axis=(1,0,0), shaftwidth=0.06, fixedwidth=1) - - -f = open("Serial"+str(time())+".txt", 'w') - -roll=0 -pitch=0 -yaw=0 -while 1: - line = ser.readline() - if line.find("!ANG:") != -1: # filter out incomplete (invalid) lines - line = line.replace("!ANG:","") # Delete "!ANG:" - print line - f.write(line) # Write to the output log file - words = string.split(line,",") # Fields split - if len(words) > 2: - try: - roll = float(words[0])*grad2rad - pitch = float(words[1])*grad2rad - yaw = float(words[2])*grad2rad - except: - print "Invalid line" - - axis=(cos(pitch)*cos(yaw),-cos(pitch)*sin(yaw),sin(pitch)) - up=(sin(roll)*sin(yaw)+cos(roll)*sin(pitch)*cos(yaw),sin(roll)*cos(yaw)-cos(roll)*sin(pitch)*sin(yaw),-cos(roll)*cos(pitch)) - platform.axis=axis - platform.up=up - platform.length=1.0 - platform.width=0.65 - plat_arrow.axis=axis - plat_arrow.up=up - plat_arrow.length=0.8 - p_line.axis=axis - p_line.up=up - cil_roll.axis=(0.2*cos(roll),0.2*sin(roll),0) - cil_roll2.axis=(-0.2*cos(roll),-0.2*sin(roll),0) - cil_pitch.axis=(0.2*cos(pitch),0.2*sin(pitch),0) - cil_pitch2.axis=(-0.2*cos(pitch),-0.2*sin(pitch),0) - arrow_course.axis=(0.2*sin(yaw),0.2*cos(yaw),0) - L1.text = str(float(words[0])) - L2.text = str(float(words[1])) - L3.text = str(float(words[2])) -ser.close -f.close diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino deleted file mode 100644 index 767227b..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino +++ /dev/null @@ -1,56 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -void Compass_Heading() -{ - float MAG_X; - float MAG_Y; - float cos_roll; - float sin_roll; - float cos_pitch; - float sin_pitch; - - cos_roll = cos(roll); - sin_roll = sin(roll); - cos_pitch = cos(pitch); - sin_pitch = sin(pitch); - - // adjust for LSM303 compass axis offsets/sensitivity differences by scaling to +/-0.5 range - c_magnetom_x = (float)(magnetom_x - SENSOR_SIGN[6]*M_X_MIN) / (M_X_MAX - M_X_MIN) - SENSOR_SIGN[6]*0.5; - c_magnetom_y = (float)(magnetom_y - SENSOR_SIGN[7]*M_Y_MIN) / (M_Y_MAX - M_Y_MIN) - SENSOR_SIGN[7]*0.5; - c_magnetom_z = (float)(magnetom_z - SENSOR_SIGN[8]*M_Z_MIN) / (M_Z_MAX - M_Z_MIN) - SENSOR_SIGN[8]*0.5; - - // Tilt compensated Magnetic filed X: - MAG_X = c_magnetom_x*cos_pitch+c_magnetom_y*sin_roll*sin_pitch+c_magnetom_z*cos_roll*sin_pitch; - // Tilt compensated Magnetic filed Y: - MAG_Y = c_magnetom_y*cos_roll-c_magnetom_z*sin_roll; - // Magnetic Heading - MAG_Heading = atan2(-MAG_Y,MAG_X); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino deleted file mode 100644 index 7f9f276..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino +++ /dev/null @@ -1,164 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -/**************************************************/ -void Normalize(void) -{ - float error=0; - float temporary[3][3]; - float renorm=0; - - error= -Vector_Dot_Product(&DCM_Matrix[0][0],&DCM_Matrix[1][0])*.5; //eq.19 - - Vector_Scale(&temporary[0][0], &DCM_Matrix[1][0], error); //eq.19 - Vector_Scale(&temporary[1][0], &DCM_Matrix[0][0], error); //eq.19 - - Vector_Add(&temporary[0][0], &temporary[0][0], &DCM_Matrix[0][0]);//eq.19 - Vector_Add(&temporary[1][0], &temporary[1][0], &DCM_Matrix[1][0]);//eq.19 - - Vector_Cross_Product(&temporary[2][0],&temporary[0][0],&temporary[1][0]); // c= a x b //eq.20 - - renorm= .5 *(3 - Vector_Dot_Product(&temporary[0][0],&temporary[0][0])); //eq.21 - Vector_Scale(&DCM_Matrix[0][0], &temporary[0][0], renorm); - - renorm= .5 *(3 - Vector_Dot_Product(&temporary[1][0],&temporary[1][0])); //eq.21 - Vector_Scale(&DCM_Matrix[1][0], &temporary[1][0], renorm); - - renorm= .5 *(3 - Vector_Dot_Product(&temporary[2][0],&temporary[2][0])); //eq.21 - Vector_Scale(&DCM_Matrix[2][0], &temporary[2][0], renorm); -} - -/**************************************************/ -void Drift_correction(void) -{ - float mag_heading_x; - float mag_heading_y; - float errorCourse; - //Compensation the Roll, Pitch and Yaw drift. - static float Scaled_Omega_P[3]; - static float Scaled_Omega_I[3]; - float Accel_magnitude; - float Accel_weight; - - - //*****Roll and Pitch*************** - - // Calculate the magnitude of the accelerometer vector - Accel_magnitude = sqrt(Accel_Vector[0]*Accel_Vector[0] + Accel_Vector[1]*Accel_Vector[1] + Accel_Vector[2]*Accel_Vector[2]); - Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity. - // Dynamic weighting of accelerometer info (reliability filter) - // Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0) - Accel_weight = constrain(1 - 2*abs(1 - Accel_magnitude),0,1); // - - Vector_Cross_Product(&errorRollPitch[0],&Accel_Vector[0],&DCM_Matrix[2][0]); //adjust the ground of reference - Vector_Scale(&Omega_P[0],&errorRollPitch[0],Kp_ROLLPITCH*Accel_weight); - - Vector_Scale(&Scaled_Omega_I[0],&errorRollPitch[0],Ki_ROLLPITCH*Accel_weight); - Vector_Add(Omega_I,Omega_I,Scaled_Omega_I); - - //*****YAW*************** - // We make the gyro YAW drift correction based on compass magnetic heading - - mag_heading_x = cos(MAG_Heading); - mag_heading_y = sin(MAG_Heading); - errorCourse=(DCM_Matrix[0][0]*mag_heading_y) - (DCM_Matrix[1][0]*mag_heading_x); //Calculating YAW error - Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position. - - Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);//.01proportional of YAW. - Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional. - - Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);//.00001Integrator - Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I -} -/**************************************************/ -/* -void Accel_adjust(void) -{ - Accel_Vector[1] += Accel_Scale(speed_3d*Omega[2]); // Centrifugal force on Acc_y = GPS_speed*GyroZ - Accel_Vector[2] -= Accel_Scale(speed_3d*Omega[1]); // Centrifugal force on Acc_z = GPS_speed*GyroY -} -*/ -/**************************************************/ - -void Matrix_update(void) -{ - Gyro_Vector[0]=Gyro_Scaled_X(gyro_x); //gyro x roll - Gyro_Vector[1]=Gyro_Scaled_Y(gyro_y); //gyro y pitch - Gyro_Vector[2]=Gyro_Scaled_Z(gyro_z); //gyro Z yaw - - Accel_Vector[0]=accel_x; - Accel_Vector[1]=accel_y; - Accel_Vector[2]=accel_z; - - Vector_Add(&Omega[0], &Gyro_Vector[0], &Omega_I[0]); //adding proportional term - Vector_Add(&Omega_Vector[0], &Omega[0], &Omega_P[0]); //adding Integrator term - - //Accel_adjust(); //Remove centrifugal acceleration. We are not using this function in this version - we have no speed measurement - - #if OUTPUTMODE==1 - Update_Matrix[0][0]=0; - Update_Matrix[0][1]=-G_Dt*Omega_Vector[2];//-z - Update_Matrix[0][2]=G_Dt*Omega_Vector[1];//y - Update_Matrix[1][0]=G_Dt*Omega_Vector[2];//z - Update_Matrix[1][1]=0; - Update_Matrix[1][2]=-G_Dt*Omega_Vector[0];//-x - Update_Matrix[2][0]=-G_Dt*Omega_Vector[1];//-y - Update_Matrix[2][1]=G_Dt*Omega_Vector[0];//x - Update_Matrix[2][2]=0; - #else // Uncorrected data (no drift correction) - Update_Matrix[0][0]=0; - Update_Matrix[0][1]=-G_Dt*Gyro_Vector[2];//-z - Update_Matrix[0][2]=G_Dt*Gyro_Vector[1];//y - Update_Matrix[1][0]=G_Dt*Gyro_Vector[2];//z - Update_Matrix[1][1]=0; - Update_Matrix[1][2]=-G_Dt*Gyro_Vector[0]; - Update_Matrix[2][0]=-G_Dt*Gyro_Vector[1]; - Update_Matrix[2][1]=G_Dt*Gyro_Vector[0]; - Update_Matrix[2][2]=0; - #endif - - Matrix_Multiply(DCM_Matrix,Update_Matrix,Temporary_Matrix); //a*b=c - - for(int x=0; x<3; x++) //Matrix Addition (update) - { - for(int y=0; y<3; y++) - { - DCM_Matrix[x][y]+=Temporary_Matrix[x][y]; - } - } -} - -void Euler_angles(void) -{ - pitch = -asin(DCM_Matrix[2][0]); - roll = atan2(DCM_Matrix[2][1],DCM_Matrix[2][2]); - yaw = atan2(DCM_Matrix[1][0],DCM_Matrix[0][0]); -} - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino deleted file mode 100644 index 5ca58e2..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino +++ /dev/null @@ -1,159 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -#ifdef IMU_V5 - -#include <LSM6.h> -#include <LIS3MDL.h> - -LSM6 gyro_acc; -LIS3MDL mag; - -#else // older IMUs through v4 - -#include <L3G.h> -#include <LSM303.h> - -L3G gyro; -LSM303 compass; - -#endif - - -void I2C_Init() -{ - Wire.begin(); -} - -void Gyro_Init() -{ -#ifdef IMU_V5 - // Accel_Init() should have already called gyro_acc.init() and enableDefault() - gyro_acc.writeReg(LSM6::CTRL2_G, 0x4C); // 104 Hz, 2000 dps full scale -#else - gyro.init(); - gyro.enableDefault(); - gyro.writeReg(L3G::CTRL_REG4, 0x20); // 2000 dps full scale - gyro.writeReg(L3G::CTRL_REG1, 0x0F); // normal power mode, all axes enabled, 100 Hz -#endif -} - -void Read_Gyro() -{ -#ifdef IMU_V5 - gyro_acc.readGyro(); - - AN[0] = gyro_acc.g.x; - AN[1] = gyro_acc.g.y; - AN[2] = gyro_acc.g.z; -#else - gyro.read(); - - AN[0] = gyro.g.x; - AN[1] = gyro.g.y; - AN[2] = gyro.g.z; -#endif - - gyro_x = SENSOR_SIGN[0] * (AN[0] - AN_OFFSET[0]); - gyro_y = SENSOR_SIGN[1] * (AN[1] - AN_OFFSET[1]); - gyro_z = SENSOR_SIGN[2] * (AN[2] - AN_OFFSET[2]); -} - -void Accel_Init() -{ -#ifdef IMU_V5 - gyro_acc.init(); - gyro_acc.enableDefault(); - gyro_acc.writeReg(LSM6::CTRL1_XL, 0x3C); // 52 Hz, 8 g full scale -#else - compass.init(); - compass.enableDefault(); - switch (compass.getDeviceType()) - { - case LSM303::device_D: - compass.writeReg(LSM303::CTRL2, 0x18); // 8 g full scale: AFS = 011 - break; - case LSM303::device_DLHC: - compass.writeReg(LSM303::CTRL_REG4_A, 0x28); // 8 g full scale: FS = 10; high resolution output mode - break; - default: // DLM, DLH - compass.writeReg(LSM303::CTRL_REG4_A, 0x30); // 8 g full scale: FS = 11 - } -#endif -} - -// Reads x,y and z accelerometer registers -void Read_Accel() -{ -#ifdef IMU_V5 - gyro_acc.readAcc(); - - AN[3] = gyro_acc.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256) - AN[4] = gyro_acc.a.y >> 4; - AN[5] = gyro_acc.a.z >> 4; -#else - compass.readAcc(); - - AN[3] = compass.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256) - AN[4] = compass.a.y >> 4; - AN[5] = compass.a.z >> 4; -#endif - accel_x = SENSOR_SIGN[3] * (AN[3] - AN_OFFSET[3]); - accel_y = SENSOR_SIGN[4] * (AN[4] - AN_OFFSET[4]); - accel_z = SENSOR_SIGN[5] * (AN[5] - AN_OFFSET[5]); -} - -void Compass_Init() -{ -#ifdef IMU_V5 - mag.init(); - mag.enableDefault(); -#else - // LSM303: doesn't need to do anything because Accel_Init() should have already called compass.enableDefault() -#endif -} - -void Read_Compass() -{ -#ifdef IMU_V5 - mag.read(); - - magnetom_x = SENSOR_SIGN[6] * mag.m.x; - magnetom_y = SENSOR_SIGN[7] * mag.m.y; - magnetom_z = SENSOR_SIGN[8] * mag.m.z; -#else - compass.readMag(); - - magnetom_x = SENSOR_SIGN[6] * compass.m.x; - magnetom_y = SENSOR_SIGN[7] * compass.m.y; - magnetom_z = SENSOR_SIGN[8] * compass.m.z; -#endif -} - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino deleted file mode 100644 index 5307f5e..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino +++ /dev/null @@ -1,241 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -// Uncomment the following line to use a MinIMU-9 v5 or AltIMU-10 v5. Leave commented for older IMUs (up through v4). -#define IMU_V5 - -// Uncomment the below line to use this axis definition: - // X axis pointing forward - // Y axis pointing to the right - // and Z axis pointing down. -// Positive pitch : nose up -// Positive roll : right wing down -// Positive yaw : clockwise -int SENSOR_SIGN[9] = {1,1,1,-1,-1,-1,1,1,1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer -// Uncomment the below line to use this axis definition: - // X axis pointing forward - // Y axis pointing to the left - // and Z axis pointing up. -// Positive pitch : nose down -// Positive roll : right wing down -// Positive yaw : counterclockwise -//int SENSOR_SIGN[9] = {1,-1,-1,-1,1,1,1,-1,-1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer - -// tested with Arduino Uno with ATmega328 and Arduino Duemilanove with ATMega168 - -#include <Wire.h> - -// accelerometer: 8 g sensitivity -// 3.9 mg/digit; 1 g = 256 -#define GRAVITY 256 //this equivalent to 1G in the raw data coming from the accelerometer - -#define ToRad(x) ((x)*0.01745329252) // *pi/180 -#define ToDeg(x) ((x)*57.2957795131) // *180/pi - -// gyro: 2000 dps full scale -// 70 mdps/digit; 1 dps = 0.07 -#define Gyro_Gain_X 0.07 //X axis Gyro gain -#define Gyro_Gain_Y 0.07 //Y axis Gyro gain -#define Gyro_Gain_Z 0.07 //Z axis Gyro gain -#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second -#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second -#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second - -// LSM303/LIS3MDL magnetometer calibration constants; use the Calibrate example from -// the Pololu LSM303 or LIS3MDL library to find the right values for your board - -#define M_X_MIN -1000 -#define M_Y_MIN -1000 -#define M_Z_MIN -1000 -#define M_X_MAX +1000 -#define M_Y_MAX +1000 -#define M_Z_MAX +1000 - -#define Kp_ROLLPITCH 0.02 -#define Ki_ROLLPITCH 0.00002 -#define Kp_YAW 1.2 -#define Ki_YAW 0.00002 - -/*For debugging purposes*/ -//OUTPUTMODE=1 will print the corrected data, -//OUTPUTMODE=0 will print uncorrected data of the gyros (with drift) -#define OUTPUTMODE 1 - -#define PRINT_DCM 0 //Will print the whole direction cosine matrix -#define PRINT_ANALOGS 0 //Will print the analog raw data -#define PRINT_EULER 1 //Will print the Euler angles Roll, Pitch and Yaw - -#define STATUS_LED 13 - -float G_Dt=0.02; // Integration time (DCM algorithm) We will run the integration loop at 50Hz if possible - -long timer=0; //general purpuse timer -long timer_old; -long timer24=0; //Second timer used to print values -int AN[6]; //array that stores the gyro and accelerometer data -int AN_OFFSET[6]={0,0,0,0,0,0}; //Array that stores the Offset of the sensors - -int gyro_x; -int gyro_y; -int gyro_z; -int accel_x; -int accel_y; -int accel_z; -int magnetom_x; -int magnetom_y; -int magnetom_z; -float c_magnetom_x; -float c_magnetom_y; -float c_magnetom_z; -float MAG_Heading; - -float Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector -float Gyro_Vector[3]= {0,0,0};//Store the gyros turn rate in a vector -float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data -float Omega_P[3]= {0,0,0};//Omega Proportional correction -float Omega_I[3]= {0,0,0};//Omega Integrator -float Omega[3]= {0,0,0}; - -// Euler angles -float roll; -float pitch; -float yaw; - -float errorRollPitch[3]= {0,0,0}; -float errorYaw[3]= {0,0,0}; - -unsigned int counter=0; -byte gyro_sat=0; - -float DCM_Matrix[3][3]= { - { - 1,0,0 } - ,{ - 0,1,0 } - ,{ - 0,0,1 } -}; -float Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here - - -float Temporary_Matrix[3][3]={ - { - 0,0,0 } - ,{ - 0,0,0 } - ,{ - 0,0,0 } -}; - -void setup() -{ - Serial.begin(115200); - pinMode (STATUS_LED,OUTPUT); // Status LED - - I2C_Init(); - - Serial.println("Pololu MinIMU-9 + Arduino AHRS"); - - digitalWrite(STATUS_LED,LOW); - delay(1500); - - Accel_Init(); - Compass_Init(); - Gyro_Init(); - - delay(20); - - for(int i=0;i<32;i++) // We take some readings... - { - Read_Gyro(); - Read_Accel(); - for(int y=0; y<6; y++) // Cumulate values - AN_OFFSET[y] += AN[y]; - delay(20); - } - - for(int y=0; y<6; y++) - AN_OFFSET[y] = AN_OFFSET[y]/32; - - AN_OFFSET[5]-=GRAVITY*SENSOR_SIGN[5]; - - //Serial.println("Offset:"); - for(int y=0; y<6; y++) - Serial.println(AN_OFFSET[y]); - - delay(2000); - digitalWrite(STATUS_LED,HIGH); - - timer=millis(); - delay(20); - counter=0; -} - -void loop() //Main Loop -{ - if((millis()-timer)>=20) // Main loop runs at 50Hz - { - counter++; - timer_old = timer; - timer=millis(); - if (timer>timer_old) - { - G_Dt = (timer-timer_old)/1000.0; // Real time of loop run. We use this on the DCM algorithm (gyro integration time) - if (G_Dt > 0.2) - G_Dt = 0; // ignore integration times over 200 ms - } - else - G_Dt = 0; - - - - // *** DCM algorithm - // Data adquisition - Read_Gyro(); // This read gyro data - Read_Accel(); // Read I2C accelerometer - - if (counter > 5) // Read compass data at 10Hz... (5 loop runs) - { - counter=0; - Read_Compass(); // Read I2C magnetometer - Compass_Heading(); // Calculate magnetic heading - } - - // Calculations... - Matrix_update(); - Normalize(); - Drift_correction(); - Euler_angles(); - // *** - - printdata(); - } - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino deleted file mode 100644 index f1f31e5..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino +++ /dev/null @@ -1,91 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -void printdata(void) -{ - Serial.print("!"); - - #if PRINT_EULER == 1 - Serial.print("ANG:"); - Serial.print(ToDeg(roll)); - Serial.print(","); - Serial.print(ToDeg(pitch)); - Serial.print(","); - Serial.print(ToDeg(yaw)); - #endif - #if PRINT_ANALOGS==1 - Serial.print(",AN:"); - Serial.print(AN[0]); //(int)read_adc(0) - Serial.print(","); - Serial.print(AN[1]); - Serial.print(","); - Serial.print(AN[2]); - Serial.print(","); - Serial.print(AN[3]); - Serial.print (","); - Serial.print(AN[4]); - Serial.print (","); - Serial.print(AN[5]); - Serial.print(","); - Serial.print(c_magnetom_x); - Serial.print (","); - Serial.print(c_magnetom_y); - Serial.print (","); - Serial.print(c_magnetom_z); - #endif - #if PRINT_DCM == 1 - Serial.print (",DCM:"); - Serial.print(DCM_Matrix[0][0]); - Serial.print (","); - Serial.print(DCM_Matrix[0][1]); - Serial.print (","); - Serial.print(DCM_Matrix[0][2]); - Serial.print (","); - Serial.print(DCM_Matrix[1][0]); - Serial.print (","); - Serial.print(DCM_Matrix[1][1]); - Serial.print (","); - Serial.print(DCM_Matrix[1][2]); - Serial.print (","); - Serial.print(DCM_Matrix[2][0]); - Serial.print (","); - Serial.print(DCM_Matrix[2][1]); - Serial.print (","); - Serial.print(DCM_Matrix[2][2]); - #endif - Serial.println(); - -} - -/*long convert_to_dec(float x) -{ - return x*10000000; -}*/ - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino deleted file mode 100644 index d69b49c..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino +++ /dev/null @@ -1,70 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -//Computes the dot product of two vectors -float Vector_Dot_Product(float vector1[3],float vector2[3]) -{ - float op=0; - - for(int c=0; c<3; c++) - { - op+=vector1[c]*vector2[c]; - } - - return op; -} - -//Computes the cross product of two vectors -void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3]) -{ - vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]); - vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]); - vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]); -} - -//Multiply the vector by a scalar. -void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2) -{ - for(int c=0; c<3; c++) - { - vectorOut[c]=vectorIn[c]*scale2; - } -} - -void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]) -{ - for(int c=0; c<3; c++) - { - vectorOut[c]=vectorIn1[c]+vectorIn2[c]; - } -} - - - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino deleted file mode 100644 index c8a7a15..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino +++ /dev/null @@ -1,49 +0,0 @@ -/* - -MinIMU-9-Arduino-AHRS -Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Copyright (c) 2011-2016 Pololu Corporation. -http://www.pololu.com/ - -MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio: -http://code.google.com/p/sf9domahrs/ - -sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose -Julio and Doug Weibel: -http://code.google.com/p/ardu-imu/ - -MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it -under the terms of the GNU Lesser General Public License as published by the -Free Software Foundation, either version 3 of the License, or (at your option) -any later version. - -MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but -WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for -more details. - -You should have received a copy of the GNU Lesser General Public License along -with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>. - -*/ - -/**************************************************/ -//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!). -void Matrix_Multiply(float a[3][3], float b[3][3], float mat[3][3]) -{ - for(int x = 0; x < 3; x++) - { - for(int y = 0; y < 3; y++) - { - mat[x][y] = 0; - - for(int w = 0; w < 3; w++) - { - mat[x][y] += a[x][w] * b[w][y]; - } - } - } -} - - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/README.textile b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/README.textile deleted file mode 100644 index ac1cb3f..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/README.textile +++ /dev/null @@ -1,108 +0,0 @@ -h1. Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System) - -Version: 1.3.0 -Release Date: 2016-04-27 -"www.pololu.com":http://www.pololu.com/ - -h2. Summary - -This is a program (sketch) for the "Arduino":http://pololu.com/catalog/product/2191 that interfaces with the Pololu MinIMU-9 inertial measurement units: - -* "MinIMU-9 v5 <notextile>(LSM6DS33 and LIS3MDL carrier)</notextile>":http://www.pololu.com/product/2738 -* "MinIMU-9 v3 <notextile>(L3GD20H and LSM303D carrier)</notextile>":http://www.pololu.com/product/2468 -* "MinIMU-9 v2 <notextile>(L3GD20 and LSM303DLHC carrier)</notextile>":http://www.pololu.com/catalog/product/1268 (discontinued) -* "MinIMU-9 <notextile>(L3G4200D and LSM303DLM carrier)</notextile>":http://www.pololu.com/catalog/product/1265 (discontinued) -* "MinIMU-9 <notextile>(L3G4200D and LSM303DLH carrier)</notextile>":http://www.pololu.com/catalog/product/1264 (discontinued) - -It also works with the Pololu AltIMU-10 boards, although the output from the barometer is not used: - -* "AltIMU-10 v5 <notextile>(LSM6DS33, LIS3MDL, and LPS25H carrier)</notextile>":http://www.pololu.com/product/2739 -* "AltIMU-10 v4 <notextile>(L3GD20H, LSM303D, and LPS25H carrier)</notextile>":http://www.pololu.com/catalog/product/2470 -* "AltIMU-10 v3 <notextile>(L3GD20H, LSM303D, and LPS331AP carrier)</notextile>":http://www.pololu.com/catalog/product/2469 -* "AltIMU-10 <notextile>(L3GD20, LSM303DLHC, and LPS331AP carrier)</notextile>":http://www.pololu.com/catalog/product/1269 (discontinued) - -This Arduino program processes the raw rotation, acceleration, and magnetic data from the MinIMU-9 to derive an estimate of the board's absolute orientation, which it outputs through the Arduino's serial interface, turning the MinIMU-9 and Arduino into an attitude and heading reference system (AHRS). - -A Python test program is also included. It communicates with the Arduino serially and displays a 3D representation of the MinIMU-9 board, allowing you to visualize the output of the AHRS in real time. - -Both the Arduino software and Python test program are based on "sf9domahrs":http://code.google.com/p/sf9domahrs/ by Doug Weibel and Jose Julio, which is in turn based on "ArduIMU":http://code.google.com/p/ardu-imu/ v1.5 by Jordi Munoz, William Premerlani, Jose Julio, and Doug Weibel. - -h2. Getting Started - -h3. Software - -The Arduino program uses Pololu's Arduino libraries for the sensors on the IMU board, which can also be downloaded from GitHub. Follow the instructions on their respective pages to install the libraries. - -* *v5* IMUs: "LSM6":https://github.com/pololu/LSM6-arduino and "LIS3MDL":https://github.com/pololu/LIS3MDL-arduino libraries -* *v4 and earlier* IMUs: "L3G":https://github.com/pololu/L3G and "LSM303":https://github.com/pololu/LSM303 libraries - -The Python test program also has several dependencies you must install before you can run it: - -* "Python 2.7":http://www.python.org/download/ (download the 32-bit version) -* "pywin32":http://sourceforge.net/projects/pywin32/files/pywin32/ (direct link: "pywin32-218.win32-py2.7.exe":http://sourceforge.net/projects/pywin32/files/pywin32/Build%20218/pywin32-218.win32-py2.7.exe/download) -* "pyserial":http://sourceforge.net/projects/pyserial/files/pyserial/ (direct link: "pyserial-2.5.win32.exe":http://sourceforge.net/projects/pyserial/files/pyserial/2.5/pyserial-2.5.win32.exe/download) -* "VPython 5":http://vpython.org/contents/download_windows.html (direct link: "VPython-Win-Py2.7-5.74.exe":http://vpython.org/contents/download/VPython-Win-Py2.7-5.74.exe) - -After you have set up the prerequisites, download the archive from "GitHub":https://github.com/pololu/MinIMU-9-Arduino-AHRS and decompress it. - -h3. Hardware - -Make the following connections with wires between the Arduino and the MinIMU-9: - -h4. 5V Arduino boards - -(including Arduino Uno, Leonardo, Mega; Pololu A-Star 32U4) - -pre. Arduino IMU -------- --- - 5V - VIN - GND - GND - SDA - SDA - SCL - SCL - -h4. 3.3V Arduino boards - -(including Arduino Due) - -pre. Arduino IMU -------- --- - 3V3 - VIN - GND - GND - SDA - SDA - SCL - SCL - -h3. Using the AHRS - -From the Arduino environment, open MinIMU9AHRS.ino, which can be found in the MinIMU9AHRS folder. - -The Arduino program is set up for a *v4 or earlier* IMU by default. If you are using a MinIMU or AltIMU *v5*, uncomment the line that says @//#define IMU_V5@ at the beginning of MinIMU9AHRS.ino. - -By default, the Arduino code treats the positive X axis of the MinIMU-9 as forward and the negative Z axis as up (so that the components are on the bottom of the board and the silkscreen is on top). If you want the positive Z axis to be up instead (so that the components are on top), find the definition of @SENSOR_SIGN[9]@ at the beginning of MinIMU9AHRS.ino and uncomment the appropriate line (after commenting the original). - -To ensure that the heading derived from the compass is accurate, you should change the @M_X_MIN@ through @M_Z_MAX@ calibration constants to appropriate values. You can use the Calibrate example from the "LIS3MDL library":https://github.com/pololu/LIS3MDL-arduino (v5) or "LSM303 library":https://github.com/pololu/LSM303 (v4 or earlier) to find the right values for your board. - -In the Tools menu, select the appropriate board and serial port. Click the "Upload" button to compile the sketch and load it onto your Arduino. - -When the AHRS program first starts running, it takes some readings to establish a baseline orientation, during which it expects both the roll and the pitch of the sensors to be zero. Therefore, it is important to keep the MinIMU-9 level for a few seconds after powering on or resetting the Arduino or connecting to it from a computer. - -After performing the startup routine, the program constantly takes readings from the gyro, accelerometer, and magnetometer on the MinIMU-9 and calculates an estimate of the board's orientation. It outputs estimated roll, pitch, and yaw angles (in degrees) through the Arduino's serial interface, and you can view the output with the Arduino Serial Monitor. - -Example output: - -pre. !ANG:0.08,0.09,137.01 -!ANG:0.14,0.11,137.04 -!ANG:0.15,0.12,137.06 - -To visualize the output of the AHRS, you can run the Python test program (MinIMU-9-test.py) while the Arduino is connected to your computer. (You will probably have to edit the file first and change the definition of @ser@ to match the COM port your Arduino is using.) You should be able to see three indicators showing the roll, pitch, and yaw angles being calculated by the AHRS, as well as a 3D representation of the MinIMU-9 board (the arrow indicates the positive X direction). You can watch these change in real time as you move the board around. - -!http://b.pololu-files.com/picture/0J3722.600.jpg! - -h2. Version History - -* 1.3.0 (2016-04-27): Added support for MinIMU-9 v5 and AltIMU-10 v5. Added a check to help work around nan (not a number) problems caused by USB serial stalling the main loop. -* 1.2.3 (2015-02-05): Updated to work with L3G library version 2.0.0. -* 1.2.2 (2013-11-27): Updated to work with LSM303 library version 2.0.0. -* 1.2.1 (2013-03-15): Fixed issue with properly enabling high-resolution mode on accelerometer. -* 1.2.0 (2012-07-06): Added support for MinIMU-9 v2 (L3GD20 and LSM303DLHC); L3G4200D library dependency changed to L3G. -* 1.1.0 (2011-11-15): Added support for LSM303DLM; LSM303DLH library dependency changed to LSM303. -* 1.0.0 (2011-09-26): Original release. diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IR_seeker/IR_seeker.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IR_seeker/IR_seeker.ino deleted file mode 100644 index 90c9965..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/IR_seeker/IR_seeker.ino +++ /dev/null @@ -1,205 +0,0 @@ -#include <Adafruit_MCP23X17.h> - -#define ir1 0 // GPA0 -#define ir2 1 // GPA1 -#define ir3 2 // GPA2 -#define ir4 3 // GPA3 -#define ir5 4 // GPA4 -#define ir6 5 // GPA5 -#define ir7 6 // GPA6 -#define ir8 7 // GPA7 -#define ir9 8 // GPB0 -#define ir10 9 // GPB1 -#define ir11 10 // GPB2 -#define ir12 11 // GPB3 -#define ir13 12 // GPB4 -#define ir14 13 // GPB5 -#define ir15 14 // GPB6 -#define ir16 15 // GPB7 - -int dir1 = 1; // data IR1 -int dir2 = 1; // data IR2 -int dir3 = 1; // etc -int dir4 = 1; -int dir5 = 1; -int dir6 = 1; -int dir7 = 1; -int dir8 = 1; -int dir9 = 1; -int dir10 = 1; -int dir11 = 1; -int dir12 = 1; -int dir13 = 1; -int dir14 = 1; -int dir15 = 1; -int dir16 = 1; - -volatile long IRcount1 = 0; -volatile long IRcount2 = 0; -volatile long IRcount3 = 0; -volatile long IRcount4 = 0; -volatile long IRcount5 = 0; -volatile long IRcount6 = 0; -volatile long IRcount7 = 0; -volatile long IRcount8 = 0; -volatile long IRcount9 = 0; -volatile long IRcount10 = 0; -volatile long IRcount11 = 0; -volatile long IRcount12 = 0; -volatile long IRcount13 = 0; -volatile long IRcount14 = 0; -volatile long IRcount15 = 0; -volatile long IRcount16 = 0; - -// Instance for the first MCP23017 at address 0x20 -Adafruit_MCP23X17 mcp1; - -void setup() { - Serial.begin(9600); - while (!Serial); - Serial.println("MCP23xxx Button Test!"); - - // Initialize first MCP23017 with I2C address 0x20 - if (!mcp1.begin_I2C(0x20)) { - Serial.println("Error initializing MCP23017 at 0x20."); - while (1); - } - - // Configure pins for the first MCP23017 (0x20) - mcp1.pinMode(ir1, INPUT); - mcp1.pinMode(ir2, INPUT); - mcp1.pinMode(ir3, INPUT); - mcp1.pinMode(ir4, INPUT); - mcp1.pinMode(ir5, INPUT); - mcp1.pinMode(ir6, INPUT); - mcp1.pinMode(ir7, INPUT); - mcp1.pinMode(ir8, INPUT); - mcp1.pinMode(ir9, INPUT); - mcp1.pinMode(ir10, INPUT); - mcp1.pinMode(ir11, INPUT); - mcp1.pinMode(ir12, INPUT); - mcp1.pinMode(ir13, INPUT); - mcp1.pinMode(ir14, INPUT); - mcp1.pinMode(ir15, INPUT); - mcp1.pinMode(ir16, INPUT); - - attachInterrupt(digitalPinToInterrupt(ir1), IRtrigger1, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir2), IRtrigger2, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir3), IRtrigger3, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir4), IRtrigger4, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir5), IRtrigger5, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir6), IRtrigger6, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir7), IRtrigger7, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir8), IRtrigger8, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir9), IRtrigger9, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir10), IRtrigger10, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir11), IRtrigger11, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir12), IRtrigger12, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir13), IRtrigger13, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir14), IRtrigger14, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir15), IRtrigger15, CHANGE); - attachInterrupt(digitalPinToInterrupt(ir16), IRtrigger16, CHANGE); - - Serial.println("Looping..."); -} - -void IRtrigger1() { - IRcount1++; -} -void IRtrigger2() { - IRcount2++; -} -void IRtrigger3() { - IRcount3++; -} -void IRtrigger4() { - IRcount4++; -} -void IRtrigger5() { - IRcount5++; -} -void IRtrigger6() { - IRcount6++; -} -void IRtrigger7() { - IRcount7++; -} -void IRtrigger8() { - IRcount8++; -} -void IRtrigger9() { - IRcount9++; -} -void IRtrigger10() { - IRcount10++; -} -void IRtrigger11() { - IRcount11++; -} -void IRtrigger12() { - IRcount12++; -} -void IRtrigger13() { - IRcount13++; -} -void IRtrigger14() { - IRcount14++; -} -void IRtrigger15() { - IRcount15++; -} -void IRtrigger16() { - IRcount16++; -} - - -void loop() { - Serial.print("ir 1 changes: "); - Serial.print(IRcount1); - Serial.print(", ir 2 changes: "); - Serial.print(IRcount2); - Serial.print(", ir 3 changes: "); - Serial.print(IRcount3); - Serial.print(", ir 4 changes: "); - Serial.print(IRcount4); - Serial.print(", ir 5 changes: "); - Serial.print(IRcount5); - Serial.print(", ir 6 changes: "); - Serial.print(IRcount6); - Serial.print(", ir 7 changes: "); - Serial.print(IRcount7); - Serial.print(", ir 8 changes: "); - Serial.print(IRcount8); - Serial.print(", ir 9 changes: "); - Serial.print(IRcount9); - Serial.print(", ir 10 changes: "); - Serial.print(IRcount10); - Serial.print(", ir 11 changes: "); - Serial.print(IRcount11); - Serial.print(", ir 12 changes: "); - Serial.print(IRcount12); - Serial.print(", ir 13 changes: "); - Serial.print(IRcount13); - Serial.print(", ir 14 changes: "); - Serial.print(IRcount14); - Serial.print(", ir 15 changes: "); - Serial.print(IRcount15); - Serial.print(", ir 16 changes: "); - Serial.println(IRcount16); - - volatile long IRcounts[] = {IRcount1, IRcount2, IRcount3, IRcount4, IRcount5, IRcount6, IRcount7, IRcount8, IRcount9, IRcount10, IRcount11, IRcount12, IRcount13, IRcount14, IRcount15, IRcount16}; - long maxCount = IRcounts[0]; - int highessensor = 1; - for (int i = 0; i < 15; ++i) { - if (IRcounts[i] > maxCount) { - maxCount = IRcounts[i]; - highessensor = i + 1; - } - } - Serial.print("Ball is at sensor: "); - Serial.print(highessensor); - Serial.print(", with value of "); - Serial.println(maxCount); - - delay(250); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/MCP23017/MCP23017.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/MCP23017/MCP23017.ino deleted file mode 100644 index d295e7c..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/MCP23017/MCP23017.ino +++ /dev/null @@ -1,177 +0,0 @@ -#include <Adafruit_MCP23X17.h> - -#define ir1 0 // GPA0 -#define ir2 1 // GPA1 -#define ir3 2 // GPA2 -#define ir4 3 // GPA3 -#define ir5 4 // GPA4 -#define ir6 5 // GPA5 -#define ir7 6 // GPA6 -#define ir8 7 // GPA7 -#define ir9 8 // GPB0 -#define ir10 9 // GPB1 -#define ir11 10 // GPB2 -#define ir12 11 // GPB3 -#define ir13 12 // GPB4 -#define ir14 13 // GPB5 -#define ir15 14 // GPB6 -#define ir16 15 // GPB7 - -int dir1 = 1; // data IR1 -int dir2 = 1; // data IR2 -int dir3 = 1; // etc -int dir4 = 1; -int dir5 = 1; -int dir6 = 1; -int dir7 = 1; -int dir8 = 1; -int dir9 = 1; -int dir10 = 1; -int dir11 = 1; -int dir12 = 1; -int dir13 = 1; -int dir14 = 1; -int dir15 = 1; -int dir16 = 1; - -int dir17 = 1; // data IR17 -int dir18 = 1; // data IR18 -int dir19 = 1; // etc -int dir20 = 1; -int dir21 = 1; -int dir22 = 1; -int dir23 = 1; -int dir24 = 1; -int dir25 = 1; -int dir26 = 1; -int dir27 = 1; -int dir28 = 1; -int dir29 = 1; -int dir30 = 1; -int dir31 = 1; -int dir32 = 1; - -// Instance for the first MCP23017 at address 0x20 -Adafruit_MCP23X17 mcp1; - -// Instance for the second MCP23017 at address 0x22 -Adafruit_MCP23X17 mcp2; - -void setup() { - Serial.begin(9600); - while (!Serial); - Serial.println("MCP23xxx Button Test!"); - - // Initialize first MCP23017 with I2C address 0x20 - if (!mcp1.begin_I2C(0x20)) { - Serial.println("Error initializing MCP23017 at 0x20."); - while (1); - } - - // Initialize second MCP23017 with I2C address 0x22 - if (!mcp2.begin_I2C(0x22)) { - Serial.println("Error initializing MCP23017 at 0x22."); - while (1); - } - - // Configure pins for the first MCP23017 (0x20) - mcp1.pinMode(ir1, INPUT); - mcp1.pinMode(ir2, INPUT); - mcp1.pinMode(ir3, INPUT); - mcp1.pinMode(ir4, INPUT); - mcp1.pinMode(ir5, INPUT); - mcp1.pinMode(ir6, INPUT); - mcp1.pinMode(ir7, INPUT); - mcp1.pinMode(ir8, INPUT); - mcp1.pinMode(ir9, INPUT); - mcp1.pinMode(ir10, INPUT); - mcp1.pinMode(ir11, INPUT); - mcp1.pinMode(ir12, INPUT); - mcp1.pinMode(ir13, INPUT); - mcp1.pinMode(ir14, INPUT); - mcp1.pinMode(ir15, INPUT); - mcp1.pinMode(ir16, INPUT); - - // Configure pins for the second MCP23017 (0x22) - mcp2.pinMode(ir1, INPUT); - mcp2.pinMode(ir2, INPUT); - mcp2.pinMode(ir3, INPUT); - mcp2.pinMode(ir4, INPUT); - mcp2.pinMode(ir5, INPUT); - mcp2.pinMode(ir6, INPUT); - mcp2.pinMode(ir7, INPUT); - mcp2.pinMode(ir8, INPUT); - mcp2.pinMode(ir9, INPUT); - mcp2.pinMode(ir10, INPUT); - mcp2.pinMode(ir11, INPUT); - mcp2.pinMode(ir12, INPUT); - mcp2.pinMode(ir13, INPUT); - mcp2.pinMode(ir14, INPUT); - mcp2.pinMode(ir15, INPUT); - mcp2.pinMode(ir16, INPUT); - - Serial.println("Looping..."); -} - -void loop() { - // Read pins from the first MCP23017 (0x20) - dir1 = mcp1.digitalRead(ir1); - dir2 = mcp1.digitalRead(ir2); - dir3 = mcp1.digitalRead(ir3); - dir4 = mcp1.digitalRead(ir4); - dir5 = mcp1.digitalRead(ir5); - dir6 = mcp1.digitalRead(ir6); - dir7 = mcp1.digitalRead(ir7); - dir8 = mcp1.digitalRead(ir8); - dir9 = mcp1.digitalRead(ir9); - dir10 = mcp1.digitalRead(ir10); - dir11 = mcp1.digitalRead(ir11); - dir12 = mcp1.digitalRead(ir12); - dir13 = mcp1.digitalRead(ir13); - dir14 = mcp1.digitalRead(ir14); - dir15 = mcp1.digitalRead(ir15); - dir16 = mcp1.digitalRead(ir16); - - // Read pins from the second MCP23017 (0x22) - dir17 = mcp2.digitalRead(ir1); - dir18 = mcp2.digitalRead(ir2); - dir19 = mcp2.digitalRead(ir3); - dir20 = mcp2.digitalRead(ir4); - dir21 = mcp2.digitalRead(ir5); - dir22 = mcp2.digitalRead(ir6); - dir23 = mcp2.digitalRead(ir7); - dir24 = mcp2.digitalRead(ir8); - dir25 = mcp2.digitalRead(ir9); - dir26 = mcp2.digitalRead(ir10); - dir27 = mcp2.digitalRead(ir11); - dir28 = mcp2.digitalRead(ir12); - dir29 = mcp2.digitalRead(ir13); - dir30 = mcp2.digitalRead(ir14); - dir31 = mcp2.digitalRead(ir15); - dir32 = mcp2.digitalRead(ir16); - - // Print the results from the first MCP23017 (0x20) - Serial.print("MCP23017 @ 0x20: "); - Serial.print(dir1); Serial.print(", "); Serial.print(dir2); - Serial.print(", "); Serial.print(dir3); Serial.print(", "); Serial.print(dir4); - Serial.print(", "); Serial.print(dir5); Serial.print(", "); Serial.print(dir6); - Serial.print(", "); Serial.print(dir7); Serial.print(", "); Serial.print(dir8); - Serial.print(", "); Serial.print(dir9); Serial.print(", "); Serial.print(dir10); - Serial.print(", "); Serial.print(dir11); Serial.print(", "); Serial.print(dir12); - Serial.print(", "); Serial.print(dir13); Serial.print(", "); Serial.print(dir14); - Serial.print(", "); Serial.print(dir15); Serial.print(", "); Serial.print(dir16); - - // Print the results from the second MCP23017 (0x22) - Serial.print(" MCP23017 @ 0x22: "); - Serial.print(dir17); Serial.print(", "); Serial.print(dir18); - Serial.print(", "); Serial.print(dir19); Serial.print(", "); Serial.print(dir20); - Serial.print(", "); Serial.print(dir21); Serial.print(", "); Serial.print(dir22); - Serial.print(", "); Serial.print(dir23); Serial.print(", "); Serial.print(dir24); - Serial.print(", "); Serial.print(dir25); Serial.print(", "); Serial.print(dir26); - Serial.print(", "); Serial.print(dir27); Serial.print(", "); Serial.print(dir28); - Serial.print(", "); Serial.print(dir29); Serial.print(", "); Serial.print(dir30); - Serial.print(", "); Serial.print(dir31); Serial.print(", "); Serial.println(dir32); - - Serial.println(); - delay(250); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/MCP23017/mcp20317_schemss.jpg b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/MCP23017/mcp20317_schemss.jpg Binary files differdeleted file mode 100644 index 5231394..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/MCP23017/mcp20317_schemss.jpg +++ /dev/null diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/Scanner/Scanner.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/Scanner/Scanner.ino deleted file mode 100644 index 879dbd6..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/Scanner/Scanner.ino +++ /dev/null @@ -1,194 +0,0 @@ -// Wire Scanner - scans for I2C devices on all Wire ports -// -// This Wire library adapted is for Teensy boards -// -// https://github.com/PaulStoffregen/Wire/ -// -// Adapted from I2C Scanner originally published on Arduino Playground -// see comments below for link and credits for original authors. - -#include <Wire.h> - -void setup() { -#if WIRE_INTERFACES_COUNT >= 1 - //Wire.setSCL(16); // uncomment these to use alternate Wire pins - //Wire.setSDA(17); - Wire.begin(); -#endif - Serial.begin(9600); - while (!Serial); // Wait for Arduino Serial Monitor - Serial.println(F("\nI2C Scanner")); -} - - -void loop() { - Serial.println(); -#if WIRE_INTERFACES_COUNT >= 1 - Serial.println(F("Scanning Wire...")); - scan(Wire); - delay(500); -#endif - delay(2000); // wait 5 seconds for next scan -} - - -void scan(TwoWire &myport) { - int nDevices = 0; - for (int address = 1; address < 127; address++) { - // The i2c_scanner uses the return value of - // the Write.endTransmisstion to see if - // a device did acknowledge to the address. - myport.beginTransmission(address); - int error = myport.endTransmission(); - - if (error == 0) { - Serial.print(F("Device found at address 0x")); - if (address < 16) { - Serial.print("0"); - } - Serial.print(address,HEX); - Serial.print(" ("); - printKnownChips(address); - Serial.println(")"); - nDevices++; - } else if (error==4) { - Serial.print(F("Unknown error at address 0x")); - if (address < 16) { - Serial.print("0"); - } - Serial.println(address,HEX); - } - } - if (nDevices == 0) { - Serial.println(F("No I2C devices found")); - } else { - Serial.println(F("done")); - } - Serial.println(); -} - - -void printKnownChips(byte address) -{ - // Is this list missing part numbers for chips you use? - // Please suggest additions here: - // https://github.com/PaulStoffregen/Wire/issues/new - switch (address) { - case 0x00: Serial.print(F("AS3935")); break; - case 0x01: Serial.print(F("AS3935")); break; - case 0x02: Serial.print(F("AS3935")); break; - case 0x03: Serial.print(F("AS3935")); break; - case 0x04: Serial.print(F("ADAU1966")); break; - case 0x0A: Serial.print(F("SGTL5000")); break; // MCLK required - case 0x0B: Serial.print(F("SMBusBattery?")); break; - case 0x0C: Serial.print(F("AK8963")); break; - case 0x10: Serial.print(F("CS4272")); break; - case 0x11: Serial.print(F("Si4713")); break; - case 0x13: Serial.print(F("VCNL4000,AK4558")); break; - case 0x18: Serial.print(F("LIS331DLH")); break; - case 0x19: Serial.print(F("LSM303,LIS331DLH")); break; - case 0x1A: Serial.print(F("WM8731")); break; - case 0x1C: Serial.print(F("LIS3MDL")); break; - case 0x1D: Serial.print(F("LSM303D,LSM9DS0,ADXL345,MMA7455L,LSM9DS1,LIS3DSH")); break; - case 0x1E: Serial.print(F("LSM303D,HMC5883L,FXOS8700,LIS3DSH")); break; - case 0x20: Serial.print(F("MCP23017,MCP23008,PCF8574,FXAS21002,SoilMoisture")); break; - case 0x21: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x22: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x23: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x24: Serial.print(F("MCP23017,MCP23008,PCF8574,ADAU1966,HM01B0")); break; - case 0x25: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x26: Serial.print(F("MCP23017,MCP23008,PCF8574")); break; - case 0x27: Serial.print(F("MCP23017,MCP23008,PCF8574,LCD16x2,DigoleDisplay")); break; - case 0x28: Serial.print(F("BNO055,EM7180,CAP1188")); break; - case 0x29: Serial.print(F("TSL2561,VL6180,TSL2561,TSL2591,BNO055,CAP1188")); break; - case 0x2A: Serial.print(F("SGTL5000,CAP1188")); break; - case 0x2B: Serial.print(F("CAP1188")); break; - case 0x2C: Serial.print(F("MCP44XX ePot")); break; - case 0x2D: Serial.print(F("MCP44XX ePot")); break; - case 0x2E: Serial.print(F("MCP44XX ePot")); break; - case 0x2F: Serial.print(F("MCP44XX ePot")); break; - case 0x30: Serial.print(F("Si7210")); break; - case 0x31: Serial.print(F("Si7210")); break; - case 0x32: Serial.print(F("Si7210")); break; - case 0x33: Serial.print(F("MAX11614,MAX11615,Si7210,MLX90640,MLX90641")); break; - case 0x34: Serial.print(F("MAX11612,MAX11613")); break; - case 0x35: Serial.print(F("MAX11616,MAX11617")); break; - case 0x38: Serial.print(F("RA8875,FT6206,MAX98390")); break; - case 0x39: Serial.print(F("TSL2561, APDS9960")); break; - case 0x3A: Serial.print(F("MLX90632")); break; - case 0x3C: Serial.print(F("SSD1306,DigisparkOLED")); break; - case 0x3D: Serial.print(F("SSD1306")); break; - case 0x40: Serial.print(F("PCA9685,Si7021,MS8607")); break; - case 0x41: Serial.print(F("STMPE610,PCA9685")); break; - case 0x42: Serial.print(F("PCA9685")); break; - case 0x43: Serial.print(F("PCA9685")); break; - case 0x44: Serial.print(F("PCA9685, SHT3X, ADAU1966")); break; - case 0x45: Serial.print(F("PCA9685, SHT3X")); break; - case 0x46: Serial.print(F("PCA9685")); break; - case 0x47: Serial.print(F("PCA9685")); break; - case 0x48: Serial.print(F("ADS1115,PN532,TMP102,LM75,PCF8591,CS42448")); break; - case 0x49: Serial.print(F("ADS1115,TSL2561,PCF8591,CS42448,TC74A1")); break; - case 0x4A: Serial.print(F("ADS1115,Qwiic Keypad,CS42448")); break; - case 0x4B: Serial.print(F("ADS1115,TMP102,BNO080,Qwiic Keypad,CS42448")); break; - case 0x50: Serial.print(F("EEPROM,FRAM")); break; - case 0x51: Serial.print(F("EEPROM")); break; - case 0x52: Serial.print(F("Nunchuk,EEPROM")); break; - case 0x53: Serial.print(F("ADXL345,EEPROM")); break; - case 0x54: Serial.print(F("EEPROM")); break; - case 0x55: Serial.print(F("EEPROM")); break; - case 0x56: Serial.print(F("EEPROM")); break; - case 0x57: Serial.print(F("EEPROM")); break; - case 0x58: Serial.print(F("TPA2016,MAX21100")); break; - case 0x5A: Serial.print(F("MPR121,MLX90614")); break; - case 0x60: Serial.print(F("MPL3115,MCP4725,MCP4728,TEA5767,Si5351")); break; - case 0x61: Serial.print(F("MCP4725,AtlasEzoDO")); break; - case 0x62: Serial.print(F("LidarLite,MCP4725,AtlasEzoORP")); break; - case 0x63: Serial.print(F("MCP4725,AtlasEzoPH")); break; - case 0x64: Serial.print(F("AtlasEzoEC, ADAU1966")); break; - case 0x66: Serial.print(F("AtlasEzoRTD")); break; - case 0x68: Serial.print(F("DS1307,DS3231,MPU6050,MPU9050,MPU9250,ITG3200,ITG3701,LSM9DS0,L3G4200D")); break; - case 0x69: Serial.print(F("MPU6050,MPU9050,MPU9250,ITG3701,L3G4200D")); break; - case 0x6A: Serial.print(F("LSM9DS1")); break; - case 0x6B: Serial.print(F("LSM9DS0")); break; - case 0x6F: Serial.print(F("Qwiic Button")); break; - case 0x70: Serial.print(F("HT16K33,TCA9548A")); break; - case 0x71: Serial.print(F("SFE7SEG,HT16K33")); break; - case 0x72: Serial.print(F("HT16K33")); break; - case 0x73: Serial.print(F("HT16K33")); break; - case 0x76: Serial.print(F("MS5607,MS5611,MS5637,BMP280")); break; - case 0x77: Serial.print(F("BMP085,BMA180,BMP280,MS5611")); break; - case 0x7C: Serial.print(F("FRAM_ID")); break; - default: Serial.print(F("unknown chip")); - } -} - - -// -------------------------------------- -// i2c_scanner -// https://playground.arduino.cc/Main/I2cScanner/ -// -// Version 1 -// This program (or code that looks like it) -// can be found in many places. -// For example on the Arduino.cc forum. -// The original author is not know. -// Version 2, Juni 2012, Using Arduino 1.0.1 -// Adapted to be as simple as possible by Arduino.cc user Krodal -// Version 3, Feb 26 2013 -// V3 by louarnold -// Version 4, March 3, 2013, Using Arduino 1.0.3 -// by Arduino.cc user Krodal. -// Changes by louarnold removed. -// Scanning addresses changed from 0...127 to 1...119, -// according to the i2c scanner by Nick Gammon -// http://www.gammon.com.au/forum/?id=10896 -// Version 5, March 28, 2013 -// As version 4, but address scans now to 127. -// A sensor seems to use address 120. -// Version 6, November 27, 2015. -// Added waiting for the Leonardo serial communication. -// -// -// This sketch tests the standard 7-bit addresses -// Devices with higher bit address might not be seen properly. -// diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/color_sensor/color_sensor.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/color_sensor/color_sensor.ino deleted file mode 100644 index c800f16..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/color_sensor/color_sensor.ino +++ /dev/null @@ -1,183 +0,0 @@ -/** -i2c port scanner based on: - in wire library examples i2c_scanner - https://learn.adafruit.com/adafruit-pca9548-8-channel-stemma-qt-qwiic-i2c-multiplexer/arduino - -color sensor based on± - adafruit TCS34725 librarys - - type var: - https://arduino.stackexchange.com/questions/3079/how-to-retrieve-the-data-type-of-a-variable - - * - */ - -#include <Wire.h> //https://www.arduino.cc/reference/en/language/functions/communication/wire/ -#include "Adafruit_TCS34725.h" //https://github.com/adafruit/Adafruit_TCS34725 - -#define PCAADDR 0x70 //i2c address of the i2c multiplexer - -/* Initialise with default values (int time = 2.4ms, gain = 1x) */ -Adafruit_TCS34725 tcs = Adafruit_TCS34725(); -//Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_614MS, TCS34725_GAIN_1X); - -const int buzzer = 6; //buzzer to arduino pin 9 - - -int colsensdata[6] = {99, 99, 99, 99, 99, 99}; - - - -void setup() { - Serial.begin(115200); - //while (!Serial); // Leonardo: wait for Serial Monitor - Serial.println("\nI2C Scanner"); - pinMode(buzzer, OUTPUT); - -} - -void pcaselect(uint8_t i) { - if (i > 7) return; - - Wire.beginTransmission(PCAADDR); - Wire.write(1 << i); - Wire.endTransmission(); -} -void scandirectports(){ - Wire.begin(); - int nDevices = 0; - Serial.println("Scanning for i2c ports on board..."); - - for (byte address = 1; address < 127; ++address) { - // The i2c_scanner uses the return value of - // the Wire.endTransmission to see if - // a device did acknowledge to the address. - Wire.beginTransmission(address); - byte error = Wire.endTransmission(); - - if (error == 0) { - Serial.print("I2C device found at address 0x"); - if (address < 16) { - Serial.print("0"); - } - Serial.print(address, HEX); - Serial.println(" !"); - - ++nDevices; - } else if (error == 4) { - Serial.print("Unknown error at address 0x"); - if (address < 16) { - Serial.print("0"); - } - Serial.println(address, HEX); - } - } - if (nDevices == 0) { - Serial.println("No I2C devices found\n"); - } else { - Serial.println("done\n"); - } -} - - -// Generic catch-all implementation. -template <typename T_ty> struct TypeInfo { static const char * name; }; -template <typename T_ty> const char * TypeInfo<T_ty>::name = "unknown"; - -// Handy macro to make querying stuff easier. -#define TYPE_NAME(var) TypeInfo< typeof(var) >::name - -// Handy macro to make defining stuff easier. -#define MAKE_TYPE_INFO(type) template <> const char * TypeInfo<type>::name = #type; - -// Type-specific implementations. -MAKE_TYPE_INFO( int ) -MAKE_TYPE_INFO( float ) -MAKE_TYPE_INFO( short ) - -void loop() { - Wire.begin(); - - for (uint8_t t=0; t<50; t++) { - Serial.println(); - } - - scandirectports(); - - Serial.println(); - Serial.println(); - - for (uint8_t t=0; t<6; t++) { - pcaselect(t); - Serial.print("PCA Port #"); Serial.println(t); - for (uint8_t addr = 0; addr<=127; addr++) { - if (addr == PCAADDR) continue; - Wire.beginTransmission(addr); - if (!Wire.endTransmission()) { - Serial.print("Found I2C 0x"); Serial.println(addr,HEX); - Serial.println("scanning for tcs sensor"); - if (tcs.begin()) { - Serial.println("Found sensor"); - Serial.println("collecting data"); - uint16_t r, g, b, c, colorTemp, lux; - tcs.getRawData(&r, &g, &b, &c); - colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c); - lux = tcs.calculateLux(r, g, b); - Serial.print("Color Temp: "); Serial.print(colorTemp, DEC); Serial.print(" K - "); - Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" "); - if ((colorTemp) == 5201){ - Serial.println("sensor in air"); - tone(buzzer, 100); - colsensdata[t] = 0; - } - else if ((g)>=(2*(r)) && (g)>=12){ - Serial.println("green"); - tone(buzzer, 200); - colsensdata[t] = 1; - } - else if ((colorTemp)>= 6750){ - Serial.println("black"); - tone(buzzer, 300); - colsensdata[t] = 2; - } - else if ((colorTemp) < 6750){ - Serial.println("white"); - tone(buzzer, 400); - colsensdata[t] = 3; - } - else{ - Serial.println(colorTemp); - Serial.println(TYPE_NAME((colorTemp, DEC))); - colsensdata[t] = 98; - } - Serial.println(); - - - } else { - Serial.println("No TCS34725 found ... check your connections"); - colsensdata[t] = 97; - } - delay(500); - } - } - } - Serial.println(); - Serial.print("sensor data = "); - for(int i = 0; i < 6; i++){ - Serial.print(colsensdata[i]); - Serial.print(", "); - } - /** -0 = air -1 = green -2 = black -3 = white -90 = error - - * - */ - Serial.println(""); - Serial.println("DONE"); - tone(buzzer, 1000); - delay(2500); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/color_sensor/short/short.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/color_sensor/short/short.ino deleted file mode 100644 index 2f80412..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/color_sensor/short/short.ino +++ /dev/null @@ -1,94 +0,0 @@ - -#include <Wire.h> //https://www.arduino.cc/reference/en/language/functions/communication/wire/ -#include "Adafruit_TCS34725.h" //https://github.com/adafruit/Adafruit_TCS34725 - -#define PCAADDR 0x70 //i2c address of the i2c multiplexer - - -Adafruit_TCS34725 tcs = Adafruit_TCS34725();/* Initialise with default values (int time = 2.4ms, gain = 1x) */ - -int colsensdata[6] = {99, 99, 99, 99, 99, 99}; - -void setup() { - Serial.begin(115200); - Serial.println("\nI2C Scanner"); - -} - -void pcaselect(uint8_t i) { - if (i > 7) return; - - Wire.beginTransmission(PCAADDR); - Wire.write(1 << i); - Wire.endTransmission(); -} - -template <typename T_ty> struct TypeInfo { static const char * name; }; -template <typename T_ty> const char * TypeInfo<T_ty>::name = "unknown"; -#define TYPE_NAME(var) TypeInfo< typeof(var) >::name -#define MAKE_TYPE_INFO(type) template <> const char * TypeInfo<type>::name = #type; -MAKE_TYPE_INFO( int ) -MAKE_TYPE_INFO( float ) -MAKE_TYPE_INFO( short ) - -void loop() { - Wire.begin(); - for (uint8_t t=0; t<6; t++) { - pcaselect(t); - Serial.print("PCA Port #"); Serial.println(t); - for (uint8_t addr = 0; addr<=127; addr++) { - if (addr == PCAADDR) continue; - Wire.beginTransmission(addr); - if (!Wire.endTransmission()) { - Serial.print("Found I2C 0x"); Serial.println(addr,HEX); - if (tcs.begin()) { - Serial.println("Found sensor"); - Serial.println("collecting data"); - uint16_t r, g, b, c, colorTemp, lux; - tcs.getRawData(&r, &g, &b, &c); - colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c); - lux = tcs.calculateLux(r, g, b); - Serial.print("Color Temp: "); Serial.print(colorTemp, DEC); Serial.print(" K - "); - Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" "); - if ((colorTemp) == 5201){ - colsensdata[t] = 0; - } - else if ((g)>=(2*(r)) && (g)>=12){ - colsensdata[t] = 1; - } - else if ((colorTemp)>= 6750){ - colsensdata[t] = 2; - } - else if ((colorTemp) < 6750){ - colsensdata[t] = 3; - } - else{ - Serial.println(colorTemp); - Serial.println(TYPE_NAME((colorTemp, DEC))); - colsensdata[t] = 98; - } - } else { - Serial.println("No TCS34725 found ... check your connections"); - colsensdata[t] = 97; - } - } - } - } - Serial.print("sensor data = "); - for(int i = 0; i < 6; i++){ - Serial.print(colsensdata[i]); - Serial.print(", "); - } - /** -0 = air -1 = green -2 = black -3 = white -90 = error - - * - */ - Serial.println(""); - Serial.println("DONE"); - delay(2500); -}
\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/arduino_binairy_decoder/arduino_binairy_decoder.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/arduino_binairy_decoder/arduino_binairy_decoder.ino deleted file mode 100644 index eb257e5..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/arduino_binairy_decoder/arduino_binairy_decoder.ino +++ /dev/null @@ -1,28 +0,0 @@ -String inp = "01101000"; -int decimalValue = 0; - -void setup() { - Serial.begin(115200); - while (!Serial) { - ; // wait for serial port to connect. Needed for native USB - } - Serial.println(""); - - Serial.println(inp); - String binary = inp.substring(2); - Serial.println(binary); - for (int i = 0; i < binary.length(); i++) { - // Calculate the value of the current bit - int bitValue = binary.charAt(i) - '0'; - // Update the decimal value by shifting the bit to its correct position - decimalValue = (decimalValue << 1) | bitValue; - } - Serial.println(decimalValue); - Serial.println(""); -} - -void loop() { - // put your main code here, to run repeatedly: - delay(1000); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/arduino_comm/arduino_comm.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/arduino_comm/arduino_comm.ino deleted file mode 100644 index 4a2b205..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/arduino_comm/arduino_comm.ino +++ /dev/null @@ -1,37 +0,0 @@ -String tlocd = ""; -String locd = ""; -bool readloc = false; -unsigned long datatime = 0; - -void setup() { - Serial1.begin(19200); - Serial.begin(19200); -} - -void loop() { - if(Serial1.available()){ - datatime = millis(); - - byte byteRead = Serial1.read(); - - if(byteRead == 's'){ - tlocd = ""; - readloc = true; - } - else if(byteRead == 'e'){ - readloc = false; - locd = tlocd; - } - else if(readloc == true){ - tlocd += (char)byteRead; - } - } - else{ - if(millis() - datatime > 5000){ - Serial.println("Err no data recieved for 5 sec"); - locd = "999"; - } - } - Serial.println(locd); - delay(134); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/seeed-teensy/readme.txt.txt b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/seeed-teensy/readme.txt.txt deleted file mode 100644 index ef9f996..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/seeed-teensy/readme.txt.txt +++ /dev/null @@ -1,3 +0,0 @@ -serial communication between two Seeed Studio XIAO SAMD21 and one teensy. -Teensy Serial 2 and 3 on read -Seeed XIAO SAMD21 write a 8 values on Serial1 between 0-10000 (pulses from IR sensor) every 0,25 seconds. For example 100 pulses in 1 second = 00025 diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/seeed-teensy/seeed_uart/seeed_uart.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/seeed-teensy/seeed_uart/seeed_uart.ino deleted file mode 100644 index 32750de..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/seeed-teensy/seeed_uart/seeed_uart.ino +++ /dev/null @@ -1,9 +0,0 @@ -void setup() { - Serial1.begin(9600) - -} - -void loop() { - Serial1.println("/D:00025:/E"); - delay(250); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/seeed-teensy/teensy_uard_read/teensy_uard_read.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/seeed-teensy/teensy_uard_read/teensy_uard_read.ino deleted file mode 100644 index 684c199..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/seeed-teensy/teensy_uard_read/teensy_uard_read.ino +++ /dev/null @@ -1,17 +0,0 @@ -void setup() { - // Initialize Serial1 with a baud rate of 19200 - Serial1.begin(9600); - Serial.begin(9600); // Initialize Serial for debugging -} - -void loop() { - // Check if there is any data available to read from Serial1 - if (Serial1.available()) { - // Read the most recent byte - byte byteRead = Serial1.read(); - // Echo the value that was read - Serial1.write(byteRead); - // Print the received byte for debugging - Serial.print((char)byteRead); - } -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/spi/arduino_spi_master/arduino_spi_master.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/spi/arduino_spi_master/arduino_spi_master.ino deleted file mode 100644 index 248ef0f..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/spi/arduino_spi_master/arduino_spi_master.ino +++ /dev/null @@ -1,34 +0,0 @@ -#include <SPI.h> -#define SS_PIN 10 -#define BAUD_RATE 19200 -#define CHAR_BUF 128 - -void setup() { - pinMode(SS_PIN, OUTPUT); - Serial.begin(BAUD_RATE); - SPI.begin(); - SPI.setBitOrder(MSBFIRST); - SPI.setClockDivider(SPI_CLOCK_DIV16); - SPI.setDataMode(SPI_MODE0); - delay(1000); // Give the OpenMV Cam time to bootup. -} - -void loop() { - int32_t len = 0; - char buff[CHAR_BUF] = {0}; - digitalWrite(SS_PIN, LOW); - delay(1); // Give the OpenMV Cam some time to setup to send data. - - if(SPI.transfer(1) == 85) { // saw sync char? - SPI.transfer(&len, 4); // get length - if (len) { - SPI.transfer(&buff, min(len, CHAR_BUF)); - len -= min(len, CHAR_BUF); - } - while (len--) SPI.transfer(0); // eat any remaining bytes - } - - digitalWrite(SS_PIN, HIGH); - Serial.print(buff); - delay(1); // Don't loop to quickly. -}
\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/spi/arduino_spi_slave_1.py b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/spi/arduino_spi_slave_1.py deleted file mode 100644 index e05c2f0..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/spi/arduino_spi_slave_1.py +++ /dev/null @@ -1,102 +0,0 @@ -# This work is licensed under the MIT license. -# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved. -# https://github.com/openmv/openmv/blob/master/LICENSE -# -# SPI with the Arduino as the master device and the OpenMV Cam as the slave. -# -# Please wire up your OpenMV Cam to your Arduino like this: -# -# OpenMV Cam Master Out Slave In (P0) - Arduino Uno MOSI (11) -# OpenMV Cam Master In Slave Out (P1) - Arduino Uno MISO (12) -# OpenMV Cam Serial Clock (P2) - Arduino Uno SCK (13) -# OpenMV Cam Slave Select (P3) - Arduino Uno SS (10) -# OpenMV Cam Ground - Arduino Ground - -import pyb -import ustruct -import time - -text = "Hello World!\n" -data = ustruct.pack("<bi%ds" % len(text), 85, len(text), text) # 85 is a sync char. -# Use "ustruct" to build data packets to send. -# "<" puts the data in the struct in little endian order. -# "b" puts a signed char in the data stream. -# "i" puts a signed integer in the data stream. -# "%ds" puts a string in the data stream. E.g. "13s" for "Hello World!\n" (13 chars). -# See https://docs.python.org/3/library/struct.html - -# READ ME!!! -# -# Please understand that when your OpenMV Cam is not the SPI master it may miss responding to -# sending data as a SPI slave no matter if you call "spi.send()" in an interrupt callback or in the -# main loop below. Because of this you must absolutely design your communications protocol such -# that if the slave device (the OpenMV Cam) doesn't call "spi.send()" in time that garbage data -# read from the SPI peripheral by the master (the Arduino) is tossed. To accomplish this we use a -# sync character of 85 (binary 01010101) which the Arduino will look for as the first byte read. -# If it doesn't see this then it aborts the SPI transaction and will try again. Second, in order to -# clear out the SPI peripheral state we always send a multiple of four bytes and an extra four zero -# bytes to make sure that the SPI peripheral doesn't hold any stale data which could be 85. Note -# that the OpenMV Cam will miss the "spi.send()" window randomly because it has to service -# interrupts. Interrupts will happen a lot more while connected to your PC. - -# The hardware SPI bus for your OpenMV Cam is always SPI bus 2. -# polarity = 0 -> clock is idle low. -# phase = 0 -> sample data on rising clock edge, output data on falling clock edge. -spi = pyb.SPI(2, pyb.SPI.SLAVE, polarity=0, phase=0) - - -# NSS callback. -def nss_callback(line): - global spi, data - try: - spi.send(data, timeout=1000) - except OSError as err: - pass # Don't care about errors - so pass. - # Note that there are 3 possible errors. A timeout error, a general purpose error, or - # a busy error. The error codes are 116, 5, 16 respectively for "err.arg[0]". - - -# Configure NSS/CS in IRQ mode to send data when requested by the master. -pyb.ExtInt(pyb.Pin("P3"), pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_UP, nss_callback) - -while True: - time.sleep_ms(1000) - -################################################################################################### -# Arduino Code -################################################################################################### -# -# #include <SPI.h> -# #define SS_PIN 10 -# #define BAUD_RATE 19200 -# #define CHAR_BUF 128 -# -# void setup() { -# pinMode(SS_PIN, OUTPUT); -# Serial.begin(BAUD_RATE); -# SPI.begin(); -# SPI.setBitOrder(MSBFIRST); -# SPI.setClockDivider(SPI_CLOCK_DIV16); -# SPI.setDataMode(SPI_MODE0); -# delay(1000); // Give the OpenMV Cam time to bootup. -# } -# -# void loop() { -# int32_t len = 0; -# char buff[CHAR_BUF] = {0}; -# digitalWrite(SS_PIN, LOW); -# delay(1); // Give the OpenMV Cam some time to setup to send data. -# -# if(SPI.transfer(1) == 85) { // saw sync char? -# SPI.transfer(&len, 4); // get length -# if (len) { -# SPI.transfer(&buff, min(len, CHAR_BUF)); -# len -= min(len, CHAR_BUF); -# } -# while (len--) SPI.transfer(0); // eat any remaining bytes -# } -# -# digitalWrite(SS_PIN, HIGH); -# Serial.print(buff); -# delay(1); // Don't loop to quickly. -# } diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/uart/arduino_uart/arduino_uart.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/uart/arduino_uart/arduino_uart.ino deleted file mode 100644 index 6385695..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/uart/arduino_uart/arduino_uart.ino +++ /dev/null @@ -1,17 +0,0 @@ -void setup() { - // Initialize Serial1 with a baud rate of 19200 - Serial1.begin(19200); - Serial.begin(19200); // Initialize Serial for debugging -} - -void loop() { - // Check if there is any data available to read from Serial1 - if (Serial1.available()) { - // Read the most recent byte - byte byteRead = Serial1.read(); - // Echo the value that was read - Serial1.write(byteRead); - // Print the received byte for debugging - Serial.print((char)byteRead); - } -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/uart/arduino_uart_1.py b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/uart/arduino_uart_1.py deleted file mode 100644 index 3996cf7..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/comm/uart/arduino_uart_1.py +++ /dev/null @@ -1,42 +0,0 @@ -# This work is licensed under the MIT license. -# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved. -# https://github.com/openmv/openmv/blob/master/LICENSE -# -# Basic UART communications between OpenMV and Arduino Uno. - -# 1) Wire up your OpenMV Cam to your Arduino Uno like this: -# -# OpenMV Cam Ground Pin ----> Arduino Ground -# OpenMV Cam UART3_TX(P4) ----> Arduino Uno UART_RX(0) -# OpenMV Cam UART3_RX(P5) ----> Arduino Uno UART_TX(1) - -# 2) Uncomment and upload the following sketch to Arduino: -# -# void setup() { -# // put your setup code here, to run once: -# Serial.begin(19200); -# } -# -# void loop() { -# // put your main code here, to run repeatedly: -# if (Serial.available()) { -# // Read the most recent byte -# byte byteRead = Serial.read(); -# // ECHO the value that was read -# Serial.write(byteRead); -# } -# } - -# 3) Run the following script in OpenMV IDE: - -import time -from pyb import UART - -# UART 3, and baudrate. -uart = UART(3, 19200, timeout_char=200) - -while True: - uart.write("Hello World!\n") - if uart.any(): - print(uart.read()) - time.sleep_ms(1000) diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/data_logging_teensy_temp/InternalTemperature-master.zip b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/data_logging_teensy_temp/InternalTemperature-master.zip Binary files differdeleted file mode 100644 index 64b7dc4..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/data_logging_teensy_temp/InternalTemperature-master.zip +++ /dev/null diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/data_logging_teensy_temp/data_logging_teensy_temp.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/data_logging_teensy_temp/data_logging_teensy_temp.ino deleted file mode 100644 index fcd6c64..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/data_logging_teensy_temp/data_logging_teensy_temp.ino +++ /dev/null @@ -1,63 +0,0 @@ -#include <InternalTemperature.h> -#include <SD.h> -#include <SPI.h> - -File ; -File avrage; -const int chipSelect = BUILTIN_SDCARD; - -/ - -void setup() -{ - Serial.begin(9600); - - //open current loop motor values file - current = SD.open("motor_values.csv", FILE_WRITE); - - while(true){ - if (current) { - if (SD.exists((String("motor_values") + x + ".csv").c_str())){ - Serial.println(((String)"motor_values"+x+".csv already exists")); - x++; - } else { - Serial.println((String)"motor_values"+x+".csv"" doesn't exist."); - Serial.println((String)"creating motor_values"+x+".csv"); - current = SD.open(((String("motor_values") + x + ".csv").c_str()), FILE_WRITE); - break; - } - } - delay(1); - } - Serial.println("!!!setup complete!!!"); -} - - -void loop() -{ - String currentvals = ""; - String avrvals = ""; - - currentvals += InternalTemperature.readTemperatureC(); - d_println("°C"); - debugdataString += "°C"; - - //log sensor data to sensor log - sensordataString += InternalTemperature.readTemperatureC(); - sensordataString += ", "; - - //open sensor log file - File csvfile = SD.open((String("motor_values") + x + ".csv").c_str()), FILE_WRITE); - if (csvfile) { - csvfile.println(sensordataString); - csvfile.close(); - } - - //open debug file - File dataFile = SD.open("avrage_motor_values.txt", FILE_WRITE); - if (dataFile) { - dataFile.println((String)"debug data:"+debugdataString+"sensor data"+sensordataString); - dataFile.close(); - } - delay(1000); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/i2c_scanner/i2c_scanner.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/i2c_scanner/i2c_scanner.ino deleted file mode 100644 index d3d4570..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/i2c_scanner/i2c_scanner.ino +++ /dev/null @@ -1,93 +0,0 @@ -/** -i2c port scanner based on: - in wire library examples i2c_scanner - https://learn.adafruit.com/adafruit-pca9548-8-channel-stemma-qt-qwiic-i2c-multiplexer/arduino - - - * - */ - -#include <Wire.h> - -#define PCAADDR 0x70 //i2c address of the i2c multiplexer - - -void setup() { - Serial.begin(115200); - while (!Serial); // Leonardo: wait for Serial Monitor - Serial.println("\nI2C Scanner"); - -} - -void pcaselect(uint8_t i) { - if (i > 7) return; - - Wire.beginTransmission(PCAADDR); - Wire.write(1 << i); - Wire.endTransmission(); -} - - - - -void scandirectports(){ - Wire.begin(); - int nDevices = 0; - Serial.println("Scanning for i2c ports on board..."); - - for (byte address = 1; address < 127; ++address) { - // The i2c_scanner uses the return value of - // the Wire.endTransmission to see if - // a device did acknowledge to the address. - Wire.beginTransmission(address); - byte error = Wire.endTransmission(); - - if (error == 0) { - Serial.print("I2C device found at address 0x"); - if (address < 16) { - Serial.print("0"); - } - Serial.print(address, HEX); - Serial.println(" !"); - - ++nDevices; - } else if (error == 4) { - Serial.print("Unknown error at address 0x"); - if (address < 16) { - Serial.print("0"); - } - Serial.println(address, HEX); - } - } - if (nDevices == 0) { - Serial.println("No I2C devices found\n"); - } else { - Serial.println("done\n"); - } - Serial.println("done scanning for i2c ports on board"); -} -void scani2cmultiplexer(){ - Serial.println("Scanning for i2c ports on i2c multiplexer..."); - for (uint8_t t=0; t<8; t++) { - pcaselect(t); - Serial.print("PCA Port #"); Serial.println(t); - - for (uint8_t addr = 0; addr<=127; addr++) { - if (addr == PCAADDR) continue; - Wire.beginTransmission(addr); - if (!Wire.endTransmission()) { - Serial.print("Found I2C 0x"); Serial.println(addr,HEX); - } - } - } - Serial.println("done scanning for i2c ports on i2c multiplexer"); -} - - - -void loop() { - scandirectports(); - delay(1000); - scani2cmultiplexer(); - delay(1000); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID/PID.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID/PID.ino deleted file mode 100644 index c7f351a..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID/PID.ino +++ /dev/null @@ -1,112 +0,0 @@ -#include <TimerThree.h> -#include <QuickPID.h> - - -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 - - -float Setpoint, Input, Output; -float Kp = 2, Ki = 5, Kd = 1; -QuickPID myPID(&Input, &Output, &Setpoint); - - -int enA = 1; // PWM pin -int enB = 2; // GND -int pwm1 = 3; // Motor control pin 1 -int pwm2 = 4; // Motor control pin 2 -int encoA = 5; // Encoder pin A -int encoB = 6; // Encoder pin B - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-1000 - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); - - // PID settings - Input = rpm; - Setpoint = 500; - myPID.SetTunings(Kp, Ki, Kd); - myPID.SetMode(myPID.Control::automatic); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(enA, HIGH); - } else { - digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 1000) { - counter = 0; - } -} - -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 1000) value = 1000; - - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); // Adjust the encoder counts per revolution here if necessary - encount = 0; -} - -void resetenc() { - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped) * 0.1; - mcpsoftpwm(sp); - digitalWrite(enB, LOW); - if (sped < 0) { - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } -} - -void loop() { - Input = rpm; - myPID.Compute(); - move(Output); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID_autotune/PID.py b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID_autotune/PID.py deleted file mode 100644 index e24dbd6..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID_autotune/PID.py +++ /dev/null @@ -1,131 +0,0 @@ -import serial -import time -from simple_pid import PID -import matplotlib.pyplot as plt -from matplotlib.widgets import Slider, Button - -# Initialize serial communication -arduino = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=.1) - -# Function to write to and read from Arduino -def write_read(x): - arduino.write(bytes(x, 'utf-8')) - time.sleep(0.05) - data = arduino.readline().decode().strip() - return data - -# Real-time plotting setup -fig, (ax1, ax2) = plt.subplots(2, 1) -feedback_list = [] -control_list = [] -setpoint_list = [] - -def clamp(feedback, min_value, max_value): - return max(min(feedback, max_value), min_value) - -def update_plot(feedback, control, setpoint): - feedback_clamped = clamp(feedback, 0, 1000) # Clamp feedback value between 0 and 1000 - feedback_list.append(feedback_clamped) - control_list.append(control) - setpoint_list.append(setpoint) - - # Limit lists to 50 items for smoother plotting - if len(feedback_list) > 50: - feedback_list.pop(0) - control_list.pop(0) - setpoint_list.pop(0) - - ax1.clear() - ax2.clear() - - ax1.plot(feedback_list, label="Feedback") - ax1.plot(setpoint_list, label="Setpoint") - ax1.legend() - - ax2.plot(control_list, label="Control") - ax2.legend() - - ax1.set_ylabel('RPM') - ax2.set_ylabel('Control Signal') - ax2.set_xlabel('Time') - - plt.tight_layout() - plt.pause(0.05) # Pause to allow plot to update - -# Initialize PID controller with output limits -initial_setpoint = 500 # Initial setpoint -pid = PID(0, 0, 0, output_limits=(0, 1000)) -pid.setpoint = initial_setpoint - -# Initialize PID parameters (preserved across resets) -preserved_parameters = { - 'Kp': 0, - 'Ki': 0, - 'Kd': 0, - 'setpoint': initial_setpoint -} - -# Function to update PID parameters -def update_pid(val): - pid.Kp = s_kp.val - pid.Ki = s_ki.val - pid.Kd = s_kd.val - preserved_parameters['Kp'] = s_kp.val - preserved_parameters['Ki'] = s_ki.val - preserved_parameters['Kd'] = s_kd.val - setpoint = s_setpoint.val - pid.setpoint = setpoint - preserved_parameters['setpoint'] = setpoint - print(f"Setpoint: {setpoint}, Kp: {pid.Kp}, Ki: {pid.Ki}, Kd: {pid.Kd}") - -# Create sliders for PID parameters and setpoint -axcolor = 'lightgoldenrodyellow' -ax_setpoint = plt.axes([0.15, 0.1, 0.65, 0.03], facecolor=axcolor) -ax_kp = plt.axes([0.15, 0.15, 0.65, 0.03], facecolor=axcolor) -ax_ki = plt.axes([0.15, 0.2, 0.65, 0.03], facecolor=axcolor) -ax_kd = plt.axes([0.15, 0.25, 0.65, 0.03], facecolor=axcolor) - -s_setpoint = Slider(ax_setpoint, 'Setpoint', 0, 1000, valinit=initial_setpoint) -s_kp = Slider(ax_kp, 'Kp', 0, 10, valinit=preserved_parameters['Kp']) -s_ki = Slider(ax_ki, 'Ki', 0, 10, valinit=preserved_parameters['Ki']) -s_kd = Slider(ax_kd, 'Kd', 0, 10, valinit=preserved_parameters['Kd']) - -s_setpoint.on_changed(update_pid) -s_kp.on_changed(update_pid) -s_ki.on_changed(update_pid) -s_kd.on_changed(update_pid) - -# Function to reset algorithm and set speed to zero -def reset_algorithm(event): - global feedback_list, control_list, setpoint_list - feedback_list.clear() - control_list.clear() - setpoint_list.clear() - pid.reset() - s_setpoint.set_val(preserved_parameters['setpoint']) - s_kp.set_val(preserved_parameters['Kp']) - s_ki.set_val(preserved_parameters['Ki']) - s_kd.set_val(preserved_parameters['Kd']) - print("Algorithm reset") - time.sleep(1) # Delay of 1 second after reset - -# Create reset button -ax_reset = plt.axes([0.8, 0.02, 0.1, 0.05]) -btn_reset = Button(ax_reset, 'Reset') -btn_reset.on_clicked(reset_algorithm) - -# Function to update Arduino with clamped control signal -def update_arduino_control(control): - control_clamped = clamp(control, 0, 1000) - write_read(str(control_clamped)) - -# Control loop -while True: - feedback = float(write_read(str(pid.setpoint))) - feedback_clamped = clamp(feedback, 0, 1000) # Clamp feedback value between 0 and 1000 - control = pid(feedback_clamped) - update_arduino_control(control) - update_plot(feedback_clamped, control, pid.setpoint) - -# Keep plot open -plt.show() diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID_autotune/PID_autotune.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID_autotune/PID_autotune.ino deleted file mode 100644 index ab99c50..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID_autotune/PID_autotune.ino +++ /dev/null @@ -1,82 +0,0 @@ -int enA = 1; -int enB = 2; -int pwm1 = 3; -int pwm2 = 4; -int encoA = 5; -int encoB = 6; - -int speed = 1; // speed 0-1000 - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -int mess; - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Serial.begin(115200); - Serial.setTimeout(1); -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - /*Serial.print("RPM: "); - Serial.print(rpm); - Serial.print(" Sample period:"); - Serial.print(Ptime); - Serial.print("ms, encoder count:"); - Serial.println(encount); - */ - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*2.55; - analogWrite(enA, sp); - digitalWrite(enB, LOW); - if (sped < 0) { - //Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - //Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - //Serial.println(sp); -} - -void loop() { - while (!Serial.available()); - mess = Serial.readString().toInt(); - move(mess); - readenc(); - Serial.print(rpm); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID_autotune/man_test.py b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID_autotune/man_test.py deleted file mode 100644 index 52c84e3..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/PID_autotune/man_test.py +++ /dev/null @@ -1,16 +0,0 @@ -import serial -import time - -arduino = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=.1) - -def write_read(x): - arduino.write(bytes(x, 'utf-8')) - time.sleep(0.05) - data = arduino.readline() - return data - -while True: - num = input("Enter a number: ") # Taking input from user - value = write_read(num) - print(value) # printing the value - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master.zip b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master.zip Binary files differdeleted file mode 100644 index dc713b7..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master.zip +++ /dev/null diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/.gitignore b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/.gitignore deleted file mode 100644 index 1605aab..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/.gitignore +++ /dev/null @@ -1 +0,0 @@ -SoftPWM.h.gch
\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/README.md b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/README.md deleted file mode 100644 index 46e5456..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/README.md +++ /dev/null @@ -1,75 +0,0 @@ -arduino-softpwm -=============== - -Software PWM library for [Arduino](https://arduino.cc/), and other compatible AVR boards. - -AVR microcontrollers provide hardware PWM on some pins but if you need PWM on other pins then it must be implemented in software. This library provides easy and efficient software PWM on any pin. Each channel can be set to a different PWM duty cycle. - -This library is licensed under [BSD3](https://opensource.org/licenses/BSD-3-Clause) - -#### Installation -- Download the most recent version here: https://github.com/Palatis/arduino-softpwm/archive/master.zip -- Using Arduino IDE 1.0.x: - - Sketch > Import Library... > Add Library... > select the downloaded file > Open -- Using Arduino IDE 1.5+: - - Sketch > Include Library > Add ZIP Library... > select the downloaded file > Open - - -#### Usage -See **File > Examples > arduino-softpwm > SoftPWM_example** for demonstration of library usage. - -Everything in this library except for preprocessor defines are wrapped in `namespace Palatis {}`, so if your compiler blames you about symbol not found, try add `Palatis::` before that thing. For example, `Palatis::SoftPWM.size()`. - -Alternatively, you can add `using namespace Palatis;` at the top of the source file to import everything under the `Palatis` namespace, this might be convenient if you're using my other libraries. - -`#define SOFTPWM_OUTPUT_DELAY` - Add this line above `#include <SoftPWM.h>` for a 1 PWM clock cycle delay between outputs to prevent large in-rush currents. - -`SOFTPWM_DEFINE_CHANNEL(CHANNEL, PMODE, PORT, BIT)` - Configure a pin for software PWM use. Consult the datasheet for your microcontroller for the appropriate `PORT` and `BIT` values for the physical pin. This information is shown in the pinout diagram, for example: [ATmega328P datasheet](http://www.atmel.com/Images/Atmel-8271-8-bit-AVR-Microcontroller-ATmega48A-48PA-88A-88PA-168A-168PA-328-328P_datasheet_Summary.pdf) **Figure 1-1** found on page 3. If you want to determine the Arduino pin assigned to the physical pin http://www.pighixxx.com/test/pinoutspg/boards/ provides this information for the most popular Arduino boards or you can look at the pins_arduino.h file in the **variant** folder used by your board. -- Parameter: **CHANNEL** - The channel number is used as an ID for the pin. -- Parameter: **PMODE** - DDRx register of the pin's port. Append the port letter to `DDR`. For example: The [Arduino UNO diagram](http://www.pighixxx.com/test/portfolio-items/uno/?portfolioID=314) shows that Arduino pin 13 is **PB5** which means that the port is **B** so you should use the value `DDRB` for that pin. -- Parameter: **PORT** - The port of the pin. For example: Arduino pin 13 is **PB5** so you should use the value `PORTB` for that pin. -- Parameter: **BIT** - The bit of the pin. For example: Arduino pin 13 is **PB5** so you should use the value `PORTB5` for that pin. - -`SOFTPWM_DEFINE_CHANNEL_INVERT( CHANNEL, PMODE, PORT, BIT )` - Depending on your application you may prefer to invert the output. See `SOFTPWM_DEFINE_CHANNEL()` for description of parameters. - -`SOFTPWM_DEFINE_OBJECT(CHANNEL_CNT)` - Define the softPWM object with the default 256 PWM levels. -- Parameter: **CHANNEL_CNT** - The number of channels that are defined. - -`SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS)` - Define the softPWM object with the specified number of PWM levels. -- Parameter: **CHANNEL_CNT** - The number of channels that are defined. -- Parameter: **PWM_LEVELS** - The number of PWM levels. Using less PWM levels may allow a higher PWM frequency. The maximum value is 256. - -`SOFTPWM_DEFINE_EXTERN_OBJECT(CHANNEL_CNT)` - Add this if you want to use the SoftPWM object outside where it's defined. See `SOFTPWM_DEFINE_OBJECT()` for description of the parameter. - -`SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS)` - Add this if you want to use the SoftPWM object outside where it's defined. See `SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS()` for description of parameters. - -`SoftPWM.begin(hertz)` - Initialize SoftPWM. -- Parameter: **hertz** - The PWM frequency. Setting the value too high will cause incorrect operation, too low will cause a visible flicker. - - Type: long - -`SoftPWM.printInterruptLoad()` - Prints diagnostic information to the serial monitor. This can be used to find the optimal PWM frequency by setting different PWM frequency values in begin() and then checking the resulting interrupt load. Calling this function will momentarily turn off the PWM on all channels. - -`SoftPWM.set(channel_idx, value)` - Set the PWM level of the given channel. -- Parameter: **channel_idx** - The channel to set. - - Type: int -- Parameter: **value** - The PWM level to set. - - Type: byte - -`SoftPWM.size()` -- Returns: Number of channels defined. - - Type: size_t - -`SoftPWM.PWMlevels()` -- Returns: The number of PWM levels. - - Type: unsigned int - -`SoftPWM.allOff()` - Set the PWM value of all channels to 0. - - -#### Troubleshooting -- LEDs have a visible flicker, especially noticeable when the LED is moving relative to the viewer. - - The PWM frequency set in `SoftPWM.begin()` is too low. Use `SoftPWM.printInterruptLoad()` to determine the optimum PWM frequency. You may be able to achieve a higher PWM frequency by setting less PWM levels with `SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS()` or `SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS()`. -- Erratic PWM operation - - The interrupt load is too high. Use `SoftPWM.printInterruptLoad()` to determine the interrupt load. You can decrease the interrupt load by setting less PWM levels with `SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS()` or `SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS()` or setting the PWM frequency lower in `SoftPWM.begin()`. -- LED brightness changes between low brightness PWM values are larger than at brighter PWM values. - - This is caused by the way LEDs work and is not caused by a problem with the library. If possible, use more PWM levels or never allow the LED to get dimmer than the level below which the difference between PWM levels is too distinct. diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/examples/SoftPWM_example/SoftPWM_example.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/examples/SoftPWM_example/SoftPWM_example.ino deleted file mode 100644 index 96fc0b2..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/examples/SoftPWM_example/SoftPWM_example.ino +++ /dev/null @@ -1,141 +0,0 @@ -/* - Arduino-SoftPWM: a software PWM library for Arduino - Copyright 2016, Victor Tseng <palatis@gmail.com> - - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - 1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - 3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived - from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS - IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR - PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR - CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR - OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#include <SoftPWM.h> - -/* pins_arduino.h defines the pin-port/bit mapping as PROGMEM so - you have to read them with pgm_read_xxx(). That's generally okay - for ordinary use, but really bad when you're writing super fast - codes because the compiler doesn't treat them as constants and - cannot optimize them away with sbi/cbi instructions. - - Therefore we have to tell the compiler the PORT and BIT here. - Hope someday we can find a way to workaround this. - - Check the manual of your MCU for port/bit mapping. - - The following example demonstrates setting channels for all pins - on the ATmega328P or ATmega168 used on Arduino Uno, Pro Mini, - Nano and other boards. */ -SOFTPWM_DEFINE_CHANNEL(0, DDRD, PORTD, PORTD0); //Arduino pin 0 -SOFTPWM_DEFINE_CHANNEL(1, DDRD, PORTD, PORTD1); //Arduino pin 1 -SOFTPWM_DEFINE_CHANNEL(2, DDRD, PORTD, PORTD2); //Arduino pin 2 -SOFTPWM_DEFINE_CHANNEL(3, DDRD, PORTD, PORTD3); //Arduino pin 3 -SOFTPWM_DEFINE_CHANNEL(4, DDRD, PORTD, PORTD4); //Arduino pin 4 -SOFTPWM_DEFINE_CHANNEL(5, DDRD, PORTD, PORTD5); //Arduino pin 5 -SOFTPWM_DEFINE_CHANNEL(6, DDRD, PORTD, PORTD6); //Arduino pin 6 -SOFTPWM_DEFINE_CHANNEL(7, DDRD, PORTD, PORTD7); //Arduino pin 7 -SOFTPWM_DEFINE_CHANNEL(8, DDRB, PORTB, PORTB0); //Arduino pin 8 -SOFTPWM_DEFINE_CHANNEL(9, DDRB, PORTB, PORTB1); //Arduino pin 9 -SOFTPWM_DEFINE_CHANNEL(10, DDRB, PORTB, PORTB2); //Arduino pin 10 -SOFTPWM_DEFINE_CHANNEL(11, DDRB, PORTB, PORTB3); //Arduino pin 11 -SOFTPWM_DEFINE_CHANNEL(12, DDRB, PORTB, PORTB4); //Arduino pin 12 -SOFTPWM_DEFINE_CHANNEL(13, DDRB, PORTB, PORTB5); //Arduino pin 13 -SOFTPWM_DEFINE_CHANNEL(14, DDRC, PORTC, PORTC0); //Arduino pin A0 -SOFTPWM_DEFINE_CHANNEL(15, DDRC, PORTC, PORTC1); //Arduino pin A1 -SOFTPWM_DEFINE_CHANNEL(16, DDRC, PORTC, PORTC2); //Arduino pin A2 -SOFTPWM_DEFINE_CHANNEL(17, DDRC, PORTC, PORTC3); //Arduino pin A3 -SOFTPWM_DEFINE_CHANNEL(18, DDRC, PORTC, PORTC4); //Arduino pin A4 -SOFTPWM_DEFINE_CHANNEL(19, DDRC, PORTC, PORTC5); //Arduino pin A5 - - -/* Or you may want inverted outputs: */ -/* - SOFTPWM_DEFINE_CHANNEL_INVERT(0, DDRD, PORTD, PORTD0); //Arduino pin 0 - SOFTPWM_DEFINE_CHANNEL_INVERT(1, DDRD, PORTD, PORTD1); //Arduino pin 1 - SOFTPWM_DEFINE_CHANNEL_INVERT(2, DDRD, PORTD, PORTD2); //Arduino pin 2 - SOFTPWM_DEFINE_CHANNEL_INVERT(3, DDRD, PORTD, PORTD3); //Arduino pin 3 - SOFTPWM_DEFINE_CHANNEL_INVERT(4, DDRD, PORTD, PORTD4); //Arduino pin 4 - SOFTPWM_DEFINE_CHANNEL_INVERT(5, DDRD, PORTD, PORTD5); //Arduino pin 5 - SOFTPWM_DEFINE_CHANNEL_INVERT(6, DDRD, PORTD, PORTD6); //Arduino pin 6 - SOFTPWM_DEFINE_CHANNEL_INVERT(7, DDRD, PORTD, PORTD7); //Arduino pin 7 - SOFTPWM_DEFINE_CHANNEL_INVERT(8, DDRB, PORTB, PORTB0); //Arduino pin 8 - SOFTPWM_DEFINE_CHANNEL_INVERT(9, DDRB, PORTB, PORTB2); //Arduino pin 9 - SOFTPWM_DEFINE_CHANNEL_INVERT(10, DDRB, PORTB, PORTB2); //Arduino pin 10 - SOFTPWM_DEFINE_CHANNEL_INVERT(11, DDRB, PORTB, PORTB3); //Arduino pin 11 - SOFTPWM_DEFINE_CHANNEL_INVERT(12, DDRB, PORTB, PORTB4); //Arduino pin 12 - SOFTPWM_DEFINE_CHANNEL_INVERT(13, DDRB, PORTB, PORTB5); //Arduino pin 13 - SOFTPWM_DEFINE_CHANNEL_INVERT(14, DDRC, PORTC, PORTC0); //Arduino pin A0 - SOFTPWM_DEFINE_CHANNEL_INVERT(15, DDRC, PORTC, PORTC1); //Arduino pin A1 - SOFTPWM_DEFINE_CHANNEL_INVERT(16, DDRC, PORTC, PORTC2); //Arduino pin A2 - SOFTPWM_DEFINE_CHANNEL_INVERT(17, DDRC, PORTC, PORTC3); //Arduino pin A3 - SOFTPWM_DEFINE_CHANNEL_INVERT(18, DDRC, PORTC, PORTC4); //Arduino pin A4 - SOFTPWM_DEFINE_CHANNEL_INVERT(19, DDRC, PORTC, PORTC5); //Arduino pin A5 -*/ - -/* Here you make an instance of desired channel counts you want - with the default 256 PWM levels (0 ~ 255). */ -//SOFTPWM_DEFINE_OBJECT(20); - -/* Or you can make one with only 100 PWM levels (0 ~ 99). - By using less PWM levels, you may be able to use higher - pwm frequencies. */ -SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(20, 100); - -/* If you want to use the SoftPWM object outside where it's defined, - add the following line to the file. */ -//SOFTPWM_DEFINE_EXTERN_OBJECT(16); -SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(20, 100); - -void setup() { - Serial.begin(19200); - - // begin with 60hz pwm frequency - Palatis::SoftPWM.begin(60); - - // print interrupt load for diagnostic purposes - Palatis::SoftPWM.printInterruptLoad(); -} - -static volatile uint8_t v = 0; -void loop() { - for (uint8_t i = 0; i < Palatis::SoftPWM.size(); ++i) { - Serial.print(micros()); - Serial.print(" loop(): "); - Serial.println(i); - - unsigned long const WAIT = 1000000 / Palatis::SoftPWM.PWMlevels() / 2; - unsigned long nextMicros = 0; - for (int v = 0; v < Palatis::SoftPWM.PWMlevels() - 1; ++v) { - while (micros() < nextMicros); - nextMicros = micros() + WAIT; - Palatis::SoftPWM.set(i, v); - } - for (int v = Palatis::SoftPWM.PWMlevels() - 1; v >= 0; --v) { - while (micros() < nextMicros); - nextMicros = micros() + WAIT; - Palatis::SoftPWM.set(i, v); - } - } -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/keywords.txt b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/keywords.txt deleted file mode 100644 index 61d42b7..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/keywords.txt +++ /dev/null @@ -1,30 +0,0 @@ -####################################### -# Syntax Coloring Map SoftPWM -####################################### -####################################### -# Datatypes (KEYWORD1) -####################################### -Palatis KEYWORD1 -SoftPWM KEYWORD1 -####################################### -# Methods and Functions (KEYWORD2) -####################################### -begin KEYWORD2 -set KEYWORD2 -size KEYWORD2 -PWMlevels KEYWORD2 -allOff KEYWORD2 -update KEYWORD2 -printInterruptLoad KEYWORD2 - -####################################### -# Constants (LITERAL1) -####################################### -SOFTPWM_DEFINE_PINMODE LITERAL1 -SOFTPWM_DEFINE_CHANNEL LITERAL1 -SOFTPWM_DEFINE_CHANNEL_INVERT LITERAL1 -SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS LITERAL1 -SOFTPWM_DEFINE_OBJECT LITERAL1 -SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS LITERAL1 -SOFTPWM_DEFINE_EXTERN_OBJECT LITERAL1 -SOFTPWM_OUTPUT_DELAY LITERAL1 diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/library.properties b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/library.properties deleted file mode 100644 index 174c19b..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/library.properties +++ /dev/null @@ -1,9 +0,0 @@ -name=arduino-softpwm -version=1.0.1 -author=Victor Tseng <palatis@gmail.com> -maintainer=Victor Tseng <palatis@gmail.com> -sentence=Software PWM library for Arduino. -paragraph=Provides PWM on any pin. -category=Signal Input/Output -url=https://github.com/Palatis/arduino-softpwm -architectures=avr diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/src/SoftPWM.h b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/src/SoftPWM.h deleted file mode 100644 index c315a4e..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/arduino-softpwm-master/src/SoftPWM.h +++ /dev/null @@ -1,255 +0,0 @@ -/* - Arduino-SoftPWM: a software PWM library for Arduino - Copyright 2016, Victor Tseng <palatis@gmail.com> - - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - 1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - 3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived - from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS - IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR - PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR - CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR - OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#ifndef _SOFTPWM_H_ -#define _SOFTPWM_H_ - -#include <Arduino.h> - -// helper macros -#define SOFTPWM_DEFINE_PINMODE(CHANNEL, PMODE, PORT, BIT) \ - namespace Palatis { \ - template <> \ - inline void pinModeStatic<CHANNEL>(uint8_t const mode) { \ - if (mode == INPUT) { \ - bitClear(PMODE, BIT); bitClear(PORT, BIT); \ - } \ - else if (mode == INPUT_PULLUP) { \ - bitClear(PMODE, BIT); bitSet(PORT, BIT); \ - } \ - else { \ - bitSet(PMODE, BIT); \ - } \ - } \ - } - -#define SOFTPWM_DEFINE_CHANNEL(CHANNEL, PMODE, PORT, BIT) \ - namespace Palatis { \ - template <> \ - inline void bitWriteStatic<CHANNEL>(bool const value) { \ - bitWrite( PORT, BIT, value ); \ - } \ - } \ - SOFTPWM_DEFINE_PINMODE(CHANNEL, PMODE, PORT, BIT) - -#define SOFTPWM_DEFINE_CHANNEL_INVERT(CHANNEL, PMODE, PORT, BIT) \ - namespace Palatis { \ - template <> \ - inline void bitWriteStatic<CHANNEL>(bool const value) { \ - bitWrite(PORT, BIT, !value); \ - } \ - } \ - SOFTPWM_DEFINE_PINMODE(CHANNEL, PMODE, PORT, BIT) - -#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) -#define SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS) \ - namespace Palatis { \ - CSoftPWM<CHANNEL_CNT, PWM_LEVELS> SoftPWM; \ - } \ - ISR(TIM1_COMPA_vect) { \ - interrupts(); \ - Palatis::SoftPWM.update(); \ - } -#else - #if defined (__AVR_ATmega8__) || defined (__AVR_ATmega8A__) - #define TIMSK1 TIMSK - #endif -#define SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS) \ - namespace Palatis { \ - CSoftPWM<CHANNEL_CNT, PWM_LEVELS> SoftPWM; \ - } \ - ISR(TIMER1_COMPA_vect) { \ - interrupts(); \ - Palatis::SoftPWM.update(); \ - } -#endif - -#define SOFTPWM_DEFINE_OBJECT(CHANNEL_CNT) \ - SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, 0) - -#define SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS) \ - namespace Palatis { \ - extern CSoftPWM<CHANNEL_CNT, PWM_LEVELS> SoftPWM; \ - } - -#define SOFTPWM_DEFINE_EXTERN_OBJECT(CHANNEL_CNT) \ - SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, 0) - -// here comes the magic @o@ -namespace Palatis { - -template <int channel> inline void bitWriteStatic(bool value) {} -template <int channel> inline void pinModeStatic(uint8_t mode) {} - -template <int channel> -struct bitWriteStaticExpander { - void operator() (bool value) const { - bitWriteStatic<channel>(value); - bitWriteStaticExpander < channel - 1 > ()(value); - } - - void operator() (uint8_t const &count, uint8_t const * const &channels) const { -#ifdef SOFTPWM_OUTPUT_DELAY - bitWriteStatic<channel>((count + channel) < channels[channel]); -#else - bitWriteStatic<channel>(count < channels[channel]); -#endif - bitWriteStaticExpander < channel - 1 > ()(count, channels); - } -}; - -template <> -struct bitWriteStaticExpander < -1 > { - void operator() (bool) const {} - void operator() (uint8_t const &, uint8_t const * const &) const {} -}; - -template <int channel> -struct pinModeStaticExpander { - void operator() (uint8_t const mode) const - { - pinModeStatic<channel>(mode); - pinModeStaticExpander < channel - 1 > ()(mode); - } -}; - -template <> -struct pinModeStaticExpander < -1 > { - void operator() (uint8_t const mode) const {} -}; - -template <unsigned int num_channels, unsigned int num_PWM_levels> -class CSoftPWM { - public: - void begin(const unsigned long hertz) { - allOff(); //this prevents inverted channels from momentarily going LOW - asm volatile ("/************ pinModeStaticExpander begin ************/"); - const uint8_t oldSREG = SREG; - noInterrupts(); - pinModeStaticExpander < num_channels - 1 > ()( OUTPUT ); - SREG = oldSREG; - asm volatile ("/************ pinModeStaticExpander end ************/"); - - /* the setup of timer1 is stolen from ShiftPWM :-P - http://www.elcojacobs.com/shiftpwm/ */ - asm volatile ("/************ timer setup begin ************/"); - TCCR1A = 0b00000000; - TCCR1B = 0b00001001; - OCR1A = (F_CPU - hertz * PWMlevels() / 2) / (hertz * PWMlevels()); - bitSet(TIMSK1, OCIE1A); - asm volatile ("/************ timer setup end ************/"); - - _count = 0; - } - - void set(const int channel_idx, const uint8_t value) { - _channels[channel_idx] = value; - } - - size_t size() const { - return num_channels; - } - - unsigned int PWMlevels() const { - return num_PWM_levels ? num_PWM_levels : 256; - } - - void allOff() { - asm volatile ("/********** CSoftPWM::allOff() begin **********/"); - const uint8_t oldSREG = SREG; - noInterrupts(); - for (int i = 0; i < num_channels; ++i) - _channels[i] = 0; - bitWriteStaticExpander < num_channels - 1 > ()(false); - SREG = oldSREG; - asm volatile ("/********** CSoftPWM::allOff() end **********/"); - } - - /* This function cannot be private because the ISR uses it, and I have - no idea about how to make friends with ISR. :-( */ - void update() __attribute__((always_inline)) { - asm volatile ("/********** CSoftPWM::update() begin **********/"); - const uint8_t count = _count; - bitWriteStaticExpander < num_channels - 1 > ()(count, _channels); - ++_count; - if (_count == PWMlevels()) - _count = 0; - asm volatile ("/********** CSoftPWM::update() end **********/"); - } - - #if defined(HAVE_HWSERIAL0) - /* this function is stolen from ShiftPWM :-P - http://www.elcojacobs.com/shiftpwm/ */ - void printInterruptLoad() { - unsigned long time1, time2; - - bitSet(TIMSK1, OCIE1A); // enable interrupt - time1 = micros(); - delayMicroseconds(5000); - time1 = micros() - time1; - - bitClear(TIMSK1, OCIE1A); // disable interrupt - time2 = micros(); - delayMicroseconds(5000); - time2 = micros() - time2; - - const double load = static_cast<double>(time1 - time2) / time1; - const double interrupt_frequency = static_cast<double>(F_CPU) / (OCR1A + 1); - const double cycles_per_interrupt = load * F_CPU / interrupt_frequency; - - Serial.println(F("SoftPWM::printInterruptLoad():")); - Serial.print(F(" Load of interrupt: ")); - Serial.println(load, 10); - Serial.print(F(" Clock cycles per interrupt: ")); - Serial.println( cycles_per_interrupt ); - Serial.print(F(" Interrupt frequency: ")); - Serial.print(interrupt_frequency); - Serial.println(F(" Hz")); - Serial.print(F(" PWM frequency: ")); - Serial.print(interrupt_frequency / PWMlevels()); - Serial.println(F(" Hz")); - Serial.print(F(" PWM levels: ")); - Serial.println(PWMlevels()); - - bitSet(TIMSK1, OCIE1A); // enable interrupt again - } - #endif - - private: - uint8_t _channels[num_channels]; - uint8_t _count; -}; - -} // namespace Palatis -#endif // #ifndef _SOFTPWM_H_ diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/calibrated_motor/calibrated_motor.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/calibrated_motor/calibrated_motor.ino deleted file mode 100644 index 60e2c04..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/calibrated_motor/calibrated_motor.ino +++ /dev/null @@ -1,155 +0,0 @@ -#include <TimerThree.h> - -#define ArrayElementCount(needRPM) (sizeof(needRPM) / sizeof(needRPM[0])) - -int enA = 1; //PWM pin -int enB = 2; //GND -int pwm1 = 3; // -int pwm2 = 4; -int encoA = 5; -int encoB = 6; - -const int maxspeed = 1000; - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-100 - -int motordata[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 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1992, 2034, 2003, 1988, 2052, 2025, 1931, 2030, 1952, 1900, 1878, 1930, 2038, 1954, 1941, 2003, 2013, 1992, 1920, 2005, 1957, 1960, 1911, 1931, 1954, 1927, 1935, 1971, 2023, 1931, 1900, 1962, 1952, 1979, 1941, 1957, 1985, 1944, 1961, 2029, 1998, 1995, 1946, 1955, 1949, 1938, 1921, 1908, 1941, 1943, 1932, 1948, 1924, 1989, 1974, 1977, 1994, 2033, 1948, 1907, 1948, 1880, 1915, 1941, 1921, 1949, 1938, 1958, 1956, 1937, 1931, 2032, 1996, 2008, 1937, 1937, 1935, 1962, 1941, 1938, 2029, 2013, 1999, 2021, 2029, 1899, 1886, 2013, 1871, 1853, 1901, 1860, 1907, 1880, 1910, 1943, 1881, 1893, 1873, 1870, 1908, 1917, 1908, 1904, 1895, 1854, 1889, 1900, 1857, 1934, 1873, 1936, 1920, 1900, 1903, 1925, 1910, 1886, 1924, 1891, 1905, 1883, 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910}; -int needRPM = 41; - - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(enA, HIGH); - } else { - digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} - -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - //Serial.print("softPWM pin: enA, value: "); - //Serial.println(value); - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - //Serial.print("RPM: "); - //Serial.print(rpm); - //Serial.print(" Sample period:"); - //Serial.print(Ptime); - //Serial.print("ms, encoder count:"); - //Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*0.1; - mcpsoftpwm(sp); - digitalWrite(enB, LOW); - if (sped < 0) { - //Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - //Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - //Serial.println(sp); -} -void RPMmove(int Rsped) { - int idx = nearest(Rsped, motordata, ArrayElementCount(motordata)); - move(idx); -} - - -void loop() { - for (int i = 0; i < maxspeed; i++) { - Serial.print(motordata[i]); - Serial.print(", "); - } - Serial.println(""); - int idx = nearest(needRPM, motordata, ArrayElementCount(motordata)); - Serial.print(needRPM); - Serial.print(", "); - Serial.print(idx); - Serial.print(", "); - Serial.println(motordata[idx]); - delay(2500); - move(idx); - delay(1000); - resetenc(); - delay(100); - readenc(); - Serial.println(rpm); - delay(10); 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\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/motor_calibration/motor_calibration.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/motor_calibration/motor_calibration.ino deleted file mode 100644 index 362d130..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/motor_calibration/motor_calibration.ino +++ /dev/null @@ -1,231 +0,0 @@ -#include <TimerThree.h> -#include <SD.h> -#include <SPI.h> - -int enA = 1; //PWM pin -int enB = 2; //GND -int pwm1 = 3; // -int pwm2 = 4; -int encoA = 5; -int encoB = 6; - -const int maxspeed = 1000; - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-100 -File ; -File avrage; -Sd2Card card; -SdVolume volume; -SdFile root; -const int chipSelect = BUILTIN_SDCARD; -int x = 1; - -int Nloop = 0; -int totloopdata[maxspeed] = {}; - - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(enA, HIGH); - } else { - digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - //Serial.print("softPWM pin: enA, value: "); - //Serial.println(value); - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - //Serial.print("RPM: "); - //Serial.print(rpm); - //Serial.print(" Sample period:"); - //Serial.print(Ptime); - //Serial.print("ms, encoder count:"); - //Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*0.1; - mcpsoftpwm(sp); - digitalWrite(enB, LOW); - if (sped < 0) { - //Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - //Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - //Serial.println(sp); -} - -void loop() { - move(0); - //max - /* - Serial.println(); - Serial.println(); - Serial.println(); - move(maxspeed); - Serial.print("max speed: "); - delay(1000); - resetenc(); - delay(1000); - readenc(); - Serial.print(rpm); - Serial.print("rpm, with input: "); - Serial.println(maxspeed); - delay(250); - move(0); - - //min - delay(5000); - Serial.print("min speed: "); - for (int i = 0; i < maxspeed; i++) { - move(i); - delay(1000); - readenc(); - if ((rpm > 10) && (i>5)) { - Serial.print(rpm); - Serial.print("rpm, with input: "); - Serial.println(i); - break; - } - } - */ - delay(2000); - for (int i = 0; i < maxspeed; i++) { - Serial.println("0,0"); - } - int currentloopdata[maxspeed] = {}; - for (int i = 0; i < maxspeed; i++) { - move(i); - delay(100); - readenc(); - Serial.print(i); - Serial.print(","); - Serial.print(rpm); - currentloopdata[i] = rpm; - Serial.print(","); - Serial.println(totloopdata[i]); - } - /* - for (int i = 0; i < maxspeed; i++) { - move(0); - delay(200); - move(i); - delay(1000); - resetenc(); - delay(100); - readenc(); - Serial.print(i); - Serial.print(","); - Serial.print(rpm); - currentloopdata[i] = rpm; - Serial.print(","); - Serial.println(totloopdata[i]); - } - */ - currentloopdata[0] = 0; - if (Nloop == 0){ - for (int i = 0; i < maxspeed; i++) { - totloopdata[i] = currentloopdata[i]; - } - }else{ - for (int i = 0; i < maxspeed; i++) { - //Serial.print(currentloopdata[i]); - //Serial.print(", "); - //Serial.print(totloopdata[i]); - totloopdata[i] = ((totloopdata[i]*Nloop)+currentloopdata[i])/(Nloop+1); - } - } - for (int i = 0; i < maxspeed; i++) { - //Serial.print(currentloopdata[i]); - //Serial.print(", "); - } - - resetenc(); - SD.remove("avrage_motor_values.dat"); - File dataFile = SD.open("avrage_motor_values.dat", FILE_WRITE); - if (dataFile) { - for (int i = 0; i < maxspeed; i++) { - dataFile.print(totloopdata[i]); - dataFile.print(", "); - } - dataFile.close(); - } - SD.remove("avrage_motor_values.csv"); - File debugFile = SD.open("avrage_motor_values.csv", FILE_WRITE); - if (debugFile) { - for (int i = 0; i < maxspeed; i++) { - debugFile.print(i); - debugFile.print(", "); - debugFile.println(totloopdata[i]); - } - } - - if (!card.init(SPI_HALF_SPEED, chipSelect)) { - Serial.println("FAILED TO FIND SD CARD"); - Serial.println("* is a card inserted?"); - Serial.println("* is your wiring correct?"); - Serial.println("* did you change the chipSelect pin to match your shield or module?"); - } - - - Nloop++; - - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/motordriver.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/motordriver.ino deleted file mode 100644 index 2f1c225..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/motordriver.ino +++ /dev/null @@ -1,386 +0,0 @@ -#include <Adafruit_MCP23X17.h> -#include <TimerThree.h> -//moveohmi = https://stackoverflow.com/questions/3748037/how-to-control-a-kiwi-drive-robot -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 -//https://ww1.microchip.com/downloads/en/devicedoc/20001952c.pdf - - -#define ArrayElementCount(needRPM) (sizeof(needRPM) / sizeof(needRPM[0])) - -// motor one/A front -#define m1enA 3 // GPA3 PWM1 -#define m1enB 2 // GPA2 -#define m1pwm1 0 // GPA0 -#define m1pwm2 1 // GPA1 -#define m1encA 12 // GPB4 -#define m1encB 13 // GPB5 -// motor two/B left -#define m2enA 7 // GPA7 PWM2 -#define m2enB 6 // GPA6 -#define m2pwm1 4 // GPA4 -#define m2pwm2 5 // GPA5 -#define m2encA 14 // GPB6 -#define m2encB 15 // GPB7 -// motor three/C right -#define m3enA 11 // GPB3 PWM3 -#define m3enB 10 // GPB2 -#define m3pwm1 8 // GPB0 -#define m3pwm2 9 // GPB1 -#define m3encA 24 // teensy port 24 -#define m3encB 9 // teensy port 9 - -double sp = 1200.000; //speed in RPM ~0-1800 -const int maxspeed = 1000; - -//calibration data -int Amotordata[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 2, 1, 0, 1, 1, 1, 0, 14, 12, 14, 9, 11, 16, 9, 9, 9, 16, 28, 28, 32, 42, 39, 29, 29, 45, 36, 30, 60, 102, 109, 113, 124, 154, 153, 154, 151, 172, 183, 214, 243, 288, 302, 306, 320, 336, 337, 338, 356, 420, 438, 451, 465, 501, 499, 492, 509, 519, 528, 561, 567, 611, 632, 610, 616, 638, 641, 641, 667, 705, 721, 735, 724, 772, 756, 761, 748, 773, 774, 810, 817, 849, 840, 840, 861, 858, 876, 857, 883, 917, 917, 920, 932, 954, 936, 925, 918, 963, 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1825, 1833, 1979, 1914, 1920, 1837, 1988, 1900, 1867, 1825, 2049, 1964, 1834, 1857, 1979, 1893, 1815, 1874, 2002, 2023, 1803, 1877, 1894, 1989, 1840, 1846, 2001, 1958, 1861, 1867, 2066, 1952, 1853, 1806, 1894, 1880, 1769, 1767, 1893, 1840, 1780, 1787, 1857, 1814, 1780, 1722, 1859, 1920, 1800, 1840, 1853, 1823, 1776, 1771, 1843, 1871, 1819, 1769, 1900, 1876, 1792, 1809, 1908, 1944, 1859, 1920, 2073, 1985, 1913, 1917, 1940, 1897, 1883, 1807, 1910, 1910, 1873, 1826, 1917, 1893, 1802, 1802, 1886, 2008, 1859, 1814, 1930, 1905, 1850, 1833, 1909, 2019, 1850, 1807, 2012, 2010, 1938, 1856, 2051, 1890, 1848, 1842, 1958, 1950, 1874, 1915, 2029, 1947, 1827, 1867, 1949, 2022, 1957, 1941, 2161, 2040, 2018, 1894, 2005, 2118, 1986, 1951, 1936, 1927, 1946, 1978, 2025, 2019, 1888, 1904, 1964, 1914, 1822, 1834, 1945, 1924, 1873, 1853, 1995, 1975, 1830, 1894, 1958, 1958, 1848, 1786, 1907, 1959, 1952, 1964, 2020, 1927, 1901, 1903, 1986, 1931, 1921, 1985, 1972, 1993, 2028, 1859, 1927, 1901, 1904, 1861, 1936, 1937, 1928, 1902, 1937, 1971, 1944, 1840, 1948, 1972, 1955, 1942, 1972, 2073, 2057, 1924, 1925, 2036, 1893, 1836, 2008, 2060, 1947, 1957, 2156, 1976, 1905, 1914, 2022, 1985, 1947, 1920, 2058, 1968, 1893, 1929, 2042, 2052, 1975, 1867, 2063, 1962, 2011, 1948, 2070, 1957, 1911, 1843, 1944, 1945, 1902, 1878, 1964, 1864, 1930, 1870, 1942, 1958, 1941, 1898, 1898, 1923, 1948, 1921, 1957, 1934, 1952, 1924, 1942, 1901, 1950, 1894, 2016, 2062, 1975, 1893, 1921, 1978, 1935, 1857, 1955, 1921, 1866, 1841, 1890, 1876, 1821, 1855, 1961, 1895, 1877, 1852, 1873, 1857, 1915, 1820, 1850, 1897, 1856, 1833, 1921, 1915, 1823, 1807, 1904, 1830, 1817, 1790, 1911, 1864, 1883, 1843, 1915, 1989, 1917, 1863, 1921, 1951, 1958, 1971, 1958, 1983, 1901, 1934, 1934, 1987, 2011, 1979, 2023, 2059, 2026, 1890, 2052, 1931, 1917, 1923, 2126, 2036, 1965, 1899, 1971, 1913, 1870, 1835, 1911, 1962, 2005, 1971, 2039, 2050, 1986, 1857, 1993, 1958, 2041, 2025, 1969, 2004, 2012, 1931, 2101, 1939, 2006, 2063, 2035, 2146, 1971, 1972, 2018, 2028, 1917, 1835, 1923, 1988, 1884, 1924, 1947, 1894, 1968, 1952, 1931, 1909, 1914, 1883, 1901, 1933, 2001, 1952, 1992, 2019, 1938, 1952, 1921, 2009, 1999, 1982, 1985, 1949, 1907, 1968, 1911, 2006, 1935, 1944, 1921, 1924, 1981, 1930, 1928, 2046, 1877, 1811, 1888, 1912, 1866, 1887, 1918, 1929, 1913, 1922, 1923, 1915, 1918, 1918, 1937, 1981, 1948, 1959, 1978, 1972, 1981, 1920, 1994, 1995, 1987, 1890, 1929, 1985, 1978, 2042, 2070, 2006, 1999, 1948, 1961, 2046, 1971, 1984, 2097, 1942, 1937, 1887, 2011, 1999, 2016, 1979, 2008, 1992, 2034, 2003, 1988, 2052, 2025, 1931, 2030, 1952, 1900, 1878, 1930, 2038, 1954, 1941, 2003, 2013, 1992, 1920, 2005, 1957, 1960, 1911, 1931, 1954, 1927, 1935, 1971, 2023, 1931, 1900, 1962, 1952, 1979, 1941, 1957, 1985, 1944, 1961, 2029, 1998, 1995, 1946, 1955, 1949, 1938, 1921, 1908, 1941, 1943, 1932, 1948, 1924, 1989, 1974, 1977, 1994, 2033, 1948, 1907, 1948, 1880, 1915, 1941, 1921, 1949, 1938, 1958, 1956, 1937, 1931, 2032, 1996, 2008, 1937, 1937, 1935, 1962, 1941, 1938, 2029, 2013, 1999, 2021, 2029, 1899, 1886, 2013, 1871, 1853, 1901, 1860, 1907, 1880, 1910, 1943, 1881, 1893, 1873, 1870, 1908, 1917, 1908, 1904, 1895, 1854, 1889, 1900, 1857, 1934, 1873, 1936, 1920, 1900, 1903, 1925, 1910, 1886, 1924, 1891, 1905, 1883, 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910}; -int Bmotordata[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 2, 1, 0, 1, 1, 1, 0, 14, 12, 14, 9, 11, 16, 9, 9, 9, 16, 28, 28, 32, 42, 39, 29, 29, 45, 36, 30, 60, 102, 109, 113, 124, 154, 153, 154, 151, 172, 183, 214, 243, 288, 302, 306, 320, 336, 337, 338, 356, 420, 438, 451, 465, 501, 499, 492, 509, 519, 528, 561, 567, 611, 632, 610, 616, 638, 641, 641, 667, 705, 721, 735, 724, 772, 756, 761, 748, 773, 774, 810, 817, 849, 840, 840, 861, 858, 876, 857, 883, 917, 917, 920, 932, 954, 936, 925, 918, 963, 951, 960, 995, 1011, 1011, 1008, 1011, 1052, 1022, 1033, 1014, 1059, 1059, 1092, 1053, 1092, 1080, 1056, 1062, 1097, 1111, 1096, 1094, 1170, 1131, 1137, 1134, 1158, 1174, 1137, 1185, 1234, 1198, 1203, 1192, 1223, 1194, 1207, 1204, 1241, 1222, 1252, 1229, 1291, 1232, 1241, 1226, 1246, 1244, 1225, 1230, 1298, 1295, 1271, 1270, 1306, 1300, 1280, 1265, 1357, 1283, 1278, 1307, 1369, 1297, 1337, 1299, 1357, 1326, 1326, 1316, 1375, 1341, 1373, 1366, 1351, 1366, 1326, 1314, 1404, 1364, 1373, 1366, 1417, 1431, 1381, 1349, 1468, 1383, 1367, 1352, 1460, 1411, 1420, 1400, 1471, 1435, 1415, 1429, 1455, 1424, 1432, 1406, 1506, 1447, 1444, 1416, 1511, 1438, 1442, 1476, 1578, 1498, 1444, 1440, 1521, 1539, 1448, 1448, 1539, 1492, 1518, 1464, 1604, 1565, 1503, 1468, 1539, 1479, 1492, 1481, 1582, 1549, 1495, 1525, 1618, 1543, 1515, 1546, 1631, 1597, 1532, 1569, 1712, 1577, 1537, 1557, 1621, 1596, 1532, 1546, 1721, 1572, 1566, 1562, 1645, 1602, 1592, 1580, 1708, 1587, 1587, 1599, 1639, 1566, 1576, 1540, 1699, 1664, 1561, 1593, 1731, 1589, 1613, 1563, 1695, 1608, 1628, 1597, 1721, 1737, 1613, 1613, 1772, 1665, 1670, 1656, 1758, 1645, 1649, 1603, 1772, 1702, 1688, 1678, 1782, 1685, 1718, 1650, 1863, 1793, 1687, 1717, 1804, 1782, 1695, 1704, 1789, 1769, 1674, 1715, 1867, 1795, 1675, 1702, 1761, 1673, 1676, 1667, 1765, 1708, 1721, 1667, 1792, 1728, 1681, 1674, 1792, 1770, 1745, 1698, 1816, 1797, 1715, 1776, 1938, 1796, 1742, 1745, 1911, 1832, 1800, 1772, 1930, 1752, 1721, 1714, 1920, 1805, 1730, 1711, 1864, 1862, 1700, 1762, 1897, 1805, 1753, 1761, 1951, 1790, 1749, 1773, 1947, 1781, 1712, 1782, 1901, 1799, 1732, 1724, 1856, 1772, 1759, 1751, 1923, 1846, 1765, 1765, 1944, 1822, 1791, 1776, 1945, 1854, 1830, 1800, 1921, 1860, 1776, 1748, 1954, 1874, 1858, 1773, 2035, 1852, 1775, 1826, 2072, 1934, 1859, 1897, 2003, 2054, 1860, 1887, 2214, 1993, 1970, 1874, 2041, 2043, 1894, 1839, 2080, 1905, 1822, 1907, 2124, 1935, 1857, 1883, 1957, 1940, 1860, 1870, 1865, 1877, 1876, 1846, 2092, 1928, 1825, 1833, 1979, 1914, 1920, 1837, 1988, 1900, 1867, 1825, 2049, 1964, 1834, 1857, 1979, 1893, 1815, 1874, 2002, 2023, 1803, 1877, 1894, 1989, 1840, 1846, 2001, 1958, 1861, 1867, 2066, 1952, 1853, 1806, 1894, 1880, 1769, 1767, 1893, 1840, 1780, 1787, 1857, 1814, 1780, 1722, 1859, 1920, 1800, 1840, 1853, 1823, 1776, 1771, 1843, 1871, 1819, 1769, 1900, 1876, 1792, 1809, 1908, 1944, 1859, 1920, 2073, 1985, 1913, 1917, 1940, 1897, 1883, 1807, 1910, 1910, 1873, 1826, 1917, 1893, 1802, 1802, 1886, 2008, 1859, 1814, 1930, 1905, 1850, 1833, 1909, 2019, 1850, 1807, 2012, 2010, 1938, 1856, 2051, 1890, 1848, 1842, 1958, 1950, 1874, 1915, 2029, 1947, 1827, 1867, 1949, 2022, 1957, 1941, 2161, 2040, 2018, 1894, 2005, 2118, 1986, 1951, 1936, 1927, 1946, 1978, 2025, 2019, 1888, 1904, 1964, 1914, 1822, 1834, 1945, 1924, 1873, 1853, 1995, 1975, 1830, 1894, 1958, 1958, 1848, 1786, 1907, 1959, 1952, 1964, 2020, 1927, 1901, 1903, 1986, 1931, 1921, 1985, 1972, 1993, 2028, 1859, 1927, 1901, 1904, 1861, 1936, 1937, 1928, 1902, 1937, 1971, 1944, 1840, 1948, 1972, 1955, 1942, 1972, 2073, 2057, 1924, 1925, 2036, 1893, 1836, 2008, 2060, 1947, 1957, 2156, 1976, 1905, 1914, 2022, 1985, 1947, 1920, 2058, 1968, 1893, 1929, 2042, 2052, 1975, 1867, 2063, 1962, 2011, 1948, 2070, 1957, 1911, 1843, 1944, 1945, 1902, 1878, 1964, 1864, 1930, 1870, 1942, 1958, 1941, 1898, 1898, 1923, 1948, 1921, 1957, 1934, 1952, 1924, 1942, 1901, 1950, 1894, 2016, 2062, 1975, 1893, 1921, 1978, 1935, 1857, 1955, 1921, 1866, 1841, 1890, 1876, 1821, 1855, 1961, 1895, 1877, 1852, 1873, 1857, 1915, 1820, 1850, 1897, 1856, 1833, 1921, 1915, 1823, 1807, 1904, 1830, 1817, 1790, 1911, 1864, 1883, 1843, 1915, 1989, 1917, 1863, 1921, 1951, 1958, 1971, 1958, 1983, 1901, 1934, 1934, 1987, 2011, 1979, 2023, 2059, 2026, 1890, 2052, 1931, 1917, 1923, 2126, 2036, 1965, 1899, 1971, 1913, 1870, 1835, 1911, 1962, 2005, 1971, 2039, 2050, 1986, 1857, 1993, 1958, 2041, 2025, 1969, 2004, 2012, 1931, 2101, 1939, 2006, 2063, 2035, 2146, 1971, 1972, 2018, 2028, 1917, 1835, 1923, 1988, 1884, 1924, 1947, 1894, 1968, 1952, 1931, 1909, 1914, 1883, 1901, 1933, 2001, 1952, 1992, 2019, 1938, 1952, 1921, 2009, 1999, 1982, 1985, 1949, 1907, 1968, 1911, 2006, 1935, 1944, 1921, 1924, 1981, 1930, 1928, 2046, 1877, 1811, 1888, 1912, 1866, 1887, 1918, 1929, 1913, 1922, 1923, 1915, 1918, 1918, 1937, 1981, 1948, 1959, 1978, 1972, 1981, 1920, 1994, 1995, 1987, 1890, 1929, 1985, 1978, 2042, 2070, 2006, 1999, 1948, 1961, 2046, 1971, 1984, 2097, 1942, 1937, 1887, 2011, 1999, 2016, 1979, 2008, 1992, 2034, 2003, 1988, 2052, 2025, 1931, 2030, 1952, 1900, 1878, 1930, 2038, 1954, 1941, 2003, 2013, 1992, 1920, 2005, 1957, 1960, 1911, 1931, 1954, 1927, 1935, 1971, 2023, 1931, 1900, 1962, 1952, 1979, 1941, 1957, 1985, 1944, 1961, 2029, 1998, 1995, 1946, 1955, 1949, 1938, 1921, 1908, 1941, 1943, 1932, 1948, 1924, 1989, 1974, 1977, 1994, 2033, 1948, 1907, 1948, 1880, 1915, 1941, 1921, 1949, 1938, 1958, 1956, 1937, 1931, 2032, 1996, 2008, 1937, 1937, 1935, 1962, 1941, 1938, 2029, 2013, 1999, 2021, 2029, 1899, 1886, 2013, 1871, 1853, 1901, 1860, 1907, 1880, 1910, 1943, 1881, 1893, 1873, 1870, 1908, 1917, 1908, 1904, 1895, 1854, 1889, 1900, 1857, 1934, 1873, 1936, 1920, 1900, 1903, 1925, 1910, 1886, 1924, 1891, 1905, 1883, 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910}; -int Cmotordata[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 2, 1, 0, 1, 1, 1, 0, 14, 12, 14, 9, 11, 16, 9, 9, 9, 16, 28, 28, 32, 42, 39, 29, 29, 45, 36, 30, 60, 102, 109, 113, 124, 154, 153, 154, 151, 172, 183, 214, 243, 288, 302, 306, 320, 336, 337, 338, 356, 420, 438, 451, 465, 501, 499, 492, 509, 519, 528, 561, 567, 611, 632, 610, 616, 638, 641, 641, 667, 705, 721, 735, 724, 772, 756, 761, 748, 773, 774, 810, 817, 849, 840, 840, 861, 858, 876, 857, 883, 917, 917, 920, 932, 954, 936, 925, 918, 963, 951, 960, 995, 1011, 1011, 1008, 1011, 1052, 1022, 1033, 1014, 1059, 1059, 1092, 1053, 1092, 1080, 1056, 1062, 1097, 1111, 1096, 1094, 1170, 1131, 1137, 1134, 1158, 1174, 1137, 1185, 1234, 1198, 1203, 1192, 1223, 1194, 1207, 1204, 1241, 1222, 1252, 1229, 1291, 1232, 1241, 1226, 1246, 1244, 1225, 1230, 1298, 1295, 1271, 1270, 1306, 1300, 1280, 1265, 1357, 1283, 1278, 1307, 1369, 1297, 1337, 1299, 1357, 1326, 1326, 1316, 1375, 1341, 1373, 1366, 1351, 1366, 1326, 1314, 1404, 1364, 1373, 1366, 1417, 1431, 1381, 1349, 1468, 1383, 1367, 1352, 1460, 1411, 1420, 1400, 1471, 1435, 1415, 1429, 1455, 1424, 1432, 1406, 1506, 1447, 1444, 1416, 1511, 1438, 1442, 1476, 1578, 1498, 1444, 1440, 1521, 1539, 1448, 1448, 1539, 1492, 1518, 1464, 1604, 1565, 1503, 1468, 1539, 1479, 1492, 1481, 1582, 1549, 1495, 1525, 1618, 1543, 1515, 1546, 1631, 1597, 1532, 1569, 1712, 1577, 1537, 1557, 1621, 1596, 1532, 1546, 1721, 1572, 1566, 1562, 1645, 1602, 1592, 1580, 1708, 1587, 1587, 1599, 1639, 1566, 1576, 1540, 1699, 1664, 1561, 1593, 1731, 1589, 1613, 1563, 1695, 1608, 1628, 1597, 1721, 1737, 1613, 1613, 1772, 1665, 1670, 1656, 1758, 1645, 1649, 1603, 1772, 1702, 1688, 1678, 1782, 1685, 1718, 1650, 1863, 1793, 1687, 1717, 1804, 1782, 1695, 1704, 1789, 1769, 1674, 1715, 1867, 1795, 1675, 1702, 1761, 1673, 1676, 1667, 1765, 1708, 1721, 1667, 1792, 1728, 1681, 1674, 1792, 1770, 1745, 1698, 1816, 1797, 1715, 1776, 1938, 1796, 1742, 1745, 1911, 1832, 1800, 1772, 1930, 1752, 1721, 1714, 1920, 1805, 1730, 1711, 1864, 1862, 1700, 1762, 1897, 1805, 1753, 1761, 1951, 1790, 1749, 1773, 1947, 1781, 1712, 1782, 1901, 1799, 1732, 1724, 1856, 1772, 1759, 1751, 1923, 1846, 1765, 1765, 1944, 1822, 1791, 1776, 1945, 1854, 1830, 1800, 1921, 1860, 1776, 1748, 1954, 1874, 1858, 1773, 2035, 1852, 1775, 1826, 2072, 1934, 1859, 1897, 2003, 2054, 1860, 1887, 2214, 1993, 1970, 1874, 2041, 2043, 1894, 1839, 2080, 1905, 1822, 1907, 2124, 1935, 1857, 1883, 1957, 1940, 1860, 1870, 1865, 1877, 1876, 1846, 2092, 1928, 1825, 1833, 1979, 1914, 1920, 1837, 1988, 1900, 1867, 1825, 2049, 1964, 1834, 1857, 1979, 1893, 1815, 1874, 2002, 2023, 1803, 1877, 1894, 1989, 1840, 1846, 2001, 1958, 1861, 1867, 2066, 1952, 1853, 1806, 1894, 1880, 1769, 1767, 1893, 1840, 1780, 1787, 1857, 1814, 1780, 1722, 1859, 1920, 1800, 1840, 1853, 1823, 1776, 1771, 1843, 1871, 1819, 1769, 1900, 1876, 1792, 1809, 1908, 1944, 1859, 1920, 2073, 1985, 1913, 1917, 1940, 1897, 1883, 1807, 1910, 1910, 1873, 1826, 1917, 1893, 1802, 1802, 1886, 2008, 1859, 1814, 1930, 1905, 1850, 1833, 1909, 2019, 1850, 1807, 2012, 2010, 1938, 1856, 2051, 1890, 1848, 1842, 1958, 1950, 1874, 1915, 2029, 1947, 1827, 1867, 1949, 2022, 1957, 1941, 2161, 2040, 2018, 1894, 2005, 2118, 1986, 1951, 1936, 1927, 1946, 1978, 2025, 2019, 1888, 1904, 1964, 1914, 1822, 1834, 1945, 1924, 1873, 1853, 1995, 1975, 1830, 1894, 1958, 1958, 1848, 1786, 1907, 1959, 1952, 1964, 2020, 1927, 1901, 1903, 1986, 1931, 1921, 1985, 1972, 1993, 2028, 1859, 1927, 1901, 1904, 1861, 1936, 1937, 1928, 1902, 1937, 1971, 1944, 1840, 1948, 1972, 1955, 1942, 1972, 2073, 2057, 1924, 1925, 2036, 1893, 1836, 2008, 2060, 1947, 1957, 2156, 1976, 1905, 1914, 2022, 1985, 1947, 1920, 2058, 1968, 1893, 1929, 2042, 2052, 1975, 1867, 2063, 1962, 2011, 1948, 2070, 1957, 1911, 1843, 1944, 1945, 1902, 1878, 1964, 1864, 1930, 1870, 1942, 1958, 1941, 1898, 1898, 1923, 1948, 1921, 1957, 1934, 1952, 1924, 1942, 1901, 1950, 1894, 2016, 2062, 1975, 1893, 1921, 1978, 1935, 1857, 1955, 1921, 1866, 1841, 1890, 1876, 1821, 1855, 1961, 1895, 1877, 1852, 1873, 1857, 1915, 1820, 1850, 1897, 1856, 1833, 1921, 1915, 1823, 1807, 1904, 1830, 1817, 1790, 1911, 1864, 1883, 1843, 1915, 1989, 1917, 1863, 1921, 1951, 1958, 1971, 1958, 1983, 1901, 1934, 1934, 1987, 2011, 1979, 2023, 2059, 2026, 1890, 2052, 1931, 1917, 1923, 2126, 2036, 1965, 1899, 1971, 1913, 1870, 1835, 1911, 1962, 2005, 1971, 2039, 2050, 1986, 1857, 1993, 1958, 2041, 2025, 1969, 2004, 2012, 1931, 2101, 1939, 2006, 2063, 2035, 2146, 1971, 1972, 2018, 2028, 1917, 1835, 1923, 1988, 1884, 1924, 1947, 1894, 1968, 1952, 1931, 1909, 1914, 1883, 1901, 1933, 2001, 1952, 1992, 2019, 1938, 1952, 1921, 2009, 1999, 1982, 1985, 1949, 1907, 1968, 1911, 2006, 1935, 1944, 1921, 1924, 1981, 1930, 1928, 2046, 1877, 1811, 1888, 1912, 1866, 1887, 1918, 1929, 1913, 1922, 1923, 1915, 1918, 1918, 1937, 1981, 1948, 1959, 1978, 1972, 1981, 1920, 1994, 1995, 1987, 1890, 1929, 1985, 1978, 2042, 2070, 2006, 1999, 1948, 1961, 2046, 1971, 1984, 2097, 1942, 1937, 1887, 2011, 1999, 2016, 1979, 2008, 1992, 2034, 2003, 1988, 2052, 2025, 1931, 2030, 1952, 1900, 1878, 1930, 2038, 1954, 1941, 2003, 2013, 1992, 1920, 2005, 1957, 1960, 1911, 1931, 1954, 1927, 1935, 1971, 2023, 1931, 1900, 1962, 1952, 1979, 1941, 1957, 1985, 1944, 1961, 2029, 1998, 1995, 1946, 1955, 1949, 1938, 1921, 1908, 1941, 1943, 1932, 1948, 1924, 1989, 1974, 1977, 1994, 2033, 1948, 1907, 1948, 1880, 1915, 1941, 1921, 1949, 1938, 1958, 1956, 1937, 1931, 2032, 1996, 2008, 1937, 1937, 1935, 1962, 1941, 1938, 2029, 2013, 1999, 2021, 2029, 1899, 1886, 2013, 1871, 1853, 1901, 1860, 1907, 1880, 1910, 1943, 1881, 1893, 1873, 1870, 1908, 1917, 1908, 1904, 1895, 1854, 1889, 1900, 1857, 1934, 1873, 1936, 1920, 1900, 1903, 1925, 1910, 1886, 1924, 1891, 1905, 1883, 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910}; - -int AneedRPM = 0; -int BneedRPM = 0; -int CneedRPM = 0; - - -//kiwidrive -double dirA = 0.00; -double dirB = 0.00; -double dirC = 0.00; -double spdA = 0.00; -double spdB = 0.00; -double spdC = 0.00; -double dirrad = 0.00; -double pi = 3.1415926535897; - -//encoder -double Arpm = 0.00; -volatile long Aencount = 0; -unsigned long ALtime = 0; -unsigned long ACtime = 0; -unsigned long APtime = 0; -double Brpm = 0.00; -volatile long Bencount = 0; -unsigned long BLtime = 0; -unsigned long BCtime = 0; -unsigned long BPtime = 0; -double Crpm = 0.00; -volatile long Cencount = 0; -unsigned long CLtime = 0; -unsigned long CCtime = 0; -unsigned long CPtime = 0; - -//softPWM -volatile int PWMval1 = 0; // PWM m1enA value 0-100 -volatile int PWMval2 = 0; // PWM m2enA value 0-100 -volatile int PWMval3 = 0; // PWM m3enA value 0-100 - - -Adafruit_MCP23X17 mcp2; - -void setup(){ - if (!mcp2.begin_I2C(0x22)) { - Serial.println("Error initializing MCP23017 at 0x22."); - //while (1); - } - // set all the motor control pins - mcp2.pinMode(m1enA, OUTPUT); - mcp2.pinMode(m1enB, OUTPUT); - mcp2.pinMode(m2enA, OUTPUT); - mcp2.pinMode(m2enB, OUTPUT); - mcp2.pinMode(m3enA, OUTPUT); - mcp2.pinMode(m3enB, OUTPUT); - mcp2.pinMode(m1pwm1, OUTPUT); - mcp2.pinMode(m1pwm2, OUTPUT); - mcp2.pinMode(m2pwm1, OUTPUT); - mcp2.pinMode(m2pwm2, OUTPUT); - mcp2.pinMode(m3pwm1, OUTPUT); - mcp2.pinMode(m3pwm2, OUTPUT); - - //set encoder pins - mcp2.pinMode(m1encA, INPUT); - mcp2.pinMode(m1encB, INPUT); - mcp2.pinMode(m2encA, INPUT); - mcp2.pinMode(m2encB, INPUT); - pinMode(m3encA, INPUT); - pinMode(m3encB, INPUT); - attachInterrupt(digitalPinToInterrupt(m1encA), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m1encB), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encA), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encB), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encA), CencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encB), CencoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM1); - Timer3.attachInterrupt(updatePWM2); - Timer3.attachInterrupt(updatePWM3); - -} -void updatePWM1() { - static int counter1 = 0; - - if (counter1 < PWMval1) { - mcp2.digitalWrite(m1enA, HIGH); - } else { - mcp2.digitalWrite(m1enA, LOW); - } - - counter1++; - if (counter1 >= 100) { - counter1 = 0; - } -} -void updatePWM2() { - static int counter2 = 0; - - if (counter2 < PWMval2) { - mcp2.digitalWrite(m2enA, HIGH); - } else { - mcp2.digitalWrite(m2enA, LOW); - } - - counter2++; - if (counter2 >= 100) { - counter2 = 0; - } -} -void updatePWM3() { - static int counter3 = 0; - - if (counter3 < PWMval3) { - mcp2.digitalWrite(m3enA, HIGH); - } else { - mcp2.digitalWrite(m3enA, LOW); - } - - counter3++; - if (counter3 >= 100) { - counter3 = 0; - } -} -void mcpsoftpwm(int pin, int vall){ - //M1enA = 3 = GPA3 - //M2enA = 7 = GPA7 - //M3enA = 11 = GPB3 - Serial.print("softPWM pin: "); - Serial.print(pin); - Serial.print(", value: "); - Serial.println(vall); - if (pin = 3){ - PWMval1 = vall; - Serial.print("Motor 1 enA PWM set"); - } - if (pin = 7){ - PWMval2 = vall; - Serial.print("Motor 2 enA PWM set"); - } - if (pin = 11){ - PWMval3 = vall; - Serial.print("Motor 3 enA PWM set"); - } - -} -void AencoderISR() { - Aencount++; -} -void BencoderISR() { - Bencount++; -} -void CencoderISR() { - Cencount++; -} -void Areadenc() { - ACtime = micros(); - APtime = ACtime - ALtime; - ALtime = ACtime; - Arpm = (Aencount / 211.2) * (60000000.0 / APtime); - Serial.print("Motor A RPM: "); - Serial.print(Arpm); - Serial.print(" Sample period:"); - Serial.print(APtime); - Serial.print("ms, encoder count:"); - Serial.println(Aencount); - Aencount = 0; -} -void Breadenc() { - BCtime = micros(); - BPtime = BCtime - BLtime; - BLtime = BCtime; - Brpm = (Bencount / 211.2) * (60000000.0 / BPtime); - Serial.print("Motor B RPM: "); - Serial.print(Brpm); - Serial.print(" Sample period: "); - Serial.print(BPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Bencount); - Bencount = 0; -} -void Creadenc() { - CCtime = micros(); - CPtime = CCtime - CLtime; - CLtime = CCtime; - Crpm = (Cencount / 211.2) * (60000000.0 / CPtime); - Serial.print("Motor C RPM: "); - Serial.print(Crpm); - Serial.print(" Sample period: "); - Serial.print(CPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Cencount); - Cencount = 0; -} -void Aresetenc(){ - ACtime = micros(); - ALtime = ACtime; - Aencount = 0; -} -void Bresetenc(){ - BCtime = micros(); - BLtime = BCtime; - Bencount = 0; -} -void Cresetenc(){ - CCtime = micros(); - CLtime = CCtime; - Cencount = 0; -} -void Amove(double Rsped) { - double sped = nearest(Rsped, Amotordata, ArrayElementCount(Amotordata)); - spdA = abs(sped) * 0.1; - mcpsoftpwm(m1enA, spdA); - mcp2.digitalWrite(m1enB, LOW); - if (sped < 0) { - Serial.print("Motor A back "); - mcp2.digitalWrite(m1pwm1, LOW); - mcp2.digitalWrite(m1pwm2, HIGH); - } else { - Serial.print("Motor A forward "); - mcp2.digitalWrite(m1pwm1, HIGH); - mcp2.digitalWrite(m1pwm2, LOW); - } - Serial.println(spdA); -} -void Bmove(double Rsped) { - double sped = nearest(Rsped, Bmotordata, ArrayElementCount(Bmotordata)); - spdB = abs(sped) * 0.1; - mcpsoftpwm(m2enA, spdB); - mcp2.digitalWrite(m2enB, LOW); - if (sped < 0) { - Serial.print("Motor B back "); - mcp2.digitalWrite(m2pwm1, LOW); - mcp2.digitalWrite(m2pwm2, HIGH); - } else { - Serial.print("Motor B forward "); - mcp2.digitalWrite(m2pwm1, HIGH); - mcp2.digitalWrite(m2pwm2, LOW); - } - Serial.println(spdB); -} -void Cmove(double Rsped) { - double sped = nearest(Rsped, Cmotordata, ArrayElementCount(Cmotordata)); - spdC = abs(sped) * 0.1; - mcpsoftpwm(m3enA, spdC); - mcp2.digitalWrite(m3enB, LOW); - if (sped < 0) { - Serial.print("Motor C back "); - mcp2.digitalWrite(m3pwm1, LOW); - mcp2.digitalWrite(m3pwm2, HIGH); - } else { - Serial.print("Motor C forward "); - mcp2.digitalWrite(m3pwm1, HIGH); - mcp2.digitalWrite(m3pwm2, LOW); - } - Serial.println(spdC); -} - -void moveohmi(int speed, int direction){ - Amove(0); - Bmove(0); - Cmove(0); - - double dirrad = (direction*71.0000) / 4068.0000; - Serial.println(dirrad); - //vector ontb in x en y - double y = sin(dirrad); - double x = cos(dirrad); - Serial.println((String)"x:"+x+" y:"+y); - double spdeA = y*speed; - double spdeB = (-0.500*x - 0.8660054*y)*speed; - double spdeC = (-0.500*x + 0.8660054*y)*speed; - Amove(spdeA); - Bmove(spdeB); - Cmove(spdeC); - Serial.println(); - Serial.println(); -} -void rotate(int rodeg, int speed){ - //use compas heading - //inacurate compas data -} -void demo(){ - Amove(sp); - Bmove(sp); - Cmove(sp); - Serial.println("seperate A B C rotation"); - delay(1000); - - Amove(0); - Bmove(0); - Cmove(0); - Serial.println("seperate A B C stop"); - delay(1000); - - Amove(-sp); - Bmove(-sp); - Cmove(-sp); - Serial.println("seperate A B C -rotation"); - delay(1000); - - moveohmi(0, 0); - Serial.println("ohmi stop"); - delay(1000); - - rotate(90, sp); - Serial.println("rotation function 90deg"); - rotate(90, sp); - Serial.println("rotation function -90deg"); - delay(1000); - - moveohmi(sp, 35); - Serial.println("ohmi move 35deg"); - delay(1000); - - moveohmi(sp, 240); - Serial.println("ohmi move 215deg"); - delay(1000); - - for(int i = 0; i<360; i++){ - moveohmi(sp, i); - Serial.println(i); - delay(50); - } - Serial.println("ohmi move circle"); - delay(1000); -} -void loop(){ - demo(); - delay(100); - -} -int nearest(int x, int myArray[], int elements) -{ - //https://forum.arduino.cc/t/search-for-nearest-number-in-an-array-help/245843/5 - int idx = 0; // by default near first element - - int distance = abs(myArray[idx] - x); - for (int i = 1; i < elements; i++) - { - int d = abs(myArray[i] - x); - if (d < distance) - { - idx = i; - distance = d; - } - } - return idx; -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/nomultiplexer/nomultiplexer.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/nomultiplexer/nomultiplexer.ino deleted file mode 100644 index f6f839c..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/nomultiplexer/nomultiplexer.ino +++ /dev/null @@ -1,254 +0,0 @@ -//moveohmi = https://robotics.stackexchange.com/questions/7829/how-to-program-a-three-wheel-omni -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 -// -// motor one/A front -int m1enA = 1; -int m1enB = 2; -int m1pwm1 = 3; -int m1pwm2 = 4; -int m1encA = 13; -int m1encB = 14; -// motor two/B left -int m2enA = 5; -int m2enB = 6; -int m2pwm1 = 7; -int m2pwm2 = 8; -int m2encA = 15; -int m2encB = 16; -// motor three/C right -int m3enA = 9; -int m3enB = 10; -int m3pwm1 = 11; -int m3pwm2 = 12; -int m3encA = 17; -int m3encB = 18; - -double sp = 1.000; //speed in 0-1 - -double dirA = 0.00; -double dirB = 0.00; -double dirC = 0.00; -double spdA = 0.00; -double spdB = 0.00; -double spdC = 0.00; -double dirrad = 0.00; -double pi = 3.1415926535897; - -double Arpm = 0.00; -volatile long Aencount = 0; -unsigned long ALtime = 0; -unsigned long ACtime = 0; -unsigned long APtime = 0; -double Brpm = 0.00; -volatile long Bencount = 0; -unsigned long BLtime = 0; -unsigned long BCtime = 0; -unsigned long BPtime = 0; -double Crpm = 0.00; -volatile long Cencount = 0; -unsigned long CLtime = 0; -unsigned long CCtime = 0; -unsigned long CPtime = 0; - -void setup() -{ - // set all the motor control pins to outputs - pinMode(m1enA, OUTPUT); - pinMode(m1enB, OUTPUT); - pinMode(m2enA, OUTPUT); - pinMode(m2enB, OUTPUT); - pinMode(m3enA, OUTPUT); - pinMode(m3enB, OUTPUT); - - pinMode(m1pwm1, OUTPUT); - pinMode(m1pwm2, OUTPUT); - pinMode(m2pwm1, OUTPUT); - pinMode(m2pwm2, OUTPUT); - pinMode(m3pwm1, OUTPUT); - pinMode(m3pwm2, OUTPUT); - - //set encoder pins to input - pinMode(m1encA, INPUT); - pinMode(m1encB, INPUT); - pinMode(m2encA, INPUT); - pinMode(m2encB, INPUT); - pinMode(m3encA, INPUT); - pinMode(m3encB, INPUT); - attachInterrupt(digitalPinToInterrupt(m1encA), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m1encB), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encA), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encB), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encA), CencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encB), CencoderISR, CHANGE); -} - -void AencoderISR() { - Aencount++; -} -void BencoderISR() { - Bencount++; -} -void CencoderISR() { - Cencount++; -} -void Areadenc() { - ACtime = micros(); - APtime = ACtime - ALtime; - ALtime = ACtime; - Arpm = (Aencount / 211.2) * (60000000.0 / APtime); - Serial.print("Motor A RPM: "); - Serial.print(Arpm); - Serial.print(" Sample period:"); - Serial.print(APtime); - Serial.print("ms, encoder count:"); - Serial.println(Aencount); - Aencount = 0; -} -void Breadenc() { - BCtime = micros(); - BPtime = BCtime - BLtime; - BLtime = BCtime; - Brpm = (Bencount / 211.2) * (60000000.0 / BPtime); - Serial.print("Motor B RPM: "); - Serial.print(Brpm); - Serial.print(" Sample period: "); - Serial.print(BPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Bencount); - Bencount = 0; -} -void Creadenc() { - CCtime = micros(); - CPtime = CCtime - CLtime; - CLtime = CCtime; - Crpm = (Cencount / 211.2) * (60000000.0 / CPtime); - Serial.print("Motor C RPM: "); - Serial.print(Crpm); - Serial.print(" Sample period: "); - Serial.print(CPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Cencount); - Cencount = 0; -} - -void Amove(double sped) { - spdA = abs(sped) * 255.000; - analogWrite(m1enA, spdA); - digitalWrite(m1enB, LOW); - if (sped < 0) { - Serial.print("Motor A back "); - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, HIGH); - } else { - Serial.print("Motor A forward "); - digitalWrite(m1pwm1, HIGH); - digitalWrite(m1pwm2, LOW); - } - Serial.println(spdA); -} -void Bmove(double sped) { - spdB = abs(sped) * 255.000; - analogWrite(m2enA, spdB); - digitalWrite(m2enB, LOW); - if (sped < 0) { - Serial.print("Motor B back "); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, HIGH); - } else { - Serial.print("Motor B forward "); - digitalWrite(m2pwm1, HIGH); - digitalWrite(m2pwm2, LOW); - } - Serial.println(spdB); -} -void Cmove(double sped) { - spdC = abs(sped) * 255.000; - analogWrite(m3enA, spdC); - digitalWrite(m3enB, LOW); - if (sped < 0) { - Serial.print("Motor C back "); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, HIGH); - } else { - Serial.print("Motor C forward "); - digitalWrite(m3pwm1, HIGH); - digitalWrite(m3pwm2, LOW); - } - Serial.println(spdC); -} - - -void moveohmi(int speed, int direction){ - Amove(0); - Bmove(0); - Cmove(0); - - double dirrad = (direction*71.0000) / 4068.0000; - Serial.println(dirrad); - //vector ontb in x en y - double y = sin(dirrad); - double x = cos(dirrad); - Serial.println((String)"x:"+x+" y:"+y); - double spdeA = y*speed; - double spdeB = (-0.500*x - 0.8660054*y)*speed; - double spdeC = (-0.500*x + 0.8660054*y)*speed; - Amove(spdeA); - Bmove(spdeB); - Cmove(spdeC); - Serial.println(); - Serial.println(); -} -void rotate(int rodeg, int speed){ -//use compas heading -} -void demo(){ - Amove(sp); - Bmove(sp); - Cmove(sp); - Serial.println("seperate A B C rotation"); - delay(1000); - - Amove(0); - Bmove(0); - Cmove(0); - Serial.println("seperate A B C stop"); - delay(1000); - - Amove(-sp); - Bmove(-sp); - Cmove(-sp); - Serial.println("seperate A B C -rotation"); - delay(1000); - - moveohmi(0, 0); - Serial.println("ohmi stop"); - delay(1000); - - rotate(90, sp); - Serial.println("rotation function 90deg"); - rotate(90, sp); - Serial.println("rotation function -90deg"); - delay(1000); - - moveohmi(sp, 35); - Serial.println("ohmi move 35deg"); - delay(1000); - - moveohmi(sp, 240); - Serial.println("ohmi move 215deg"); - delay(1000); - - for(int i = 0; i<360; i++){ - moveohmi(sp, i); - Serial.println(i); - delay(50); - } - Serial.println("ohmi move circle"); - delay(1000); -} -void loop(){ - demo(); - delay(100); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/onemotor/onemotor.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/onemotor/onemotor.ino deleted file mode 100644 index 33f0c5c..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/onemotor/onemotor.ino +++ /dev/null @@ -1,86 +0,0 @@ -int enA = 1; -int enB = 2; -int pwm1 = 3; -int pwm2 = 4; -int encoA = 5; -int encoB = 6; - -int speed = 1; // speed 0-1 - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Serial.begin(9600); -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - Serial.print("RPM: "); - Serial.print(rpm); - Serial.print(" Sample period:"); - Serial.print(Ptime); - Serial.print("ms, encoder count:"); - Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*255; - analogWrite(enA, sp); - digitalWrite(enB, LOW); - if (sped < 0) { - Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - Serial.println(sp); -} - -void loop() { - move(speed); - delay(1000); - readenc(); - - - move(0); - resetenc(); - delay(1000); - readenc(); - - move(-speed); - delay(1000); - readenc(); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/onemotor_softPWM/onemotor_softPWM.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/onemotor_softPWM/onemotor_softPWM.ino deleted file mode 100644 index 2f57d59..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/onemotor_softPWM/onemotor_softPWM.ino +++ /dev/null @@ -1,126 +0,0 @@ -#include <TimerThree.h> - -int enA = 1; //PWM pin -int enB = 2; //GND -int pwm1 = 3; // -int pwm2 = 4; -int encoA = 5; -int encoB = 6; - -int speed = 1000; // speed 0-1 - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-100 - - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(enA, HIGH); - } else { - digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value); - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - Serial.print("RPM: "); - Serial.print(rpm); - Serial.print(" Sample period:"); - Serial.print(Ptime); - Serial.print("ms, encoder count:"); - Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*0.1; - mcpsoftpwm(sp); - digitalWrite(enB, LOW); - if (sped < 0) { - Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - Serial.println(sp); -} - -void loop() { - move(speed); - delay(1000); - readenc(); - delay(1000); - - Serial.println(); - - move(0); - delay(1000); - resetenc(); - delay(1000); - readenc(); - delay(1000); - - Serial.println(); - - move(500); - delay(1000); - readenc(); - delay(1000); - - Serial.println(); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/onemotor_softPWM_multiplexer/onemotor_softPWM_multiplexer.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/onemotor_softPWM_multiplexer/onemotor_softPWM_multiplexer.ino deleted file mode 100644 index 5c8ff2a..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/onemotor_softPWM_multiplexer/onemotor_softPWM_multiplexer.ino +++ /dev/null @@ -1,128 +0,0 @@ -#include <TimerThree.h> -#include <Adafruit_MCP23X17.h> - -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 -//https://ww1.microchip.com/downloads/en/devicedoc/20001952c.pdf - -Adafruit_MCP23X17 mcp; - -int enA = 0; // GPA0 -PWM -int enB = 1; // GPA1 -GND -int pwm1 = 2; // GPA2 -HIGH/LOW -int pwm2 = 3; // GPA3 -HIGH/LOW -int encoA = 4; // GPA4 -read -int encoB = 5; // GPA5 -read - -int speed = 100; // speed 0-1 - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-100 - - -void setup() { - Serial.begin(9600); - if (!mcp.begin_I2C(0x20)) { - Serial.println("Error initializing MCP23017 at 0x20."); - while (1); - } - - mcp.pinMode(enA, OUTPUT); - mcp.pinMode(enB, OUTPUT); - mcp.pinMode(pwm1, OUTPUT); - mcp.pinMode(pwm2, OUTPUT); - - mcp.pinMode(encoA, INPUT_PULLUP); - mcp.pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - mcp.digitalWrite(enA, HIGH); - } else { - mcp.digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value); - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - Serial.print("RPM: "); - Serial.print(rpm); - Serial.print(" Sample period:"); - Serial.print(Ptime); - Serial.print("ms, encoder count:"); - Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*1; - mcpsoftpwm(sp); - mcp.digitalWrite(enB, LOW); - if (sped < 0) { - Serial.print("back "); - mcp.digitalWrite(pwm1, LOW); - mcp.digitalWrite(pwm2, HIGH); - } else { - Serial.print("forward "); - mcp.digitalWrite(pwm1, HIGH); - mcp.digitalWrite(pwm2, LOW); - } - Serial.println(sp); -} - -void loop() { - move(speed); - delay(1000); - readenc(); - - - move(0); - resetenc(); - delay(1000); - readenc(); - - move(-speed); - delay(1000); - readenc(); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/softPWM/softPWM.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/softPWM/softPWM.ino deleted file mode 100644 index ab74715..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/softPWM/softPWM.ino +++ /dev/null @@ -1,46 +0,0 @@ -#include <TimerThree.h> -#include <Arduino.h> - -int pwmPin = 3; - -volatile int PWMval = 0; // PWM value 0-100 - -void setup() { - pinMode(pwmPin, OUTPUT); - Serial.begin(9600); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(pwmPin, HIGH); - } else { - digitalWrite(pwmPin, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} - -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - Serial.print("softPWM pin: 3, value: "); - Serial.println(value); - PWMval = value; -} - -void loop() { - mcpsoftpwm(100); // Set PWM to 100% - delay(1000); - mcpsoftpwm(50); // Set PWM to 50% - delay(1000); - Serial.println("loop"); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/tree_motor_calibration/tree_motor_calibration.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/tree_motor_calibration/tree_motor_calibration.ino deleted file mode 100644 index 4608903..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/motordriver/tree_motor_calibration/tree_motor_calibration.ino +++ /dev/null @@ -1,427 +0,0 @@ -#include <TimerThree.h> -#include <Adafruit_MCP23X17.h> -#include <SD.h> -#include <SPI.h> - -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 -//https://ww1.microchip.com/downloads/en/devicedoc/20001952c.pdf - -// motor one/A front -#define m1enA 3 // GPA3 PWM1 -#define m1enB 2 // GPA2 -#define m1pwm1 0 // GPA0 -#define m1pwm2 1 // GPA1 -#define m1encA 12 // GPB4 -#define m1encB 13 // GPB5 -// motor two/B left -#define m2enA 7 // GPA7 PWM2 -#define m2enB 6 // GPA6 -#define m2pwm1 4 // GPA4 -#define m2pwm2 5 // GPA5 -#define m2encA 14 // GPB6 -#define m2encB 15 // GPB7 -// motor three/C right -#define m3enA 11 // GPB3 PWM3 -#define m3enB 10 // GPB2 -#define m3pwm1 8 // GPB0 -#define m3pwm2 9 // GPB1 -#define m3encA 24 // teensy port 24 -#define m3encB 9 // teensy port 9 - -const int maxspeed = 1000; - -double sp = 0.00; -//encoder -double Arpm = 0.00; -volatile long Aencount = 0; -unsigned long ALtime = 0; -unsigned long ACtime = 0; -unsigned long APtime = 0; -double Brpm = 0.00; -volatile long Bencount = 0; -unsigned long BLtime = 0; -unsigned long BCtime = 0; -unsigned long BPtime = 0; -double Crpm = 0.00; -volatile long Cencount = 0; -unsigned long CLtime = 0; -unsigned long CCtime = 0; -unsigned long CPtime = 0; - -//kiwidrive -double dirA = 0.00; -double dirB = 0.00; -double dirC = 0.00; -double spdA = 0.00; -double spdB = 0.00; -double spdC = 0.00; -double dirrad = 0.00; -double pi = 3.1415926535897; - -//softPWM -volatile int PWMval1 = 0; // PWM m1enA value 0-100 -volatile int PWMval2 = 0; // PWM m2enA value 0-100 -volatile int PWMval3 = 0; // PWM m3enA value 0-100 - -volatile int PWMval = 0; // PWM value 0-100 -File ; -File avrage; -Sd2Card card; -SdVolume volume; -SdFile root; -const int chipSelect = BUILTIN_SDCARD; -int x = 1; - -int Nloop = 0; -int Atotloopdata[maxspeed] = {}; -int Btotloopdata[maxspeed] = {}; -int Ctotloopdata[maxspeed] = {}; - -Adafruit_MCP23X17 mcp2; - -void setup() { - if (!mcp2.begin_I2C(0x22)) { - Serial.println("Error initializing MCP23017 at 0x22."); - //while (1); - } - // set all the motor control pins - mcp2.pinMode(m1enA, OUTPUT); - mcp2.pinMode(m1enB, OUTPUT); - mcp2.pinMode(m2enA, OUTPUT); - mcp2.pinMode(m2enB, OUTPUT); - mcp2.pinMode(m3enA, OUTPUT); - mcp2.pinMode(m3enB, OUTPUT); - mcp2.pinMode(m1pwm1, OUTPUT); - mcp2.pinMode(m1pwm2, OUTPUT); - mcp2.pinMode(m2pwm1, OUTPUT); - mcp2.pinMode(m2pwm2, OUTPUT); - mcp2.pinMode(m3pwm1, OUTPUT); - mcp2.pinMode(m3pwm2, OUTPUT); - - //set encoder pins - mcp2.pinMode(m1encA, INPUT); - mcp2.pinMode(m1encB, INPUT); - mcp2.pinMode(m2encA, INPUT); - mcp2.pinMode(m2encB, INPUT); - pinMode(m3encA, INPUT); - pinMode(m3encB, INPUT); - attachInterrupt(digitalPinToInterrupt(m1encA), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m1encB), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encA), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encB), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encA), CencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encB), CencoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM1); - Timer3.attachInterrupt(updatePWM2); - Timer3.attachInterrupt(updatePWM3); -} - -void updatePWM1() { - static int counter1 = 0; - - if (counter1 < PWMval1) { - mcp2.digitalWrite(m1enA, HIGH); - } else { - mcp2.digitalWrite(m1enA, LOW); - } - - counter1++; - if (counter1 >= 100) { - counter1 = 0; - } -} -void updatePWM2() { - static int counter2 = 0; - - if (counter2 < PWMval2) { - mcp2.digitalWrite(m2enA, HIGH); - } else { - mcp2.digitalWrite(m2enA, LOW); - } - - counter2++; - if (counter2 >= 100) { - counter2 = 0; - } -} -void updatePWM3() { - static int counter3 = 0; - - if (counter3 < PWMval3) { - mcp2.digitalWrite(m3enA, HIGH); - } else { - mcp2.digitalWrite(m3enA, LOW); - } - - counter3++; - if (counter3 >= 100) { - counter3 = 0; - } -} -void mcpsoftpwm(int pin, int vall){ - //M1enA = 3 = GPA3 - //M2enA = 7 = GPA7 - //M3enA = 11 = GPB3 - Serial.print("softPWM pin: "); - Serial.print(pin); - Serial.print(", value: "); - Serial.println(vall); - if (pin = 3){ - PWMval1 = vall; - Serial.print("Motor 1 enA PWM set"); - } - if (pin = 7){ - PWMval2 = vall; - Serial.print("Motor 2 enA PWM set"); - } - if (pin = 11){ - PWMval3 = vall; - Serial.print("Motor 3 enA PWM set"); - } - -} - -void AencoderISR() { - Aencount++; -} -void BencoderISR() { - Bencount++; -} -void CencoderISR() { - Cencount++; -} - -void Areadenc() { - ACtime = micros(); - APtime = ACtime - ALtime; - ALtime = ACtime; - Arpm = (Aencount / 211.2) * (60000000.0 / APtime); - Serial.print("Motor A RPM: "); - Serial.print(Arpm); - Serial.print(" Sample period:"); - Serial.print(APtime); - Serial.print("ms, encoder count:"); - Serial.println(Aencount); - Aencount = 0; -} -void Breadenc() { - BCtime = micros(); - BPtime = BCtime - BLtime; - BLtime = BCtime; - Brpm = (Bencount / 211.2) * (60000000.0 / BPtime); - Serial.print("Motor B RPM: "); - Serial.print(Brpm); - Serial.print(" Sample period: "); - Serial.print(BPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Bencount); - Bencount = 0; -} -void Creadenc() { - CCtime = micros(); - CPtime = CCtime - CLtime; - CLtime = CCtime; - Crpm = (Cencount / 211.2) * (60000000.0 / CPtime); - Serial.print("Motor C RPM: "); - Serial.print(Crpm); - Serial.print(" Sample period: "); - Serial.print(CPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Cencount); - Cencount = 0; -} -void Aresetenc(){ - ACtime = micros(); - ALtime = ACtime; - Aencount = 0; -} -void Bresetenc(){ - BCtime = micros(); - BLtime = BCtime; - Bencount = 0; -} -void Cresetenc(){ - CCtime = micros(); - CLtime = CCtime; - Cencount = 0; -} - -void Amove(double sped) { - spdA = abs(sped) * 0.1; - mcpsoftpwm(m1enA, spdA); - mcp2.digitalWrite(m1enB, LOW); - if (sped < 0) { - //Serial.print("Motor A back "); - mcp2.digitalWrite(m1pwm1, LOW); - mcp2.digitalWrite(m1pwm2, HIGH); - } else { - //Serial.print("Motor A forward "); - mcp2.digitalWrite(m1pwm1, HIGH); - mcp2.digitalWrite(m1pwm2, LOW); - } - //Serial.println(spdA); -} -void Bmove(double sped) { - spdB = abs(sped) * 0.1; - mcpsoftpwm(m2enA, spdB); - mcp2.digitalWrite(m2enB, LOW); - if (sped < 0) { - //Serial.print("Motor B back "); - mcp2.digitalWrite(m2pwm1, LOW); - mcp2.digitalWrite(m2pwm2, HIGH); - } else { - //Serial.print("Motor B forward "); - mcp2.digitalWrite(m2pwm1, HIGH); - mcp2.digitalWrite(m2pwm2, LOW); - } - //Serial.println(spdB); -} -void Cmove(double sped) { - spdC = abs(sped) * 0.1; - mcpsoftpwm(m3enA, spdC); - mcp2.digitalWrite(m3enB, LOW); - if (sped < 0) { - //Serial.print("Motor C back "); - mcp2.digitalWrite(m3pwm1, LOW); - mcp2.digitalWrite(m3pwm2, HIGH); - } else { - //Serial.print("Motor C forward "); - mcp2.digitalWrite(m3pwm1, HIGH); - mcp2.digitalWrite(m3pwm2, LOW); - } - //Serial.println(spdC); -} -void move(double sped) { - Amove(sped); - Bmove(sped); - Cmove(sped); -} -void readenc() { - Areadenc(); - Breadenc(); - Creadenc(); -} -void resetenc() { - Aresetenc(); - Bresetenc(); - Cresetenc(); -} - -void loop() { - move(0); - delay(2000); - for (int i = 0; i < maxspeed; i++) { - Serial.println("0,0"); - } - int Acurrentloopdata[maxspeed] = {}; - int Bcurrentloopdata[maxspeed] = {}; - int Ccurrentloopdata[maxspeed] = {}; - for (int i = 0; i < maxspeed; i++) { - move(i); - delay(100); - readenc(); - Serial.print(i); - Serial.print(","); - Serial.print(Arpm); - Acurrentloopdata[i] = Arpm; - Serial.print(","); - Serial.print(Brpm); - Acurrentloopdata[i] = Brpm; - Serial.print(","); - Serial.print(Crpm); - Acurrentloopdata[i] = Crpm; - Serial.print(","); - Serial.println(Atotloopdata[i]); - Serial.print(","); - Serial.println(Btotloopdata[i]); - Serial.print(","); - Serial.println(Ctotloopdata[i]); - } - Acurrentloopdata[0] = 0; - Bcurrentloopdata[0] = 0; - Ccurrentloopdata[0] = 0; - if (Nloop == 0){ - for (int i = 0; i < maxspeed; i++) { - Atotloopdata[i] = Acurrentloopdata[i]; - Btotloopdata[i] = Bcurrentloopdata[i]; - Ctotloopdata[i] = Ccurrentloopdata[i]; - } - }else{ - for (int i = 0; i < maxspeed; i++) { - Atotloopdata[i] = ((Atotloopdata[i]*Nloop)+Acurrentloopdata[i])/(Nloop+1); - Btotloopdata[i] = ((Btotloopdata[i]*Nloop)+Bcurrentloopdata[i])/(Nloop+1); - Ctotloopdata[i] = ((Ctotloopdata[i]*Nloop)+Ccurrentloopdata[i])/(Nloop+1); - } - } - resetenc(); - SD.remove("Aavrage_motor_values.dat"); - SD.remove("Bavrage_motor_values.dat"); - SD.remove("Cavrage_motor_values.dat"); - File AdataFile = SD.open("Aavrage_motor_values.dat", FILE_WRITE); - if (AdataFile) { - for (int i = 0; i < maxspeed; i++) { - AdataFile.print(Atotloopdata[i]); - AdataFile.print(", "); - } - AdataFile.close(); - } - File BdataFile = SD.open("Aavrage_motor_values.dat", FILE_WRITE); - if (BdataFile) { - for (int i = 0; i < maxspeed; i++) { - BdataFile.print(Btotloopdata[i]); - BdataFile.print(", "); - } - BdataFile.close(); - } - File CdataFile = SD.open("Aavrage_motor_values.dat", FILE_WRITE); - if (CdataFile) { - for (int i = 0; i < maxspeed; i++) { - CdataFile.print(Ctotloopdata[i]); - CdataFile.print(", "); - } - CdataFile.close(); - } - SD.remove("ABC_avrage_motor_values.csv"); - File debugFile = SD.open("ABC_avrage_motor_values.csv", FILE_WRITE); - if (debugFile) { - debugFile.println(""); - debugFile.println("Motor A values"); - debugFile.println(""); - for (int i = 0; i < maxspeed; i++) { - debugFile.print(i); - debugFile.print(", "); - debugFile.println(Atotloopdata[i]); - } - debugFile.println(""); - debugFile.println("Motor B values"); - debugFile.println(""); - for (int i = 0; i < maxspeed; i++) { - debugFile.print(i); - debugFile.print(", "); - debugFile.println(Btotloopdata[i]); - } - debugFile.println(""); - debugFile.println("Motor C values"); - debugFile.println(""); - for (int i = 0; i < maxspeed; i++) { - debugFile.print(i); - debugFile.print(", "); - debugFile.println(Ctotloopdata[i]); - } - } - - if (!card.init(SPI_HALF_SPEED, chipSelect)) { - Serial.println("FAILED TO FIND SD CARD"); - Serial.println("* is a card inserted?"); - Serial.println("* is your wiring correct?"); - Serial.println("* did you change the chipSelect pin to match your shield or module?"); - } - - - Nloop++; - - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/tcs34725/tcs34725.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/tcs34725/tcs34725.ino deleted file mode 100644 index 88d1467..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/debugprewk/debug/tcs34725/tcs34725.ino +++ /dev/null @@ -1,45 +0,0 @@ -#include <Wire.h> -#include "Adafruit_TCS34725.h" - -/* Example code for the Adafruit TCS34725 breakout library */ - -/* Connect SCL to analog 5 - Connect SDA to analog 4 - Connect VDD to 3.3V DC - Connect GROUND to common ground */ - -/* Initialise with default values (int time = 2.4ms, gain = 1x) */ -// Adafruit_TCS34725 tcs = Adafruit_TCS34725(); - -/* Initialise with specific int time and gain values */ -Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_614MS, TCS34725_GAIN_1X); - -void setup(void) { - Serial.begin(9600); - - if (tcs.begin()) { - Serial.println("Found sensor"); - } else { - Serial.println("No TCS34725 found ... check your connections"); - while (1); - } - - // Now we're ready to get readings! -} - -void loop(void) { - uint16_t r, g, b, c, colorTemp, lux; - - tcs.getRawData(&r, &g, &b, &c); - // colorTemp = tcs.calculateColorTemperature(r, g, b); - colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c); - lux = tcs.calculateLux(r, g, b); - - Serial.print("Color Temp: "); Serial.print(colorTemp, DEC); Serial.print(" K - "); - Serial.print("Lux: "); Serial.print(lux, DEC); Serial.print(" - "); - Serial.print("R: "); Serial.print(r, DEC); Serial.print(" "); - Serial.print("G: "); Serial.print(g, DEC); Serial.print(" "); - Serial.print("B: "); Serial.print(b, DEC); Serial.print(" "); - Serial.print("C: "); Serial.print(c, DEC); Serial.print(" "); - Serial.println(" "); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/i2c_scanner/i2c_scanner.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/i2c_scanner/i2c_scanner.ino deleted file mode 100644 index d3d4570..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/i2c_scanner/i2c_scanner.ino +++ /dev/null @@ -1,93 +0,0 @@ -/** -i2c port scanner based on: - in wire library examples i2c_scanner - https://learn.adafruit.com/adafruit-pca9548-8-channel-stemma-qt-qwiic-i2c-multiplexer/arduino - - - * - */ - -#include <Wire.h> - -#define PCAADDR 0x70 //i2c address of the i2c multiplexer - - -void setup() { - Serial.begin(115200); - while (!Serial); // Leonardo: wait for Serial Monitor - Serial.println("\nI2C Scanner"); - -} - -void pcaselect(uint8_t i) { - if (i > 7) return; - - Wire.beginTransmission(PCAADDR); - Wire.write(1 << i); - Wire.endTransmission(); -} - - - - -void scandirectports(){ - Wire.begin(); - int nDevices = 0; - Serial.println("Scanning for i2c ports on board..."); - - for (byte address = 1; address < 127; ++address) { - // The i2c_scanner uses the return value of - // the Wire.endTransmission to see if - // a device did acknowledge to the address. - Wire.beginTransmission(address); - byte error = Wire.endTransmission(); - - if (error == 0) { - Serial.print("I2C device found at address 0x"); - if (address < 16) { - Serial.print("0"); - } - Serial.print(address, HEX); - Serial.println(" !"); - - ++nDevices; - } else if (error == 4) { - Serial.print("Unknown error at address 0x"); - if (address < 16) { - Serial.print("0"); - } - Serial.println(address, HEX); - } - } - if (nDevices == 0) { - Serial.println("No I2C devices found\n"); - } else { - Serial.println("done\n"); - } - Serial.println("done scanning for i2c ports on board"); -} -void scani2cmultiplexer(){ - Serial.println("Scanning for i2c ports on i2c multiplexer..."); - for (uint8_t t=0; t<8; t++) { - pcaselect(t); - Serial.print("PCA Port #"); Serial.println(t); - - for (uint8_t addr = 0; addr<=127; addr++) { - if (addr == PCAADDR) continue; - Wire.beginTransmission(addr); - if (!Wire.endTransmission()) { - Serial.print("Found I2C 0x"); Serial.println(addr,HEX); - } - } - } - Serial.println("done scanning for i2c ports on i2c multiplexer"); -} - - - -void loop() { - scandirectports(); - delay(1000); - scani2cmultiplexer(); - delay(1000); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID/PID.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID/PID.ino deleted file mode 100644 index c7f351a..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID/PID.ino +++ /dev/null @@ -1,112 +0,0 @@ -#include <TimerThree.h> -#include <QuickPID.h> - - -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 - - -float Setpoint, Input, Output; -float Kp = 2, Ki = 5, Kd = 1; -QuickPID myPID(&Input, &Output, &Setpoint); - - -int enA = 1; // PWM pin -int enB = 2; // GND -int pwm1 = 3; // Motor control pin 1 -int pwm2 = 4; // Motor control pin 2 -int encoA = 5; // Encoder pin A -int encoB = 6; // Encoder pin B - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-1000 - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); - - // PID settings - Input = rpm; - Setpoint = 500; - myPID.SetTunings(Kp, Ki, Kd); - myPID.SetMode(myPID.Control::automatic); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(enA, HIGH); - } else { - digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 1000) { - counter = 0; - } -} - -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 1000) value = 1000; - - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); // Adjust the encoder counts per revolution here if necessary - encount = 0; -} - -void resetenc() { - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped) * 0.1; - mcpsoftpwm(sp); - digitalWrite(enB, LOW); - if (sped < 0) { - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } -} - -void loop() { - Input = rpm; - myPID.Compute(); - move(Output); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID_autotune/PID.py b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID_autotune/PID.py deleted file mode 100644 index e24dbd6..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID_autotune/PID.py +++ /dev/null @@ -1,131 +0,0 @@ -import serial -import time -from simple_pid import PID -import matplotlib.pyplot as plt -from matplotlib.widgets import Slider, Button - -# Initialize serial communication -arduino = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=.1) - -# Function to write to and read from Arduino -def write_read(x): - arduino.write(bytes(x, 'utf-8')) - time.sleep(0.05) - data = arduino.readline().decode().strip() - return data - -# Real-time plotting setup -fig, (ax1, ax2) = plt.subplots(2, 1) -feedback_list = [] -control_list = [] -setpoint_list = [] - -def clamp(feedback, min_value, max_value): - return max(min(feedback, max_value), min_value) - -def update_plot(feedback, control, setpoint): - feedback_clamped = clamp(feedback, 0, 1000) # Clamp feedback value between 0 and 1000 - feedback_list.append(feedback_clamped) - control_list.append(control) - setpoint_list.append(setpoint) - - # Limit lists to 50 items for smoother plotting - if len(feedback_list) > 50: - feedback_list.pop(0) - control_list.pop(0) - setpoint_list.pop(0) - - ax1.clear() - ax2.clear() - - ax1.plot(feedback_list, label="Feedback") - ax1.plot(setpoint_list, label="Setpoint") - ax1.legend() - - ax2.plot(control_list, label="Control") - ax2.legend() - - ax1.set_ylabel('RPM') - ax2.set_ylabel('Control Signal') - ax2.set_xlabel('Time') - - plt.tight_layout() - plt.pause(0.05) # Pause to allow plot to update - -# Initialize PID controller with output limits -initial_setpoint = 500 # Initial setpoint -pid = PID(0, 0, 0, output_limits=(0, 1000)) -pid.setpoint = initial_setpoint - -# Initialize PID parameters (preserved across resets) -preserved_parameters = { - 'Kp': 0, - 'Ki': 0, - 'Kd': 0, - 'setpoint': initial_setpoint -} - -# Function to update PID parameters -def update_pid(val): - pid.Kp = s_kp.val - pid.Ki = s_ki.val - pid.Kd = s_kd.val - preserved_parameters['Kp'] = s_kp.val - preserved_parameters['Ki'] = s_ki.val - preserved_parameters['Kd'] = s_kd.val - setpoint = s_setpoint.val - pid.setpoint = setpoint - preserved_parameters['setpoint'] = setpoint - print(f"Setpoint: {setpoint}, Kp: {pid.Kp}, Ki: {pid.Ki}, Kd: {pid.Kd}") - -# Create sliders for PID parameters and setpoint -axcolor = 'lightgoldenrodyellow' -ax_setpoint = plt.axes([0.15, 0.1, 0.65, 0.03], facecolor=axcolor) -ax_kp = plt.axes([0.15, 0.15, 0.65, 0.03], facecolor=axcolor) -ax_ki = plt.axes([0.15, 0.2, 0.65, 0.03], facecolor=axcolor) -ax_kd = plt.axes([0.15, 0.25, 0.65, 0.03], facecolor=axcolor) - -s_setpoint = Slider(ax_setpoint, 'Setpoint', 0, 1000, valinit=initial_setpoint) -s_kp = Slider(ax_kp, 'Kp', 0, 10, valinit=preserved_parameters['Kp']) -s_ki = Slider(ax_ki, 'Ki', 0, 10, valinit=preserved_parameters['Ki']) -s_kd = Slider(ax_kd, 'Kd', 0, 10, valinit=preserved_parameters['Kd']) - -s_setpoint.on_changed(update_pid) -s_kp.on_changed(update_pid) -s_ki.on_changed(update_pid) -s_kd.on_changed(update_pid) - -# Function to reset algorithm and set speed to zero -def reset_algorithm(event): - global feedback_list, control_list, setpoint_list - feedback_list.clear() - control_list.clear() - setpoint_list.clear() - pid.reset() - s_setpoint.set_val(preserved_parameters['setpoint']) - s_kp.set_val(preserved_parameters['Kp']) - s_ki.set_val(preserved_parameters['Ki']) - s_kd.set_val(preserved_parameters['Kd']) - print("Algorithm reset") - time.sleep(1) # Delay of 1 second after reset - -# Create reset button -ax_reset = plt.axes([0.8, 0.02, 0.1, 0.05]) -btn_reset = Button(ax_reset, 'Reset') -btn_reset.on_clicked(reset_algorithm) - -# Function to update Arduino with clamped control signal -def update_arduino_control(control): - control_clamped = clamp(control, 0, 1000) - write_read(str(control_clamped)) - -# Control loop -while True: - feedback = float(write_read(str(pid.setpoint))) - feedback_clamped = clamp(feedback, 0, 1000) # Clamp feedback value between 0 and 1000 - control = pid(feedback_clamped) - update_arduino_control(control) - update_plot(feedback_clamped, control, pid.setpoint) - -# Keep plot open -plt.show() diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID_autotune/PID_autotune.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID_autotune/PID_autotune.ino deleted file mode 100644 index ab99c50..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID_autotune/PID_autotune.ino +++ /dev/null @@ -1,82 +0,0 @@ -int enA = 1; -int enB = 2; -int pwm1 = 3; -int pwm2 = 4; -int encoA = 5; -int encoB = 6; - -int speed = 1; // speed 0-1000 - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -int mess; - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Serial.begin(115200); - Serial.setTimeout(1); -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - /*Serial.print("RPM: "); - Serial.print(rpm); - Serial.print(" Sample period:"); - Serial.print(Ptime); - Serial.print("ms, encoder count:"); - Serial.println(encount); - */ - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*2.55; - analogWrite(enA, sp); - digitalWrite(enB, LOW); - if (sped < 0) { - //Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - //Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - //Serial.println(sp); -} - -void loop() { - while (!Serial.available()); - mess = Serial.readString().toInt(); - move(mess); - readenc(); - Serial.print(rpm); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID_autotune/man_test.py b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID_autotune/man_test.py deleted file mode 100644 index 52c84e3..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/PID_autotune/man_test.py +++ /dev/null @@ -1,16 +0,0 @@ -import serial -import time - -arduino = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=.1) - -def write_read(x): - arduino.write(bytes(x, 'utf-8')) - time.sleep(0.05) - data = arduino.readline() - return data - -while True: - num = input("Enter a number: ") # Taking input from user - value = write_read(num) - print(value) # printing the value - diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master.zip b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master.zip Binary files differdeleted file mode 100644 index dc713b7..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master.zip +++ /dev/null diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/.gitignore b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/.gitignore deleted file mode 100644 index 1605aab..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/.gitignore +++ /dev/null @@ -1 +0,0 @@ -SoftPWM.h.gch
\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/README.md b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/README.md deleted file mode 100644 index 46e5456..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/README.md +++ /dev/null @@ -1,75 +0,0 @@ -arduino-softpwm -=============== - -Software PWM library for [Arduino](https://arduino.cc/), and other compatible AVR boards. - -AVR microcontrollers provide hardware PWM on some pins but if you need PWM on other pins then it must be implemented in software. This library provides easy and efficient software PWM on any pin. Each channel can be set to a different PWM duty cycle. - -This library is licensed under [BSD3](https://opensource.org/licenses/BSD-3-Clause) - -#### Installation -- Download the most recent version here: https://github.com/Palatis/arduino-softpwm/archive/master.zip -- Using Arduino IDE 1.0.x: - - Sketch > Import Library... > Add Library... > select the downloaded file > Open -- Using Arduino IDE 1.5+: - - Sketch > Include Library > Add ZIP Library... > select the downloaded file > Open - - -#### Usage -See **File > Examples > arduino-softpwm > SoftPWM_example** for demonstration of library usage. - -Everything in this library except for preprocessor defines are wrapped in `namespace Palatis {}`, so if your compiler blames you about symbol not found, try add `Palatis::` before that thing. For example, `Palatis::SoftPWM.size()`. - -Alternatively, you can add `using namespace Palatis;` at the top of the source file to import everything under the `Palatis` namespace, this might be convenient if you're using my other libraries. - -`#define SOFTPWM_OUTPUT_DELAY` - Add this line above `#include <SoftPWM.h>` for a 1 PWM clock cycle delay between outputs to prevent large in-rush currents. - -`SOFTPWM_DEFINE_CHANNEL(CHANNEL, PMODE, PORT, BIT)` - Configure a pin for software PWM use. Consult the datasheet for your microcontroller for the appropriate `PORT` and `BIT` values for the physical pin. This information is shown in the pinout diagram, for example: [ATmega328P datasheet](http://www.atmel.com/Images/Atmel-8271-8-bit-AVR-Microcontroller-ATmega48A-48PA-88A-88PA-168A-168PA-328-328P_datasheet_Summary.pdf) **Figure 1-1** found on page 3. If you want to determine the Arduino pin assigned to the physical pin http://www.pighixxx.com/test/pinoutspg/boards/ provides this information for the most popular Arduino boards or you can look at the pins_arduino.h file in the **variant** folder used by your board. -- Parameter: **CHANNEL** - The channel number is used as an ID for the pin. -- Parameter: **PMODE** - DDRx register of the pin's port. Append the port letter to `DDR`. For example: The [Arduino UNO diagram](http://www.pighixxx.com/test/portfolio-items/uno/?portfolioID=314) shows that Arduino pin 13 is **PB5** which means that the port is **B** so you should use the value `DDRB` for that pin. -- Parameter: **PORT** - The port of the pin. For example: Arduino pin 13 is **PB5** so you should use the value `PORTB` for that pin. -- Parameter: **BIT** - The bit of the pin. For example: Arduino pin 13 is **PB5** so you should use the value `PORTB5` for that pin. - -`SOFTPWM_DEFINE_CHANNEL_INVERT( CHANNEL, PMODE, PORT, BIT )` - Depending on your application you may prefer to invert the output. See `SOFTPWM_DEFINE_CHANNEL()` for description of parameters. - -`SOFTPWM_DEFINE_OBJECT(CHANNEL_CNT)` - Define the softPWM object with the default 256 PWM levels. -- Parameter: **CHANNEL_CNT** - The number of channels that are defined. - -`SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS)` - Define the softPWM object with the specified number of PWM levels. -- Parameter: **CHANNEL_CNT** - The number of channels that are defined. -- Parameter: **PWM_LEVELS** - The number of PWM levels. Using less PWM levels may allow a higher PWM frequency. The maximum value is 256. - -`SOFTPWM_DEFINE_EXTERN_OBJECT(CHANNEL_CNT)` - Add this if you want to use the SoftPWM object outside where it's defined. See `SOFTPWM_DEFINE_OBJECT()` for description of the parameter. - -`SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS)` - Add this if you want to use the SoftPWM object outside where it's defined. See `SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS()` for description of parameters. - -`SoftPWM.begin(hertz)` - Initialize SoftPWM. -- Parameter: **hertz** - The PWM frequency. Setting the value too high will cause incorrect operation, too low will cause a visible flicker. - - Type: long - -`SoftPWM.printInterruptLoad()` - Prints diagnostic information to the serial monitor. This can be used to find the optimal PWM frequency by setting different PWM frequency values in begin() and then checking the resulting interrupt load. Calling this function will momentarily turn off the PWM on all channels. - -`SoftPWM.set(channel_idx, value)` - Set the PWM level of the given channel. -- Parameter: **channel_idx** - The channel to set. - - Type: int -- Parameter: **value** - The PWM level to set. - - Type: byte - -`SoftPWM.size()` -- Returns: Number of channels defined. - - Type: size_t - -`SoftPWM.PWMlevels()` -- Returns: The number of PWM levels. - - Type: unsigned int - -`SoftPWM.allOff()` - Set the PWM value of all channels to 0. - - -#### Troubleshooting -- LEDs have a visible flicker, especially noticeable when the LED is moving relative to the viewer. - - The PWM frequency set in `SoftPWM.begin()` is too low. Use `SoftPWM.printInterruptLoad()` to determine the optimum PWM frequency. You may be able to achieve a higher PWM frequency by setting less PWM levels with `SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS()` or `SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS()`. -- Erratic PWM operation - - The interrupt load is too high. Use `SoftPWM.printInterruptLoad()` to determine the interrupt load. You can decrease the interrupt load by setting less PWM levels with `SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS()` or `SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS()` or setting the PWM frequency lower in `SoftPWM.begin()`. -- LED brightness changes between low brightness PWM values are larger than at brighter PWM values. - - This is caused by the way LEDs work and is not caused by a problem with the library. If possible, use more PWM levels or never allow the LED to get dimmer than the level below which the difference between PWM levels is too distinct. diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/examples/SoftPWM_example/SoftPWM_example.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/examples/SoftPWM_example/SoftPWM_example.ino deleted file mode 100644 index 96fc0b2..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/examples/SoftPWM_example/SoftPWM_example.ino +++ /dev/null @@ -1,141 +0,0 @@ -/* - Arduino-SoftPWM: a software PWM library for Arduino - Copyright 2016, Victor Tseng <palatis@gmail.com> - - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - 1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - 3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived - from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS - IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR - PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR - CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR - OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#include <SoftPWM.h> - -/* pins_arduino.h defines the pin-port/bit mapping as PROGMEM so - you have to read them with pgm_read_xxx(). That's generally okay - for ordinary use, but really bad when you're writing super fast - codes because the compiler doesn't treat them as constants and - cannot optimize them away with sbi/cbi instructions. - - Therefore we have to tell the compiler the PORT and BIT here. - Hope someday we can find a way to workaround this. - - Check the manual of your MCU for port/bit mapping. - - The following example demonstrates setting channels for all pins - on the ATmega328P or ATmega168 used on Arduino Uno, Pro Mini, - Nano and other boards. */ -SOFTPWM_DEFINE_CHANNEL(0, DDRD, PORTD, PORTD0); //Arduino pin 0 -SOFTPWM_DEFINE_CHANNEL(1, DDRD, PORTD, PORTD1); //Arduino pin 1 -SOFTPWM_DEFINE_CHANNEL(2, DDRD, PORTD, PORTD2); //Arduino pin 2 -SOFTPWM_DEFINE_CHANNEL(3, DDRD, PORTD, PORTD3); //Arduino pin 3 -SOFTPWM_DEFINE_CHANNEL(4, DDRD, PORTD, PORTD4); //Arduino pin 4 -SOFTPWM_DEFINE_CHANNEL(5, DDRD, PORTD, PORTD5); //Arduino pin 5 -SOFTPWM_DEFINE_CHANNEL(6, DDRD, PORTD, PORTD6); //Arduino pin 6 -SOFTPWM_DEFINE_CHANNEL(7, DDRD, PORTD, PORTD7); //Arduino pin 7 -SOFTPWM_DEFINE_CHANNEL(8, DDRB, PORTB, PORTB0); //Arduino pin 8 -SOFTPWM_DEFINE_CHANNEL(9, DDRB, PORTB, PORTB1); //Arduino pin 9 -SOFTPWM_DEFINE_CHANNEL(10, DDRB, PORTB, PORTB2); //Arduino pin 10 -SOFTPWM_DEFINE_CHANNEL(11, DDRB, PORTB, PORTB3); //Arduino pin 11 -SOFTPWM_DEFINE_CHANNEL(12, DDRB, PORTB, PORTB4); //Arduino pin 12 -SOFTPWM_DEFINE_CHANNEL(13, DDRB, PORTB, PORTB5); //Arduino pin 13 -SOFTPWM_DEFINE_CHANNEL(14, DDRC, PORTC, PORTC0); //Arduino pin A0 -SOFTPWM_DEFINE_CHANNEL(15, DDRC, PORTC, PORTC1); //Arduino pin A1 -SOFTPWM_DEFINE_CHANNEL(16, DDRC, PORTC, PORTC2); //Arduino pin A2 -SOFTPWM_DEFINE_CHANNEL(17, DDRC, PORTC, PORTC3); //Arduino pin A3 -SOFTPWM_DEFINE_CHANNEL(18, DDRC, PORTC, PORTC4); //Arduino pin A4 -SOFTPWM_DEFINE_CHANNEL(19, DDRC, PORTC, PORTC5); //Arduino pin A5 - - -/* Or you may want inverted outputs: */ -/* - SOFTPWM_DEFINE_CHANNEL_INVERT(0, DDRD, PORTD, PORTD0); //Arduino pin 0 - SOFTPWM_DEFINE_CHANNEL_INVERT(1, DDRD, PORTD, PORTD1); //Arduino pin 1 - SOFTPWM_DEFINE_CHANNEL_INVERT(2, DDRD, PORTD, PORTD2); //Arduino pin 2 - SOFTPWM_DEFINE_CHANNEL_INVERT(3, DDRD, PORTD, PORTD3); //Arduino pin 3 - SOFTPWM_DEFINE_CHANNEL_INVERT(4, DDRD, PORTD, PORTD4); //Arduino pin 4 - SOFTPWM_DEFINE_CHANNEL_INVERT(5, DDRD, PORTD, PORTD5); //Arduino pin 5 - SOFTPWM_DEFINE_CHANNEL_INVERT(6, DDRD, PORTD, PORTD6); //Arduino pin 6 - SOFTPWM_DEFINE_CHANNEL_INVERT(7, DDRD, PORTD, PORTD7); //Arduino pin 7 - SOFTPWM_DEFINE_CHANNEL_INVERT(8, DDRB, PORTB, PORTB0); //Arduino pin 8 - SOFTPWM_DEFINE_CHANNEL_INVERT(9, DDRB, PORTB, PORTB2); //Arduino pin 9 - SOFTPWM_DEFINE_CHANNEL_INVERT(10, DDRB, PORTB, PORTB2); //Arduino pin 10 - SOFTPWM_DEFINE_CHANNEL_INVERT(11, DDRB, PORTB, PORTB3); //Arduino pin 11 - SOFTPWM_DEFINE_CHANNEL_INVERT(12, DDRB, PORTB, PORTB4); //Arduino pin 12 - SOFTPWM_DEFINE_CHANNEL_INVERT(13, DDRB, PORTB, PORTB5); //Arduino pin 13 - SOFTPWM_DEFINE_CHANNEL_INVERT(14, DDRC, PORTC, PORTC0); //Arduino pin A0 - SOFTPWM_DEFINE_CHANNEL_INVERT(15, DDRC, PORTC, PORTC1); //Arduino pin A1 - SOFTPWM_DEFINE_CHANNEL_INVERT(16, DDRC, PORTC, PORTC2); //Arduino pin A2 - SOFTPWM_DEFINE_CHANNEL_INVERT(17, DDRC, PORTC, PORTC3); //Arduino pin A3 - SOFTPWM_DEFINE_CHANNEL_INVERT(18, DDRC, PORTC, PORTC4); //Arduino pin A4 - SOFTPWM_DEFINE_CHANNEL_INVERT(19, DDRC, PORTC, PORTC5); //Arduino pin A5 -*/ - -/* Here you make an instance of desired channel counts you want - with the default 256 PWM levels (0 ~ 255). */ -//SOFTPWM_DEFINE_OBJECT(20); - -/* Or you can make one with only 100 PWM levels (0 ~ 99). - By using less PWM levels, you may be able to use higher - pwm frequencies. */ -SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(20, 100); - -/* If you want to use the SoftPWM object outside where it's defined, - add the following line to the file. */ -//SOFTPWM_DEFINE_EXTERN_OBJECT(16); -SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(20, 100); - -void setup() { - Serial.begin(19200); - - // begin with 60hz pwm frequency - Palatis::SoftPWM.begin(60); - - // print interrupt load for diagnostic purposes - Palatis::SoftPWM.printInterruptLoad(); -} - -static volatile uint8_t v = 0; -void loop() { - for (uint8_t i = 0; i < Palatis::SoftPWM.size(); ++i) { - Serial.print(micros()); - Serial.print(" loop(): "); - Serial.println(i); - - unsigned long const WAIT = 1000000 / Palatis::SoftPWM.PWMlevels() / 2; - unsigned long nextMicros = 0; - for (int v = 0; v < Palatis::SoftPWM.PWMlevels() - 1; ++v) { - while (micros() < nextMicros); - nextMicros = micros() + WAIT; - Palatis::SoftPWM.set(i, v); - } - for (int v = Palatis::SoftPWM.PWMlevels() - 1; v >= 0; --v) { - while (micros() < nextMicros); - nextMicros = micros() + WAIT; - Palatis::SoftPWM.set(i, v); - } - } -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/keywords.txt b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/keywords.txt deleted file mode 100644 index 61d42b7..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/keywords.txt +++ /dev/null @@ -1,30 +0,0 @@ -####################################### -# Syntax Coloring Map SoftPWM -####################################### -####################################### -# Datatypes (KEYWORD1) -####################################### -Palatis KEYWORD1 -SoftPWM KEYWORD1 -####################################### -# Methods and Functions (KEYWORD2) -####################################### -begin KEYWORD2 -set KEYWORD2 -size KEYWORD2 -PWMlevels KEYWORD2 -allOff KEYWORD2 -update KEYWORD2 -printInterruptLoad KEYWORD2 - -####################################### -# Constants (LITERAL1) -####################################### -SOFTPWM_DEFINE_PINMODE LITERAL1 -SOFTPWM_DEFINE_CHANNEL LITERAL1 -SOFTPWM_DEFINE_CHANNEL_INVERT LITERAL1 -SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS LITERAL1 -SOFTPWM_DEFINE_OBJECT LITERAL1 -SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS LITERAL1 -SOFTPWM_DEFINE_EXTERN_OBJECT LITERAL1 -SOFTPWM_OUTPUT_DELAY LITERAL1 diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/library.properties b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/library.properties deleted file mode 100644 index 174c19b..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/library.properties +++ /dev/null @@ -1,9 +0,0 @@ -name=arduino-softpwm -version=1.0.1 -author=Victor Tseng <palatis@gmail.com> -maintainer=Victor Tseng <palatis@gmail.com> -sentence=Software PWM library for Arduino. -paragraph=Provides PWM on any pin. -category=Signal Input/Output -url=https://github.com/Palatis/arduino-softpwm -architectures=avr diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/src/SoftPWM.h b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/src/SoftPWM.h deleted file mode 100644 index c315a4e..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/arduino-softpwm-master/src/SoftPWM.h +++ /dev/null @@ -1,255 +0,0 @@ -/* - Arduino-SoftPWM: a software PWM library for Arduino - Copyright 2016, Victor Tseng <palatis@gmail.com> - - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - 1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - 3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived - from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS - IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR - PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR - CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR - OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#ifndef _SOFTPWM_H_ -#define _SOFTPWM_H_ - -#include <Arduino.h> - -// helper macros -#define SOFTPWM_DEFINE_PINMODE(CHANNEL, PMODE, PORT, BIT) \ - namespace Palatis { \ - template <> \ - inline void pinModeStatic<CHANNEL>(uint8_t const mode) { \ - if (mode == INPUT) { \ - bitClear(PMODE, BIT); bitClear(PORT, BIT); \ - } \ - else if (mode == INPUT_PULLUP) { \ - bitClear(PMODE, BIT); bitSet(PORT, BIT); \ - } \ - else { \ - bitSet(PMODE, BIT); \ - } \ - } \ - } - -#define SOFTPWM_DEFINE_CHANNEL(CHANNEL, PMODE, PORT, BIT) \ - namespace Palatis { \ - template <> \ - inline void bitWriteStatic<CHANNEL>(bool const value) { \ - bitWrite( PORT, BIT, value ); \ - } \ - } \ - SOFTPWM_DEFINE_PINMODE(CHANNEL, PMODE, PORT, BIT) - -#define SOFTPWM_DEFINE_CHANNEL_INVERT(CHANNEL, PMODE, PORT, BIT) \ - namespace Palatis { \ - template <> \ - inline void bitWriteStatic<CHANNEL>(bool const value) { \ - bitWrite(PORT, BIT, !value); \ - } \ - } \ - SOFTPWM_DEFINE_PINMODE(CHANNEL, PMODE, PORT, BIT) - -#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) -#define SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS) \ - namespace Palatis { \ - CSoftPWM<CHANNEL_CNT, PWM_LEVELS> SoftPWM; \ - } \ - ISR(TIM1_COMPA_vect) { \ - interrupts(); \ - Palatis::SoftPWM.update(); \ - } -#else - #if defined (__AVR_ATmega8__) || defined (__AVR_ATmega8A__) - #define TIMSK1 TIMSK - #endif -#define SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS) \ - namespace Palatis { \ - CSoftPWM<CHANNEL_CNT, PWM_LEVELS> SoftPWM; \ - } \ - ISR(TIMER1_COMPA_vect) { \ - interrupts(); \ - Palatis::SoftPWM.update(); \ - } -#endif - -#define SOFTPWM_DEFINE_OBJECT(CHANNEL_CNT) \ - SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, 0) - -#define SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS) \ - namespace Palatis { \ - extern CSoftPWM<CHANNEL_CNT, PWM_LEVELS> SoftPWM; \ - } - -#define SOFTPWM_DEFINE_EXTERN_OBJECT(CHANNEL_CNT) \ - SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, 0) - -// here comes the magic @o@ -namespace Palatis { - -template <int channel> inline void bitWriteStatic(bool value) {} -template <int channel> inline void pinModeStatic(uint8_t mode) {} - -template <int channel> -struct bitWriteStaticExpander { - void operator() (bool value) const { - bitWriteStatic<channel>(value); - bitWriteStaticExpander < channel - 1 > ()(value); - } - - void operator() (uint8_t const &count, uint8_t const * const &channels) const { -#ifdef SOFTPWM_OUTPUT_DELAY - bitWriteStatic<channel>((count + channel) < channels[channel]); -#else - bitWriteStatic<channel>(count < channels[channel]); -#endif - bitWriteStaticExpander < channel - 1 > ()(count, channels); - } -}; - -template <> -struct bitWriteStaticExpander < -1 > { - void operator() (bool) const {} - void operator() (uint8_t const &, uint8_t const * const &) const {} -}; - -template <int channel> -struct pinModeStaticExpander { - void operator() (uint8_t const mode) const - { - pinModeStatic<channel>(mode); - pinModeStaticExpander < channel - 1 > ()(mode); - } -}; - -template <> -struct pinModeStaticExpander < -1 > { - void operator() (uint8_t const mode) const {} -}; - -template <unsigned int num_channels, unsigned int num_PWM_levels> -class CSoftPWM { - public: - void begin(const unsigned long hertz) { - allOff(); //this prevents inverted channels from momentarily going LOW - asm volatile ("/************ pinModeStaticExpander begin ************/"); - const uint8_t oldSREG = SREG; - noInterrupts(); - pinModeStaticExpander < num_channels - 1 > ()( OUTPUT ); - SREG = oldSREG; - asm volatile ("/************ pinModeStaticExpander end ************/"); - - /* the setup of timer1 is stolen from ShiftPWM :-P - http://www.elcojacobs.com/shiftpwm/ */ - asm volatile ("/************ timer setup begin ************/"); - TCCR1A = 0b00000000; - TCCR1B = 0b00001001; - OCR1A = (F_CPU - hertz * PWMlevels() / 2) / (hertz * PWMlevels()); - bitSet(TIMSK1, OCIE1A); - asm volatile ("/************ timer setup end ************/"); - - _count = 0; - } - - void set(const int channel_idx, const uint8_t value) { - _channels[channel_idx] = value; - } - - size_t size() const { - return num_channels; - } - - unsigned int PWMlevels() const { - return num_PWM_levels ? num_PWM_levels : 256; - } - - void allOff() { - asm volatile ("/********** CSoftPWM::allOff() begin **********/"); - const uint8_t oldSREG = SREG; - noInterrupts(); - for (int i = 0; i < num_channels; ++i) - _channels[i] = 0; - bitWriteStaticExpander < num_channels - 1 > ()(false); - SREG = oldSREG; - asm volatile ("/********** CSoftPWM::allOff() end **********/"); - } - - /* This function cannot be private because the ISR uses it, and I have - no idea about how to make friends with ISR. :-( */ - void update() __attribute__((always_inline)) { - asm volatile ("/********** CSoftPWM::update() begin **********/"); - const uint8_t count = _count; - bitWriteStaticExpander < num_channels - 1 > ()(count, _channels); - ++_count; - if (_count == PWMlevels()) - _count = 0; - asm volatile ("/********** CSoftPWM::update() end **********/"); - } - - #if defined(HAVE_HWSERIAL0) - /* this function is stolen from ShiftPWM :-P - http://www.elcojacobs.com/shiftpwm/ */ - void printInterruptLoad() { - unsigned long time1, time2; - - bitSet(TIMSK1, OCIE1A); // enable interrupt - time1 = micros(); - delayMicroseconds(5000); - time1 = micros() - time1; - - bitClear(TIMSK1, OCIE1A); // disable interrupt - time2 = micros(); - delayMicroseconds(5000); - time2 = micros() - time2; - - const double load = static_cast<double>(time1 - time2) / time1; - const double interrupt_frequency = static_cast<double>(F_CPU) / (OCR1A + 1); - const double cycles_per_interrupt = load * F_CPU / interrupt_frequency; - - Serial.println(F("SoftPWM::printInterruptLoad():")); - Serial.print(F(" Load of interrupt: ")); - Serial.println(load, 10); - Serial.print(F(" Clock cycles per interrupt: ")); - Serial.println( cycles_per_interrupt ); - Serial.print(F(" Interrupt frequency: ")); - Serial.print(interrupt_frequency); - Serial.println(F(" Hz")); - Serial.print(F(" PWM frequency: ")); - Serial.print(interrupt_frequency / PWMlevels()); - Serial.println(F(" Hz")); - Serial.print(F(" PWM levels: ")); - Serial.println(PWMlevels()); - - bitSet(TIMSK1, OCIE1A); // enable interrupt again - } - #endif - - private: - uint8_t _channels[num_channels]; - uint8_t _count; -}; - -} // namespace Palatis -#endif // #ifndef _SOFTPWM_H_ diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/calibrated_motor/calibrated_motor.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/calibrated_motor/calibrated_motor.ino deleted file mode 100644 index 60e2c04..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/calibrated_motor/calibrated_motor.ino +++ /dev/null @@ -1,155 +0,0 @@ -#include <TimerThree.h> - -#define ArrayElementCount(needRPM) (sizeof(needRPM) / sizeof(needRPM[0])) - -int enA = 1; //PWM pin -int enB = 2; //GND -int pwm1 = 3; // -int pwm2 = 4; -int encoA = 5; -int encoB = 6; - -const int maxspeed = 1000; - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-100 - -int motordata[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 2, 1, 0, 1, 1, 1, 0, 14, 12, 14, 9, 11, 16, 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attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(enA, HIGH); - } else { - digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} - -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - //Serial.print("softPWM pin: enA, value: "); - //Serial.println(value); - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - //Serial.print("RPM: "); - //Serial.print(rpm); - //Serial.print(" Sample period:"); - //Serial.print(Ptime); - //Serial.print("ms, encoder count:"); - //Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*0.1; - mcpsoftpwm(sp); - digitalWrite(enB, LOW); - if (sped < 0) { - //Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - //Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - //Serial.println(sp); -} -void RPMmove(int Rsped) { - int idx = nearest(Rsped, motordata, ArrayElementCount(motordata)); - move(idx); -} - - -void loop() { - for (int i = 0; i < maxspeed; i++) { - Serial.print(motordata[i]); - Serial.print(", "); - } - Serial.println(""); - int idx = nearest(needRPM, motordata, ArrayElementCount(motordata)); - Serial.print(needRPM); - Serial.print(", "); - Serial.print(idx); - Serial.print(", "); - Serial.println(motordata[idx]); - delay(2500); - move(idx); - delay(1000); - resetenc(); - delay(100); - readenc(); - Serial.println(rpm); - delay(10); 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1988, 1900, 1867, 1825, 2049, 1964, 1834, 1857, 1979, 1893, 1815, 1874, 2002, 2023, 1803, 1877, 1894, 1989, 1840, 1846, 2001, 1958, 1861, 1867, 2066, 1952, 1853, 1806, 1894, 1880, 1769, 1767, 1893, 1840, 1780, 1787, 1857, 1814, 1780, 1722, 1859, 1920, 1800, 1840, 1853, 1823, 1776, 1771, 1843, 1871, 1819, 1769, 1900, 1876, 1792, 1809, 1908, 1944, 1859, 1920, 2073, 1985, 1913, 1917, 1940, 1897, 1883, 1807, 1910, 1910, 1873, 1826, 1917, 1893, 1802, 1802, 1886, 2008, 1859, 1814, 1930, 1905, 1850, 1833, 1909, 2019, 1850, 1807, 2012, 2010, 1938, 1856, 2051, 1890, 1848, 1842, 1958, 1950, 1874, 1915, 2029, 1947, 1827, 1867, 1949, 2022, 1957, 1941, 2161, 2040, 2018, 1894, 2005, 2118, 1986, 1951, 1936, 1927, 1946, 1978, 2025, 2019, 1888, 1904, 1964, 1914, 1822, 1834, 1945, 1924, 1873, 1853, 1995, 1975, 1830, 1894, 1958, 1958, 1848, 1786, 1907, 1959, 1952, 1964, 2020, 1927, 1901, 1903, 1986, 1931, 1921, 1985, 1972, 1993, 2028, 1859, 1927, 1901, 1904, 1861, 1936, 1937, 1928, 1902, 1937, 1971, 1944, 1840, 1948, 1972, 1955, 1942, 1972, 2073, 2057, 1924, 1925, 2036, 1893, 1836, 2008, 2060, 1947, 1957, 2156, 1976, 1905, 1914, 2022, 1985, 1947, 1920, 2058, 1968, 1893, 1929, 2042, 2052, 1975, 1867, 2063, 1962, 2011, 1948, 2070, 1957, 1911, 1843, 1944, 1945, 1902, 1878, 1964, 1864, 1930, 1870, 1942, 1958, 1941, 1898, 1898, 1923, 1948, 1921, 1957, 1934, 1952, 1924, 1942, 1901, 1950, 1894, 2016, 2062, 1975, 1893, 1921, 1978, 1935, 1857, 1955, 1921, 1866, 1841, 1890, 1876, 1821, 1855, 1961, 1895, 1877, 1852, 1873, 1857, 1915, 1820, 1850, 1897, 1856, 1833, 1921, 1915, 1823, 1807, 1904, 1830, 1817, 1790, 1911, 1864, 1883, 1843, 1915, 1989, 1917, 1863, 1921, 1951, 1958, 1971, 1958, 1983, 1901, 1934, 1934, 1987, 2011, 1979, 2023, 2059, 2026, 1890, 2052, 1931, 1917, 1923, 2126, 2036, 1965, 1899, 1971, 1913, 1870, 1835, 1911, 1962, 2005, 1971, 2039, 2050, 1986, 1857, 1993, 1958, 2041, 2025, 1969, 2004, 2012, 1931, 2101, 1939, 2006, 2063, 2035, 2146, 1971, 1972, 2018, 2028, 1917, 1835, 1923, 1988, 1884, 1924, 1947, 1894, 1968, 1952, 1931, 1909, 1914, 1883, 1901, 1933, 2001, 1952, 1992, 2019, 1938, 1952, 1921, 2009, 1999, 1982, 1985, 1949, 1907, 1968, 1911, 2006, 1935, 1944, 1921, 1924, 1981, 1930, 1928, 2046, 1877, 1811, 1888, 1912, 1866, 1887, 1918, 1929, 1913, 1922, 1923, 1915, 1918, 1918, 1937, 1981, 1948, 1959, 1978, 1972, 1981, 1920, 1994, 1995, 1987, 1890, 1929, 1985, 1978, 2042, 2070, 2006, 1999, 1948, 1961, 2046, 1971, 1984, 2097, 1942, 1937, 1887, 2011, 1999, 2016, 1979, 2008, 1992, 2034, 2003, 1988, 2052, 2025, 1931, 2030, 1952, 1900, 1878, 1930, 2038, 1954, 1941, 2003, 2013, 1992, 1920, 2005, 1957, 1960, 1911, 1931, 1954, 1927, 1935, 1971, 2023, 1931, 1900, 1962, 1952, 1979, 1941, 1957, 1985, 1944, 1961, 2029, 1998, 1995, 1946, 1955, 1949, 1938, 1921, 1908, 1941, 1943, 1932, 1948, 1924, 1989, 1974, 1977, 1994, 2033, 1948, 1907, 1948, 1880, 1915, 1941, 1921, 1949, 1938, 1958, 1956, 1937, 1931, 2032, 1996, 2008, 1937, 1937, 1935, 1962, 1941, 1938, 2029, 2013, 1999, 2021, 2029, 1899, 1886, 2013, 1871, 1853, 1901, 1860, 1907, 1880, 1910, 1943, 1881, 1893, 1873, 1870, 1908, 1917, 1908, 1904, 1895, 1854, 1889, 1900, 1857, 1934, 1873, 1936, 1920, 1900, 1903, 1925, 1910, 1886, 1924, 1891, 1905, 1883, 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910,
\ No newline at end of file diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/motor_calibration/motor_calibration.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/motor_calibration/motor_calibration.ino deleted file mode 100644 index 362d130..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/motor_calibration/motor_calibration.ino +++ /dev/null @@ -1,231 +0,0 @@ -#include <TimerThree.h> -#include <SD.h> -#include <SPI.h> - -int enA = 1; //PWM pin -int enB = 2; //GND -int pwm1 = 3; // -int pwm2 = 4; -int encoA = 5; -int encoB = 6; - -const int maxspeed = 1000; - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-100 -File ; -File avrage; -Sd2Card card; -SdVolume volume; -SdFile root; -const int chipSelect = BUILTIN_SDCARD; -int x = 1; - -int Nloop = 0; -int totloopdata[maxspeed] = {}; - - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(enA, HIGH); - } else { - digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - //Serial.print("softPWM pin: enA, value: "); - //Serial.println(value); - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - //Serial.print("RPM: "); - //Serial.print(rpm); - //Serial.print(" Sample period:"); - //Serial.print(Ptime); - //Serial.print("ms, encoder count:"); - //Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*0.1; - mcpsoftpwm(sp); - digitalWrite(enB, LOW); - if (sped < 0) { - //Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - //Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - //Serial.println(sp); -} - -void loop() { - move(0); - //max - /* - Serial.println(); - Serial.println(); - Serial.println(); - move(maxspeed); - Serial.print("max speed: "); - delay(1000); - resetenc(); - delay(1000); - readenc(); - Serial.print(rpm); - Serial.print("rpm, with input: "); - Serial.println(maxspeed); - delay(250); - move(0); - - //min - delay(5000); - Serial.print("min speed: "); - for (int i = 0; i < maxspeed; i++) { - move(i); - delay(1000); - readenc(); - if ((rpm > 10) && (i>5)) { - Serial.print(rpm); - Serial.print("rpm, with input: "); - Serial.println(i); - break; - } - } - */ - delay(2000); - for (int i = 0; i < maxspeed; i++) { - Serial.println("0,0"); - } - int currentloopdata[maxspeed] = {}; - for (int i = 0; i < maxspeed; i++) { - move(i); - delay(100); - readenc(); - Serial.print(i); - Serial.print(","); - Serial.print(rpm); - currentloopdata[i] = rpm; - Serial.print(","); - Serial.println(totloopdata[i]); - } - /* - for (int i = 0; i < maxspeed; i++) { - move(0); - delay(200); - move(i); - delay(1000); - resetenc(); - delay(100); - readenc(); - Serial.print(i); - Serial.print(","); - Serial.print(rpm); - currentloopdata[i] = rpm; - Serial.print(","); - Serial.println(totloopdata[i]); - } - */ - currentloopdata[0] = 0; - if (Nloop == 0){ - for (int i = 0; i < maxspeed; i++) { - totloopdata[i] = currentloopdata[i]; - } - }else{ - for (int i = 0; i < maxspeed; i++) { - //Serial.print(currentloopdata[i]); - //Serial.print(", "); - //Serial.print(totloopdata[i]); - totloopdata[i] = ((totloopdata[i]*Nloop)+currentloopdata[i])/(Nloop+1); - } - } - for (int i = 0; i < maxspeed; i++) { - //Serial.print(currentloopdata[i]); - //Serial.print(", "); - } - - resetenc(); - SD.remove("avrage_motor_values.dat"); - File dataFile = SD.open("avrage_motor_values.dat", FILE_WRITE); - if (dataFile) { - for (int i = 0; i < maxspeed; i++) { - dataFile.print(totloopdata[i]); - dataFile.print(", "); - } - dataFile.close(); - } - SD.remove("avrage_motor_values.csv"); - File debugFile = SD.open("avrage_motor_values.csv", FILE_WRITE); - if (debugFile) { - for (int i = 0; i < maxspeed; i++) { - debugFile.print(i); - debugFile.print(", "); - debugFile.println(totloopdata[i]); - } - } - - if (!card.init(SPI_HALF_SPEED, chipSelect)) { - Serial.println("FAILED TO FIND SD CARD"); - Serial.println("* is a card inserted?"); - Serial.println("* is your wiring correct?"); - Serial.println("* did you change the chipSelect pin to match your shield or module?"); - } - - - Nloop++; - - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/motordriver.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/motordriver.ino deleted file mode 100644 index 2f1c225..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/motordriver.ino +++ /dev/null @@ -1,386 +0,0 @@ -#include <Adafruit_MCP23X17.h> -#include <TimerThree.h> -//moveohmi = https://stackoverflow.com/questions/3748037/how-to-control-a-kiwi-drive-robot -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 -//https://ww1.microchip.com/downloads/en/devicedoc/20001952c.pdf - - -#define ArrayElementCount(needRPM) (sizeof(needRPM) / sizeof(needRPM[0])) - -// motor one/A front -#define m1enA 3 // GPA3 PWM1 -#define m1enB 2 // GPA2 -#define m1pwm1 0 // GPA0 -#define m1pwm2 1 // GPA1 -#define m1encA 12 // GPB4 -#define m1encB 13 // GPB5 -// motor two/B left -#define m2enA 7 // GPA7 PWM2 -#define m2enB 6 // GPA6 -#define m2pwm1 4 // GPA4 -#define m2pwm2 5 // GPA5 -#define m2encA 14 // GPB6 -#define m2encB 15 // GPB7 -// motor three/C right -#define m3enA 11 // GPB3 PWM3 -#define m3enB 10 // GPB2 -#define m3pwm1 8 // GPB0 -#define m3pwm2 9 // GPB1 -#define m3encA 24 // teensy port 24 -#define m3encB 9 // teensy port 9 - -double sp = 1200.000; //speed in RPM ~0-1800 -const int maxspeed = 1000; - -//calibration data -int Amotordata[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 2, 1, 0, 1, 1, 1, 0, 14, 12, 14, 9, 11, 16, 9, 9, 9, 16, 28, 28, 32, 42, 39, 29, 29, 45, 36, 30, 60, 102, 109, 113, 124, 154, 153, 154, 151, 172, 183, 214, 243, 288, 302, 306, 320, 336, 337, 338, 356, 420, 438, 451, 465, 501, 499, 492, 509, 519, 528, 561, 567, 611, 632, 610, 616, 638, 641, 641, 667, 705, 721, 735, 724, 772, 756, 761, 748, 773, 774, 810, 817, 849, 840, 840, 861, 858, 876, 857, 883, 917, 917, 920, 932, 954, 936, 925, 918, 963, 951, 960, 995, 1011, 1011, 1008, 1011, 1052, 1022, 1033, 1014, 1059, 1059, 1092, 1053, 1092, 1080, 1056, 1062, 1097, 1111, 1096, 1094, 1170, 1131, 1137, 1134, 1158, 1174, 1137, 1185, 1234, 1198, 1203, 1192, 1223, 1194, 1207, 1204, 1241, 1222, 1252, 1229, 1291, 1232, 1241, 1226, 1246, 1244, 1225, 1230, 1298, 1295, 1271, 1270, 1306, 1300, 1280, 1265, 1357, 1283, 1278, 1307, 1369, 1297, 1337, 1299, 1357, 1326, 1326, 1316, 1375, 1341, 1373, 1366, 1351, 1366, 1326, 1314, 1404, 1364, 1373, 1366, 1417, 1431, 1381, 1349, 1468, 1383, 1367, 1352, 1460, 1411, 1420, 1400, 1471, 1435, 1415, 1429, 1455, 1424, 1432, 1406, 1506, 1447, 1444, 1416, 1511, 1438, 1442, 1476, 1578, 1498, 1444, 1440, 1521, 1539, 1448, 1448, 1539, 1492, 1518, 1464, 1604, 1565, 1503, 1468, 1539, 1479, 1492, 1481, 1582, 1549, 1495, 1525, 1618, 1543, 1515, 1546, 1631, 1597, 1532, 1569, 1712, 1577, 1537, 1557, 1621, 1596, 1532, 1546, 1721, 1572, 1566, 1562, 1645, 1602, 1592, 1580, 1708, 1587, 1587, 1599, 1639, 1566, 1576, 1540, 1699, 1664, 1561, 1593, 1731, 1589, 1613, 1563, 1695, 1608, 1628, 1597, 1721, 1737, 1613, 1613, 1772, 1665, 1670, 1656, 1758, 1645, 1649, 1603, 1772, 1702, 1688, 1678, 1782, 1685, 1718, 1650, 1863, 1793, 1687, 1717, 1804, 1782, 1695, 1704, 1789, 1769, 1674, 1715, 1867, 1795, 1675, 1702, 1761, 1673, 1676, 1667, 1765, 1708, 1721, 1667, 1792, 1728, 1681, 1674, 1792, 1770, 1745, 1698, 1816, 1797, 1715, 1776, 1938, 1796, 1742, 1745, 1911, 1832, 1800, 1772, 1930, 1752, 1721, 1714, 1920, 1805, 1730, 1711, 1864, 1862, 1700, 1762, 1897, 1805, 1753, 1761, 1951, 1790, 1749, 1773, 1947, 1781, 1712, 1782, 1901, 1799, 1732, 1724, 1856, 1772, 1759, 1751, 1923, 1846, 1765, 1765, 1944, 1822, 1791, 1776, 1945, 1854, 1830, 1800, 1921, 1860, 1776, 1748, 1954, 1874, 1858, 1773, 2035, 1852, 1775, 1826, 2072, 1934, 1859, 1897, 2003, 2054, 1860, 1887, 2214, 1993, 1970, 1874, 2041, 2043, 1894, 1839, 2080, 1905, 1822, 1907, 2124, 1935, 1857, 1883, 1957, 1940, 1860, 1870, 1865, 1877, 1876, 1846, 2092, 1928, 1825, 1833, 1979, 1914, 1920, 1837, 1988, 1900, 1867, 1825, 2049, 1964, 1834, 1857, 1979, 1893, 1815, 1874, 2002, 2023, 1803, 1877, 1894, 1989, 1840, 1846, 2001, 1958, 1861, 1867, 2066, 1952, 1853, 1806, 1894, 1880, 1769, 1767, 1893, 1840, 1780, 1787, 1857, 1814, 1780, 1722, 1859, 1920, 1800, 1840, 1853, 1823, 1776, 1771, 1843, 1871, 1819, 1769, 1900, 1876, 1792, 1809, 1908, 1944, 1859, 1920, 2073, 1985, 1913, 1917, 1940, 1897, 1883, 1807, 1910, 1910, 1873, 1826, 1917, 1893, 1802, 1802, 1886, 2008, 1859, 1814, 1930, 1905, 1850, 1833, 1909, 2019, 1850, 1807, 2012, 2010, 1938, 1856, 2051, 1890, 1848, 1842, 1958, 1950, 1874, 1915, 2029, 1947, 1827, 1867, 1949, 2022, 1957, 1941, 2161, 2040, 2018, 1894, 2005, 2118, 1986, 1951, 1936, 1927, 1946, 1978, 2025, 2019, 1888, 1904, 1964, 1914, 1822, 1834, 1945, 1924, 1873, 1853, 1995, 1975, 1830, 1894, 1958, 1958, 1848, 1786, 1907, 1959, 1952, 1964, 2020, 1927, 1901, 1903, 1986, 1931, 1921, 1985, 1972, 1993, 2028, 1859, 1927, 1901, 1904, 1861, 1936, 1937, 1928, 1902, 1937, 1971, 1944, 1840, 1948, 1972, 1955, 1942, 1972, 2073, 2057, 1924, 1925, 2036, 1893, 1836, 2008, 2060, 1947, 1957, 2156, 1976, 1905, 1914, 2022, 1985, 1947, 1920, 2058, 1968, 1893, 1929, 2042, 2052, 1975, 1867, 2063, 1962, 2011, 1948, 2070, 1957, 1911, 1843, 1944, 1945, 1902, 1878, 1964, 1864, 1930, 1870, 1942, 1958, 1941, 1898, 1898, 1923, 1948, 1921, 1957, 1934, 1952, 1924, 1942, 1901, 1950, 1894, 2016, 2062, 1975, 1893, 1921, 1978, 1935, 1857, 1955, 1921, 1866, 1841, 1890, 1876, 1821, 1855, 1961, 1895, 1877, 1852, 1873, 1857, 1915, 1820, 1850, 1897, 1856, 1833, 1921, 1915, 1823, 1807, 1904, 1830, 1817, 1790, 1911, 1864, 1883, 1843, 1915, 1989, 1917, 1863, 1921, 1951, 1958, 1971, 1958, 1983, 1901, 1934, 1934, 1987, 2011, 1979, 2023, 2059, 2026, 1890, 2052, 1931, 1917, 1923, 2126, 2036, 1965, 1899, 1971, 1913, 1870, 1835, 1911, 1962, 2005, 1971, 2039, 2050, 1986, 1857, 1993, 1958, 2041, 2025, 1969, 2004, 2012, 1931, 2101, 1939, 2006, 2063, 2035, 2146, 1971, 1972, 2018, 2028, 1917, 1835, 1923, 1988, 1884, 1924, 1947, 1894, 1968, 1952, 1931, 1909, 1914, 1883, 1901, 1933, 2001, 1952, 1992, 2019, 1938, 1952, 1921, 2009, 1999, 1982, 1985, 1949, 1907, 1968, 1911, 2006, 1935, 1944, 1921, 1924, 1981, 1930, 1928, 2046, 1877, 1811, 1888, 1912, 1866, 1887, 1918, 1929, 1913, 1922, 1923, 1915, 1918, 1918, 1937, 1981, 1948, 1959, 1978, 1972, 1981, 1920, 1994, 1995, 1987, 1890, 1929, 1985, 1978, 2042, 2070, 2006, 1999, 1948, 1961, 2046, 1971, 1984, 2097, 1942, 1937, 1887, 2011, 1999, 2016, 1979, 2008, 1992, 2034, 2003, 1988, 2052, 2025, 1931, 2030, 1952, 1900, 1878, 1930, 2038, 1954, 1941, 2003, 2013, 1992, 1920, 2005, 1957, 1960, 1911, 1931, 1954, 1927, 1935, 1971, 2023, 1931, 1900, 1962, 1952, 1979, 1941, 1957, 1985, 1944, 1961, 2029, 1998, 1995, 1946, 1955, 1949, 1938, 1921, 1908, 1941, 1943, 1932, 1948, 1924, 1989, 1974, 1977, 1994, 2033, 1948, 1907, 1948, 1880, 1915, 1941, 1921, 1949, 1938, 1958, 1956, 1937, 1931, 2032, 1996, 2008, 1937, 1937, 1935, 1962, 1941, 1938, 2029, 2013, 1999, 2021, 2029, 1899, 1886, 2013, 1871, 1853, 1901, 1860, 1907, 1880, 1910, 1943, 1881, 1893, 1873, 1870, 1908, 1917, 1908, 1904, 1895, 1854, 1889, 1900, 1857, 1934, 1873, 1936, 1920, 1900, 1903, 1925, 1910, 1886, 1924, 1891, 1905, 1883, 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910}; -int Bmotordata[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 2, 1, 0, 1, 1, 1, 0, 14, 12, 14, 9, 11, 16, 9, 9, 9, 16, 28, 28, 32, 42, 39, 29, 29, 45, 36, 30, 60, 102, 109, 113, 124, 154, 153, 154, 151, 172, 183, 214, 243, 288, 302, 306, 320, 336, 337, 338, 356, 420, 438, 451, 465, 501, 499, 492, 509, 519, 528, 561, 567, 611, 632, 610, 616, 638, 641, 641, 667, 705, 721, 735, 724, 772, 756, 761, 748, 773, 774, 810, 817, 849, 840, 840, 861, 858, 876, 857, 883, 917, 917, 920, 932, 954, 936, 925, 918, 963, 951, 960, 995, 1011, 1011, 1008, 1011, 1052, 1022, 1033, 1014, 1059, 1059, 1092, 1053, 1092, 1080, 1056, 1062, 1097, 1111, 1096, 1094, 1170, 1131, 1137, 1134, 1158, 1174, 1137, 1185, 1234, 1198, 1203, 1192, 1223, 1194, 1207, 1204, 1241, 1222, 1252, 1229, 1291, 1232, 1241, 1226, 1246, 1244, 1225, 1230, 1298, 1295, 1271, 1270, 1306, 1300, 1280, 1265, 1357, 1283, 1278, 1307, 1369, 1297, 1337, 1299, 1357, 1326, 1326, 1316, 1375, 1341, 1373, 1366, 1351, 1366, 1326, 1314, 1404, 1364, 1373, 1366, 1417, 1431, 1381, 1349, 1468, 1383, 1367, 1352, 1460, 1411, 1420, 1400, 1471, 1435, 1415, 1429, 1455, 1424, 1432, 1406, 1506, 1447, 1444, 1416, 1511, 1438, 1442, 1476, 1578, 1498, 1444, 1440, 1521, 1539, 1448, 1448, 1539, 1492, 1518, 1464, 1604, 1565, 1503, 1468, 1539, 1479, 1492, 1481, 1582, 1549, 1495, 1525, 1618, 1543, 1515, 1546, 1631, 1597, 1532, 1569, 1712, 1577, 1537, 1557, 1621, 1596, 1532, 1546, 1721, 1572, 1566, 1562, 1645, 1602, 1592, 1580, 1708, 1587, 1587, 1599, 1639, 1566, 1576, 1540, 1699, 1664, 1561, 1593, 1731, 1589, 1613, 1563, 1695, 1608, 1628, 1597, 1721, 1737, 1613, 1613, 1772, 1665, 1670, 1656, 1758, 1645, 1649, 1603, 1772, 1702, 1688, 1678, 1782, 1685, 1718, 1650, 1863, 1793, 1687, 1717, 1804, 1782, 1695, 1704, 1789, 1769, 1674, 1715, 1867, 1795, 1675, 1702, 1761, 1673, 1676, 1667, 1765, 1708, 1721, 1667, 1792, 1728, 1681, 1674, 1792, 1770, 1745, 1698, 1816, 1797, 1715, 1776, 1938, 1796, 1742, 1745, 1911, 1832, 1800, 1772, 1930, 1752, 1721, 1714, 1920, 1805, 1730, 1711, 1864, 1862, 1700, 1762, 1897, 1805, 1753, 1761, 1951, 1790, 1749, 1773, 1947, 1781, 1712, 1782, 1901, 1799, 1732, 1724, 1856, 1772, 1759, 1751, 1923, 1846, 1765, 1765, 1944, 1822, 1791, 1776, 1945, 1854, 1830, 1800, 1921, 1860, 1776, 1748, 1954, 1874, 1858, 1773, 2035, 1852, 1775, 1826, 2072, 1934, 1859, 1897, 2003, 2054, 1860, 1887, 2214, 1993, 1970, 1874, 2041, 2043, 1894, 1839, 2080, 1905, 1822, 1907, 2124, 1935, 1857, 1883, 1957, 1940, 1860, 1870, 1865, 1877, 1876, 1846, 2092, 1928, 1825, 1833, 1979, 1914, 1920, 1837, 1988, 1900, 1867, 1825, 2049, 1964, 1834, 1857, 1979, 1893, 1815, 1874, 2002, 2023, 1803, 1877, 1894, 1989, 1840, 1846, 2001, 1958, 1861, 1867, 2066, 1952, 1853, 1806, 1894, 1880, 1769, 1767, 1893, 1840, 1780, 1787, 1857, 1814, 1780, 1722, 1859, 1920, 1800, 1840, 1853, 1823, 1776, 1771, 1843, 1871, 1819, 1769, 1900, 1876, 1792, 1809, 1908, 1944, 1859, 1920, 2073, 1985, 1913, 1917, 1940, 1897, 1883, 1807, 1910, 1910, 1873, 1826, 1917, 1893, 1802, 1802, 1886, 2008, 1859, 1814, 1930, 1905, 1850, 1833, 1909, 2019, 1850, 1807, 2012, 2010, 1938, 1856, 2051, 1890, 1848, 1842, 1958, 1950, 1874, 1915, 2029, 1947, 1827, 1867, 1949, 2022, 1957, 1941, 2161, 2040, 2018, 1894, 2005, 2118, 1986, 1951, 1936, 1927, 1946, 1978, 2025, 2019, 1888, 1904, 1964, 1914, 1822, 1834, 1945, 1924, 1873, 1853, 1995, 1975, 1830, 1894, 1958, 1958, 1848, 1786, 1907, 1959, 1952, 1964, 2020, 1927, 1901, 1903, 1986, 1931, 1921, 1985, 1972, 1993, 2028, 1859, 1927, 1901, 1904, 1861, 1936, 1937, 1928, 1902, 1937, 1971, 1944, 1840, 1948, 1972, 1955, 1942, 1972, 2073, 2057, 1924, 1925, 2036, 1893, 1836, 2008, 2060, 1947, 1957, 2156, 1976, 1905, 1914, 2022, 1985, 1947, 1920, 2058, 1968, 1893, 1929, 2042, 2052, 1975, 1867, 2063, 1962, 2011, 1948, 2070, 1957, 1911, 1843, 1944, 1945, 1902, 1878, 1964, 1864, 1930, 1870, 1942, 1958, 1941, 1898, 1898, 1923, 1948, 1921, 1957, 1934, 1952, 1924, 1942, 1901, 1950, 1894, 2016, 2062, 1975, 1893, 1921, 1978, 1935, 1857, 1955, 1921, 1866, 1841, 1890, 1876, 1821, 1855, 1961, 1895, 1877, 1852, 1873, 1857, 1915, 1820, 1850, 1897, 1856, 1833, 1921, 1915, 1823, 1807, 1904, 1830, 1817, 1790, 1911, 1864, 1883, 1843, 1915, 1989, 1917, 1863, 1921, 1951, 1958, 1971, 1958, 1983, 1901, 1934, 1934, 1987, 2011, 1979, 2023, 2059, 2026, 1890, 2052, 1931, 1917, 1923, 2126, 2036, 1965, 1899, 1971, 1913, 1870, 1835, 1911, 1962, 2005, 1971, 2039, 2050, 1986, 1857, 1993, 1958, 2041, 2025, 1969, 2004, 2012, 1931, 2101, 1939, 2006, 2063, 2035, 2146, 1971, 1972, 2018, 2028, 1917, 1835, 1923, 1988, 1884, 1924, 1947, 1894, 1968, 1952, 1931, 1909, 1914, 1883, 1901, 1933, 2001, 1952, 1992, 2019, 1938, 1952, 1921, 2009, 1999, 1982, 1985, 1949, 1907, 1968, 1911, 2006, 1935, 1944, 1921, 1924, 1981, 1930, 1928, 2046, 1877, 1811, 1888, 1912, 1866, 1887, 1918, 1929, 1913, 1922, 1923, 1915, 1918, 1918, 1937, 1981, 1948, 1959, 1978, 1972, 1981, 1920, 1994, 1995, 1987, 1890, 1929, 1985, 1978, 2042, 2070, 2006, 1999, 1948, 1961, 2046, 1971, 1984, 2097, 1942, 1937, 1887, 2011, 1999, 2016, 1979, 2008, 1992, 2034, 2003, 1988, 2052, 2025, 1931, 2030, 1952, 1900, 1878, 1930, 2038, 1954, 1941, 2003, 2013, 1992, 1920, 2005, 1957, 1960, 1911, 1931, 1954, 1927, 1935, 1971, 2023, 1931, 1900, 1962, 1952, 1979, 1941, 1957, 1985, 1944, 1961, 2029, 1998, 1995, 1946, 1955, 1949, 1938, 1921, 1908, 1941, 1943, 1932, 1948, 1924, 1989, 1974, 1977, 1994, 2033, 1948, 1907, 1948, 1880, 1915, 1941, 1921, 1949, 1938, 1958, 1956, 1937, 1931, 2032, 1996, 2008, 1937, 1937, 1935, 1962, 1941, 1938, 2029, 2013, 1999, 2021, 2029, 1899, 1886, 2013, 1871, 1853, 1901, 1860, 1907, 1880, 1910, 1943, 1881, 1893, 1873, 1870, 1908, 1917, 1908, 1904, 1895, 1854, 1889, 1900, 1857, 1934, 1873, 1936, 1920, 1900, 1903, 1925, 1910, 1886, 1924, 1891, 1905, 1883, 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910}; -int Cmotordata[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 2, 1, 0, 1, 1, 1, 0, 14, 12, 14, 9, 11, 16, 9, 9, 9, 16, 28, 28, 32, 42, 39, 29, 29, 45, 36, 30, 60, 102, 109, 113, 124, 154, 153, 154, 151, 172, 183, 214, 243, 288, 302, 306, 320, 336, 337, 338, 356, 420, 438, 451, 465, 501, 499, 492, 509, 519, 528, 561, 567, 611, 632, 610, 616, 638, 641, 641, 667, 705, 721, 735, 724, 772, 756, 761, 748, 773, 774, 810, 817, 849, 840, 840, 861, 858, 876, 857, 883, 917, 917, 920, 932, 954, 936, 925, 918, 963, 951, 960, 995, 1011, 1011, 1008, 1011, 1052, 1022, 1033, 1014, 1059, 1059, 1092, 1053, 1092, 1080, 1056, 1062, 1097, 1111, 1096, 1094, 1170, 1131, 1137, 1134, 1158, 1174, 1137, 1185, 1234, 1198, 1203, 1192, 1223, 1194, 1207, 1204, 1241, 1222, 1252, 1229, 1291, 1232, 1241, 1226, 1246, 1244, 1225, 1230, 1298, 1295, 1271, 1270, 1306, 1300, 1280, 1265, 1357, 1283, 1278, 1307, 1369, 1297, 1337, 1299, 1357, 1326, 1326, 1316, 1375, 1341, 1373, 1366, 1351, 1366, 1326, 1314, 1404, 1364, 1373, 1366, 1417, 1431, 1381, 1349, 1468, 1383, 1367, 1352, 1460, 1411, 1420, 1400, 1471, 1435, 1415, 1429, 1455, 1424, 1432, 1406, 1506, 1447, 1444, 1416, 1511, 1438, 1442, 1476, 1578, 1498, 1444, 1440, 1521, 1539, 1448, 1448, 1539, 1492, 1518, 1464, 1604, 1565, 1503, 1468, 1539, 1479, 1492, 1481, 1582, 1549, 1495, 1525, 1618, 1543, 1515, 1546, 1631, 1597, 1532, 1569, 1712, 1577, 1537, 1557, 1621, 1596, 1532, 1546, 1721, 1572, 1566, 1562, 1645, 1602, 1592, 1580, 1708, 1587, 1587, 1599, 1639, 1566, 1576, 1540, 1699, 1664, 1561, 1593, 1731, 1589, 1613, 1563, 1695, 1608, 1628, 1597, 1721, 1737, 1613, 1613, 1772, 1665, 1670, 1656, 1758, 1645, 1649, 1603, 1772, 1702, 1688, 1678, 1782, 1685, 1718, 1650, 1863, 1793, 1687, 1717, 1804, 1782, 1695, 1704, 1789, 1769, 1674, 1715, 1867, 1795, 1675, 1702, 1761, 1673, 1676, 1667, 1765, 1708, 1721, 1667, 1792, 1728, 1681, 1674, 1792, 1770, 1745, 1698, 1816, 1797, 1715, 1776, 1938, 1796, 1742, 1745, 1911, 1832, 1800, 1772, 1930, 1752, 1721, 1714, 1920, 1805, 1730, 1711, 1864, 1862, 1700, 1762, 1897, 1805, 1753, 1761, 1951, 1790, 1749, 1773, 1947, 1781, 1712, 1782, 1901, 1799, 1732, 1724, 1856, 1772, 1759, 1751, 1923, 1846, 1765, 1765, 1944, 1822, 1791, 1776, 1945, 1854, 1830, 1800, 1921, 1860, 1776, 1748, 1954, 1874, 1858, 1773, 2035, 1852, 1775, 1826, 2072, 1934, 1859, 1897, 2003, 2054, 1860, 1887, 2214, 1993, 1970, 1874, 2041, 2043, 1894, 1839, 2080, 1905, 1822, 1907, 2124, 1935, 1857, 1883, 1957, 1940, 1860, 1870, 1865, 1877, 1876, 1846, 2092, 1928, 1825, 1833, 1979, 1914, 1920, 1837, 1988, 1900, 1867, 1825, 2049, 1964, 1834, 1857, 1979, 1893, 1815, 1874, 2002, 2023, 1803, 1877, 1894, 1989, 1840, 1846, 2001, 1958, 1861, 1867, 2066, 1952, 1853, 1806, 1894, 1880, 1769, 1767, 1893, 1840, 1780, 1787, 1857, 1814, 1780, 1722, 1859, 1920, 1800, 1840, 1853, 1823, 1776, 1771, 1843, 1871, 1819, 1769, 1900, 1876, 1792, 1809, 1908, 1944, 1859, 1920, 2073, 1985, 1913, 1917, 1940, 1897, 1883, 1807, 1910, 1910, 1873, 1826, 1917, 1893, 1802, 1802, 1886, 2008, 1859, 1814, 1930, 1905, 1850, 1833, 1909, 2019, 1850, 1807, 2012, 2010, 1938, 1856, 2051, 1890, 1848, 1842, 1958, 1950, 1874, 1915, 2029, 1947, 1827, 1867, 1949, 2022, 1957, 1941, 2161, 2040, 2018, 1894, 2005, 2118, 1986, 1951, 1936, 1927, 1946, 1978, 2025, 2019, 1888, 1904, 1964, 1914, 1822, 1834, 1945, 1924, 1873, 1853, 1995, 1975, 1830, 1894, 1958, 1958, 1848, 1786, 1907, 1959, 1952, 1964, 2020, 1927, 1901, 1903, 1986, 1931, 1921, 1985, 1972, 1993, 2028, 1859, 1927, 1901, 1904, 1861, 1936, 1937, 1928, 1902, 1937, 1971, 1944, 1840, 1948, 1972, 1955, 1942, 1972, 2073, 2057, 1924, 1925, 2036, 1893, 1836, 2008, 2060, 1947, 1957, 2156, 1976, 1905, 1914, 2022, 1985, 1947, 1920, 2058, 1968, 1893, 1929, 2042, 2052, 1975, 1867, 2063, 1962, 2011, 1948, 2070, 1957, 1911, 1843, 1944, 1945, 1902, 1878, 1964, 1864, 1930, 1870, 1942, 1958, 1941, 1898, 1898, 1923, 1948, 1921, 1957, 1934, 1952, 1924, 1942, 1901, 1950, 1894, 2016, 2062, 1975, 1893, 1921, 1978, 1935, 1857, 1955, 1921, 1866, 1841, 1890, 1876, 1821, 1855, 1961, 1895, 1877, 1852, 1873, 1857, 1915, 1820, 1850, 1897, 1856, 1833, 1921, 1915, 1823, 1807, 1904, 1830, 1817, 1790, 1911, 1864, 1883, 1843, 1915, 1989, 1917, 1863, 1921, 1951, 1958, 1971, 1958, 1983, 1901, 1934, 1934, 1987, 2011, 1979, 2023, 2059, 2026, 1890, 2052, 1931, 1917, 1923, 2126, 2036, 1965, 1899, 1971, 1913, 1870, 1835, 1911, 1962, 2005, 1971, 2039, 2050, 1986, 1857, 1993, 1958, 2041, 2025, 1969, 2004, 2012, 1931, 2101, 1939, 2006, 2063, 2035, 2146, 1971, 1972, 2018, 2028, 1917, 1835, 1923, 1988, 1884, 1924, 1947, 1894, 1968, 1952, 1931, 1909, 1914, 1883, 1901, 1933, 2001, 1952, 1992, 2019, 1938, 1952, 1921, 2009, 1999, 1982, 1985, 1949, 1907, 1968, 1911, 2006, 1935, 1944, 1921, 1924, 1981, 1930, 1928, 2046, 1877, 1811, 1888, 1912, 1866, 1887, 1918, 1929, 1913, 1922, 1923, 1915, 1918, 1918, 1937, 1981, 1948, 1959, 1978, 1972, 1981, 1920, 1994, 1995, 1987, 1890, 1929, 1985, 1978, 2042, 2070, 2006, 1999, 1948, 1961, 2046, 1971, 1984, 2097, 1942, 1937, 1887, 2011, 1999, 2016, 1979, 2008, 1992, 2034, 2003, 1988, 2052, 2025, 1931, 2030, 1952, 1900, 1878, 1930, 2038, 1954, 1941, 2003, 2013, 1992, 1920, 2005, 1957, 1960, 1911, 1931, 1954, 1927, 1935, 1971, 2023, 1931, 1900, 1962, 1952, 1979, 1941, 1957, 1985, 1944, 1961, 2029, 1998, 1995, 1946, 1955, 1949, 1938, 1921, 1908, 1941, 1943, 1932, 1948, 1924, 1989, 1974, 1977, 1994, 2033, 1948, 1907, 1948, 1880, 1915, 1941, 1921, 1949, 1938, 1958, 1956, 1937, 1931, 2032, 1996, 2008, 1937, 1937, 1935, 1962, 1941, 1938, 2029, 2013, 1999, 2021, 2029, 1899, 1886, 2013, 1871, 1853, 1901, 1860, 1907, 1880, 1910, 1943, 1881, 1893, 1873, 1870, 1908, 1917, 1908, 1904, 1895, 1854, 1889, 1900, 1857, 1934, 1873, 1936, 1920, 1900, 1903, 1925, 1910, 1886, 1924, 1891, 1905, 1883, 1854, 1918, 1860, 1912, 1879, 1913, 1898, 1905, 1874, 1893, 1870, 1910}; - -int AneedRPM = 0; -int BneedRPM = 0; -int CneedRPM = 0; - - -//kiwidrive -double dirA = 0.00; -double dirB = 0.00; -double dirC = 0.00; -double spdA = 0.00; -double spdB = 0.00; -double spdC = 0.00; -double dirrad = 0.00; -double pi = 3.1415926535897; - -//encoder -double Arpm = 0.00; -volatile long Aencount = 0; -unsigned long ALtime = 0; -unsigned long ACtime = 0; -unsigned long APtime = 0; -double Brpm = 0.00; -volatile long Bencount = 0; -unsigned long BLtime = 0; -unsigned long BCtime = 0; -unsigned long BPtime = 0; -double Crpm = 0.00; -volatile long Cencount = 0; -unsigned long CLtime = 0; -unsigned long CCtime = 0; -unsigned long CPtime = 0; - -//softPWM -volatile int PWMval1 = 0; // PWM m1enA value 0-100 -volatile int PWMval2 = 0; // PWM m2enA value 0-100 -volatile int PWMval3 = 0; // PWM m3enA value 0-100 - - -Adafruit_MCP23X17 mcp2; - -void setup(){ - if (!mcp2.begin_I2C(0x22)) { - Serial.println("Error initializing MCP23017 at 0x22."); - //while (1); - } - // set all the motor control pins - mcp2.pinMode(m1enA, OUTPUT); - mcp2.pinMode(m1enB, OUTPUT); - mcp2.pinMode(m2enA, OUTPUT); - mcp2.pinMode(m2enB, OUTPUT); - mcp2.pinMode(m3enA, OUTPUT); - mcp2.pinMode(m3enB, OUTPUT); - mcp2.pinMode(m1pwm1, OUTPUT); - mcp2.pinMode(m1pwm2, OUTPUT); - mcp2.pinMode(m2pwm1, OUTPUT); - mcp2.pinMode(m2pwm2, OUTPUT); - mcp2.pinMode(m3pwm1, OUTPUT); - mcp2.pinMode(m3pwm2, OUTPUT); - - //set encoder pins - mcp2.pinMode(m1encA, INPUT); - mcp2.pinMode(m1encB, INPUT); - mcp2.pinMode(m2encA, INPUT); - mcp2.pinMode(m2encB, INPUT); - pinMode(m3encA, INPUT); - pinMode(m3encB, INPUT); - attachInterrupt(digitalPinToInterrupt(m1encA), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m1encB), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encA), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encB), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encA), CencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encB), CencoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM1); - Timer3.attachInterrupt(updatePWM2); - Timer3.attachInterrupt(updatePWM3); - -} -void updatePWM1() { - static int counter1 = 0; - - if (counter1 < PWMval1) { - mcp2.digitalWrite(m1enA, HIGH); - } else { - mcp2.digitalWrite(m1enA, LOW); - } - - counter1++; - if (counter1 >= 100) { - counter1 = 0; - } -} -void updatePWM2() { - static int counter2 = 0; - - if (counter2 < PWMval2) { - mcp2.digitalWrite(m2enA, HIGH); - } else { - mcp2.digitalWrite(m2enA, LOW); - } - - counter2++; - if (counter2 >= 100) { - counter2 = 0; - } -} -void updatePWM3() { - static int counter3 = 0; - - if (counter3 < PWMval3) { - mcp2.digitalWrite(m3enA, HIGH); - } else { - mcp2.digitalWrite(m3enA, LOW); - } - - counter3++; - if (counter3 >= 100) { - counter3 = 0; - } -} -void mcpsoftpwm(int pin, int vall){ - //M1enA = 3 = GPA3 - //M2enA = 7 = GPA7 - //M3enA = 11 = GPB3 - Serial.print("softPWM pin: "); - Serial.print(pin); - Serial.print(", value: "); - Serial.println(vall); - if (pin = 3){ - PWMval1 = vall; - Serial.print("Motor 1 enA PWM set"); - } - if (pin = 7){ - PWMval2 = vall; - Serial.print("Motor 2 enA PWM set"); - } - if (pin = 11){ - PWMval3 = vall; - Serial.print("Motor 3 enA PWM set"); - } - -} -void AencoderISR() { - Aencount++; -} -void BencoderISR() { - Bencount++; -} -void CencoderISR() { - Cencount++; -} -void Areadenc() { - ACtime = micros(); - APtime = ACtime - ALtime; - ALtime = ACtime; - Arpm = (Aencount / 211.2) * (60000000.0 / APtime); - Serial.print("Motor A RPM: "); - Serial.print(Arpm); - Serial.print(" Sample period:"); - Serial.print(APtime); - Serial.print("ms, encoder count:"); - Serial.println(Aencount); - Aencount = 0; -} -void Breadenc() { - BCtime = micros(); - BPtime = BCtime - BLtime; - BLtime = BCtime; - Brpm = (Bencount / 211.2) * (60000000.0 / BPtime); - Serial.print("Motor B RPM: "); - Serial.print(Brpm); - Serial.print(" Sample period: "); - Serial.print(BPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Bencount); - Bencount = 0; -} -void Creadenc() { - CCtime = micros(); - CPtime = CCtime - CLtime; - CLtime = CCtime; - Crpm = (Cencount / 211.2) * (60000000.0 / CPtime); - Serial.print("Motor C RPM: "); - Serial.print(Crpm); - Serial.print(" Sample period: "); - Serial.print(CPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Cencount); - Cencount = 0; -} -void Aresetenc(){ - ACtime = micros(); - ALtime = ACtime; - Aencount = 0; -} -void Bresetenc(){ - BCtime = micros(); - BLtime = BCtime; - Bencount = 0; -} -void Cresetenc(){ - CCtime = micros(); - CLtime = CCtime; - Cencount = 0; -} -void Amove(double Rsped) { - double sped = nearest(Rsped, Amotordata, ArrayElementCount(Amotordata)); - spdA = abs(sped) * 0.1; - mcpsoftpwm(m1enA, spdA); - mcp2.digitalWrite(m1enB, LOW); - if (sped < 0) { - Serial.print("Motor A back "); - mcp2.digitalWrite(m1pwm1, LOW); - mcp2.digitalWrite(m1pwm2, HIGH); - } else { - Serial.print("Motor A forward "); - mcp2.digitalWrite(m1pwm1, HIGH); - mcp2.digitalWrite(m1pwm2, LOW); - } - Serial.println(spdA); -} -void Bmove(double Rsped) { - double sped = nearest(Rsped, Bmotordata, ArrayElementCount(Bmotordata)); - spdB = abs(sped) * 0.1; - mcpsoftpwm(m2enA, spdB); - mcp2.digitalWrite(m2enB, LOW); - if (sped < 0) { - Serial.print("Motor B back "); - mcp2.digitalWrite(m2pwm1, LOW); - mcp2.digitalWrite(m2pwm2, HIGH); - } else { - Serial.print("Motor B forward "); - mcp2.digitalWrite(m2pwm1, HIGH); - mcp2.digitalWrite(m2pwm2, LOW); - } - Serial.println(spdB); -} -void Cmove(double Rsped) { - double sped = nearest(Rsped, Cmotordata, ArrayElementCount(Cmotordata)); - spdC = abs(sped) * 0.1; - mcpsoftpwm(m3enA, spdC); - mcp2.digitalWrite(m3enB, LOW); - if (sped < 0) { - Serial.print("Motor C back "); - mcp2.digitalWrite(m3pwm1, LOW); - mcp2.digitalWrite(m3pwm2, HIGH); - } else { - Serial.print("Motor C forward "); - mcp2.digitalWrite(m3pwm1, HIGH); - mcp2.digitalWrite(m3pwm2, LOW); - } - Serial.println(spdC); -} - -void moveohmi(int speed, int direction){ - Amove(0); - Bmove(0); - Cmove(0); - - double dirrad = (direction*71.0000) / 4068.0000; - Serial.println(dirrad); - //vector ontb in x en y - double y = sin(dirrad); - double x = cos(dirrad); - Serial.println((String)"x:"+x+" y:"+y); - double spdeA = y*speed; - double spdeB = (-0.500*x - 0.8660054*y)*speed; - double spdeC = (-0.500*x + 0.8660054*y)*speed; - Amove(spdeA); - Bmove(spdeB); - Cmove(spdeC); - Serial.println(); - Serial.println(); -} -void rotate(int rodeg, int speed){ - //use compas heading - //inacurate compas data -} -void demo(){ - Amove(sp); - Bmove(sp); - Cmove(sp); - Serial.println("seperate A B C rotation"); - delay(1000); - - Amove(0); - Bmove(0); - Cmove(0); - Serial.println("seperate A B C stop"); - delay(1000); - - Amove(-sp); - Bmove(-sp); - Cmove(-sp); - Serial.println("seperate A B C -rotation"); - delay(1000); - - moveohmi(0, 0); - Serial.println("ohmi stop"); - delay(1000); - - rotate(90, sp); - Serial.println("rotation function 90deg"); - rotate(90, sp); - Serial.println("rotation function -90deg"); - delay(1000); - - moveohmi(sp, 35); - Serial.println("ohmi move 35deg"); - delay(1000); - - moveohmi(sp, 240); - Serial.println("ohmi move 215deg"); - delay(1000); - - for(int i = 0; i<360; i++){ - moveohmi(sp, i); - Serial.println(i); - delay(50); - } - Serial.println("ohmi move circle"); - delay(1000); -} -void loop(){ - demo(); - delay(100); - -} -int nearest(int x, int myArray[], int elements) -{ - //https://forum.arduino.cc/t/search-for-nearest-number-in-an-array-help/245843/5 - int idx = 0; // by default near first element - - int distance = abs(myArray[idx] - x); - for (int i = 1; i < elements; i++) - { - int d = abs(myArray[i] - x); - if (d < distance) - { - idx = i; - distance = d; - } - } - return idx; -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/nomultiplexer/nomultiplexer.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/nomultiplexer/nomultiplexer.ino deleted file mode 100644 index f6f839c..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/nomultiplexer/nomultiplexer.ino +++ /dev/null @@ -1,254 +0,0 @@ -//moveohmi = https://robotics.stackexchange.com/questions/7829/how-to-program-a-three-wheel-omni -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 -// -// motor one/A front -int m1enA = 1; -int m1enB = 2; -int m1pwm1 = 3; -int m1pwm2 = 4; -int m1encA = 13; -int m1encB = 14; -// motor two/B left -int m2enA = 5; -int m2enB = 6; -int m2pwm1 = 7; -int m2pwm2 = 8; -int m2encA = 15; -int m2encB = 16; -// motor three/C right -int m3enA = 9; -int m3enB = 10; -int m3pwm1 = 11; -int m3pwm2 = 12; -int m3encA = 17; -int m3encB = 18; - -double sp = 1.000; //speed in 0-1 - -double dirA = 0.00; -double dirB = 0.00; -double dirC = 0.00; -double spdA = 0.00; -double spdB = 0.00; -double spdC = 0.00; -double dirrad = 0.00; -double pi = 3.1415926535897; - -double Arpm = 0.00; -volatile long Aencount = 0; -unsigned long ALtime = 0; -unsigned long ACtime = 0; -unsigned long APtime = 0; -double Brpm = 0.00; -volatile long Bencount = 0; -unsigned long BLtime = 0; -unsigned long BCtime = 0; -unsigned long BPtime = 0; -double Crpm = 0.00; -volatile long Cencount = 0; -unsigned long CLtime = 0; -unsigned long CCtime = 0; -unsigned long CPtime = 0; - -void setup() -{ - // set all the motor control pins to outputs - pinMode(m1enA, OUTPUT); - pinMode(m1enB, OUTPUT); - pinMode(m2enA, OUTPUT); - pinMode(m2enB, OUTPUT); - pinMode(m3enA, OUTPUT); - pinMode(m3enB, OUTPUT); - - pinMode(m1pwm1, OUTPUT); - pinMode(m1pwm2, OUTPUT); - pinMode(m2pwm1, OUTPUT); - pinMode(m2pwm2, OUTPUT); - pinMode(m3pwm1, OUTPUT); - pinMode(m3pwm2, OUTPUT); - - //set encoder pins to input - pinMode(m1encA, INPUT); - pinMode(m1encB, INPUT); - pinMode(m2encA, INPUT); - pinMode(m2encB, INPUT); - pinMode(m3encA, INPUT); - pinMode(m3encB, INPUT); - attachInterrupt(digitalPinToInterrupt(m1encA), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m1encB), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encA), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encB), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encA), CencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encB), CencoderISR, CHANGE); -} - -void AencoderISR() { - Aencount++; -} -void BencoderISR() { - Bencount++; -} -void CencoderISR() { - Cencount++; -} -void Areadenc() { - ACtime = micros(); - APtime = ACtime - ALtime; - ALtime = ACtime; - Arpm = (Aencount / 211.2) * (60000000.0 / APtime); - Serial.print("Motor A RPM: "); - Serial.print(Arpm); - Serial.print(" Sample period:"); - Serial.print(APtime); - Serial.print("ms, encoder count:"); - Serial.println(Aencount); - Aencount = 0; -} -void Breadenc() { - BCtime = micros(); - BPtime = BCtime - BLtime; - BLtime = BCtime; - Brpm = (Bencount / 211.2) * (60000000.0 / BPtime); - Serial.print("Motor B RPM: "); - Serial.print(Brpm); - Serial.print(" Sample period: "); - Serial.print(BPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Bencount); - Bencount = 0; -} -void Creadenc() { - CCtime = micros(); - CPtime = CCtime - CLtime; - CLtime = CCtime; - Crpm = (Cencount / 211.2) * (60000000.0 / CPtime); - Serial.print("Motor C RPM: "); - Serial.print(Crpm); - Serial.print(" Sample period: "); - Serial.print(CPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Cencount); - Cencount = 0; -} - -void Amove(double sped) { - spdA = abs(sped) * 255.000; - analogWrite(m1enA, spdA); - digitalWrite(m1enB, LOW); - if (sped < 0) { - Serial.print("Motor A back "); - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, HIGH); - } else { - Serial.print("Motor A forward "); - digitalWrite(m1pwm1, HIGH); - digitalWrite(m1pwm2, LOW); - } - Serial.println(spdA); -} -void Bmove(double sped) { - spdB = abs(sped) * 255.000; - analogWrite(m2enA, spdB); - digitalWrite(m2enB, LOW); - if (sped < 0) { - Serial.print("Motor B back "); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, HIGH); - } else { - Serial.print("Motor B forward "); - digitalWrite(m2pwm1, HIGH); - digitalWrite(m2pwm2, LOW); - } - Serial.println(spdB); -} -void Cmove(double sped) { - spdC = abs(sped) * 255.000; - analogWrite(m3enA, spdC); - digitalWrite(m3enB, LOW); - if (sped < 0) { - Serial.print("Motor C back "); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, HIGH); - } else { - Serial.print("Motor C forward "); - digitalWrite(m3pwm1, HIGH); - digitalWrite(m3pwm2, LOW); - } - Serial.println(spdC); -} - - -void moveohmi(int speed, int direction){ - Amove(0); - Bmove(0); - Cmove(0); - - double dirrad = (direction*71.0000) / 4068.0000; - Serial.println(dirrad); - //vector ontb in x en y - double y = sin(dirrad); - double x = cos(dirrad); - Serial.println((String)"x:"+x+" y:"+y); - double spdeA = y*speed; - double spdeB = (-0.500*x - 0.8660054*y)*speed; - double spdeC = (-0.500*x + 0.8660054*y)*speed; - Amove(spdeA); - Bmove(spdeB); - Cmove(spdeC); - Serial.println(); - Serial.println(); -} -void rotate(int rodeg, int speed){ -//use compas heading -} -void demo(){ - Amove(sp); - Bmove(sp); - Cmove(sp); - Serial.println("seperate A B C rotation"); - delay(1000); - - Amove(0); - Bmove(0); - Cmove(0); - Serial.println("seperate A B C stop"); - delay(1000); - - Amove(-sp); - Bmove(-sp); - Cmove(-sp); - Serial.println("seperate A B C -rotation"); - delay(1000); - - moveohmi(0, 0); - Serial.println("ohmi stop"); - delay(1000); - - rotate(90, sp); - Serial.println("rotation function 90deg"); - rotate(90, sp); - Serial.println("rotation function -90deg"); - delay(1000); - - moveohmi(sp, 35); - Serial.println("ohmi move 35deg"); - delay(1000); - - moveohmi(sp, 240); - Serial.println("ohmi move 215deg"); - delay(1000); - - for(int i = 0; i<360; i++){ - moveohmi(sp, i); - Serial.println(i); - delay(50); - } - Serial.println("ohmi move circle"); - delay(1000); -} -void loop(){ - demo(); - delay(100); - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/onemotor/onemotor.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/onemotor/onemotor.ino deleted file mode 100644 index 8833a51..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/onemotor/onemotor.ino +++ /dev/null @@ -1,81 +0,0 @@ -int enA = 27; -int enB = 26; -int pwm1 = 24; -int pwm2 = 25; -int encoA = 5; -int encoB = 6; -int speed = 1; // speed 0-1 - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - pinMode(LED_BUILTIN, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - digitalWrite(LED_BUILTIN, HIGH); - - Serial.begin(9600); -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - Serial.print("RPM: "); - Serial.print(rpm); - Serial.print(" Sample period:"); - Serial.print(Ptime); - Serial.print("ms, encoder count:"); - Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*255; - analogWrite(enA, sp); - digitalWrite(enB, LOW); - if (sped < 0) { - Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - Serial.println(sp); -} - -void loop() { - move(speed); - digitalWrite(enA, HIGH); - digitalWrite(enB, LOW); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - delay(1000); - readenc(); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/onemotor_softPWM/onemotor_softPWM.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/onemotor_softPWM/onemotor_softPWM.ino deleted file mode 100644 index 2f57d59..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/onemotor_softPWM/onemotor_softPWM.ino +++ /dev/null @@ -1,126 +0,0 @@ -#include <TimerThree.h> - -int enA = 1; //PWM pin -int enB = 2; //GND -int pwm1 = 3; // -int pwm2 = 4; -int encoA = 5; -int encoB = 6; - -int speed = 1000; // speed 0-1 - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-100 - - -void setup() { - pinMode(enA, OUTPUT); - pinMode(enB, OUTPUT); - pinMode(pwm1, OUTPUT); - pinMode(pwm2, OUTPUT); - - pinMode(encoA, INPUT_PULLUP); - pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); - - Serial.begin(9600); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(enA, HIGH); - } else { - digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value); - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - Serial.print("RPM: "); - Serial.print(rpm); - Serial.print(" Sample period:"); - Serial.print(Ptime); - Serial.print("ms, encoder count:"); - Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*0.1; - mcpsoftpwm(sp); - digitalWrite(enB, LOW); - if (sped < 0) { - Serial.print("back "); - digitalWrite(pwm1, LOW); - digitalWrite(pwm2, HIGH); - } else { - Serial.print("forward "); - digitalWrite(pwm1, HIGH); - digitalWrite(pwm2, LOW); - } - Serial.println(sp); -} - -void loop() { - move(speed); - delay(1000); - readenc(); - delay(1000); - - Serial.println(); - - move(0); - delay(1000); - resetenc(); - delay(1000); - readenc(); - delay(1000); - - Serial.println(); - - move(500); - delay(1000); - readenc(); - delay(1000); - - Serial.println(); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/onemotor_softPWM_multiplexer/onemotor_softPWM_multiplexer.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/onemotor_softPWM_multiplexer/onemotor_softPWM_multiplexer.ino deleted file mode 100644 index 5c8ff2a..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/onemotor_softPWM_multiplexer/onemotor_softPWM_multiplexer.ino +++ /dev/null @@ -1,128 +0,0 @@ -#include <TimerThree.h> -#include <Adafruit_MCP23X17.h> - -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 -//https://ww1.microchip.com/downloads/en/devicedoc/20001952c.pdf - -Adafruit_MCP23X17 mcp; - -int enA = 0; // GPA0 -PWM -int enB = 1; // GPA1 -GND -int pwm1 = 2; // GPA2 -HIGH/LOW -int pwm2 = 3; // GPA3 -HIGH/LOW -int encoA = 4; // GPA4 -read -int encoB = 5; // GPA5 -read - -int speed = 100; // speed 0-1 - -double sp = 0.00; -double rpm = 0.00; -volatile long encount = 0; -unsigned long Ltime = 0; -unsigned long Ctime = 0; -unsigned long Ptime = 0; - -volatile int PWMval = 0; // PWM value 0-100 - - -void setup() { - Serial.begin(9600); - if (!mcp.begin_I2C(0x20)) { - Serial.println("Error initializing MCP23017 at 0x20."); - while (1); - } - - mcp.pinMode(enA, OUTPUT); - mcp.pinMode(enB, OUTPUT); - mcp.pinMode(pwm1, OUTPUT); - mcp.pinMode(pwm2, OUTPUT); - - mcp.pinMode(encoA, INPUT_PULLUP); - mcp.pinMode(encoB, INPUT_PULLUP); - - attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - mcp.digitalWrite(enA, HIGH); - } else { - mcp.digitalWrite(enA, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - Serial.print("softPWM pin: enA, value: "); - Serial.println(value); - PWMval = value; -} - -void encoderISR() { - encount++; -} - -void readenc() { - Ctime = micros(); - Ptime = Ctime - Ltime; - Ltime = Ctime; - rpm = (encount / 211.2) * (60000000.0 / Ptime); - Serial.print("RPM: "); - Serial.print(rpm); - Serial.print(" Sample period:"); - Serial.print(Ptime); - Serial.print("ms, encoder count:"); - Serial.println(encount); - - encount = 0; -} -void resetenc(){ - Ctime = micros(); - Ltime = Ctime; - encount = 0; -} - -void move(int sped) { - sp = abs(sped)*1; - mcpsoftpwm(sp); - mcp.digitalWrite(enB, LOW); - if (sped < 0) { - Serial.print("back "); - mcp.digitalWrite(pwm1, LOW); - mcp.digitalWrite(pwm2, HIGH); - } else { - Serial.print("forward "); - mcp.digitalWrite(pwm1, HIGH); - mcp.digitalWrite(pwm2, LOW); - } - Serial.println(sp); -} - -void loop() { - move(speed); - delay(1000); - readenc(); - - - move(0); - resetenc(); - delay(1000); - readenc(); - - move(-speed); - delay(1000); - readenc(); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/softPWM/softPWM.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/softPWM/softPWM.ino deleted file mode 100644 index ab74715..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/softPWM/softPWM.ino +++ /dev/null @@ -1,46 +0,0 @@ -#include <TimerThree.h> -#include <Arduino.h> - -int pwmPin = 3; - -volatile int PWMval = 0; // PWM value 0-100 - -void setup() { - pinMode(pwmPin, OUTPUT); - Serial.begin(9600); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM); -} - -void updatePWM() { - static int counter = 0; - - if (counter < PWMval) { - digitalWrite(pwmPin, HIGH); - } else { - digitalWrite(pwmPin, LOW); - } - - counter++; - if (counter >= 100) { - counter = 0; - } -} - -void mcpsoftpwm(int value) { - if (value < 0) value = 0; - if (value > 100) value = 100; - - Serial.print("softPWM pin: 3, value: "); - Serial.println(value); - PWMval = value; -} - -void loop() { - mcpsoftpwm(100); // Set PWM to 100% - delay(1000); - mcpsoftpwm(50); // Set PWM to 50% - delay(1000); - Serial.println("loop"); -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/tree_motor_calibration/tree_motor_calibration.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/tree_motor_calibration/tree_motor_calibration.ino deleted file mode 100644 index 4608903..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/motordriver/tree_motor_calibration/tree_motor_calibration.ino +++ /dev/null @@ -1,427 +0,0 @@ -#include <TimerThree.h> -#include <Adafruit_MCP23X17.h> -#include <SD.h> -#include <SPI.h> - -//https://www.pololu.com/product/2997 -//https://www.pololu.com/product/4861 -//https://ww1.microchip.com/downloads/en/devicedoc/20001952c.pdf - -// motor one/A front -#define m1enA 3 // GPA3 PWM1 -#define m1enB 2 // GPA2 -#define m1pwm1 0 // GPA0 -#define m1pwm2 1 // GPA1 -#define m1encA 12 // GPB4 -#define m1encB 13 // GPB5 -// motor two/B left -#define m2enA 7 // GPA7 PWM2 -#define m2enB 6 // GPA6 -#define m2pwm1 4 // GPA4 -#define m2pwm2 5 // GPA5 -#define m2encA 14 // GPB6 -#define m2encB 15 // GPB7 -// motor three/C right -#define m3enA 11 // GPB3 PWM3 -#define m3enB 10 // GPB2 -#define m3pwm1 8 // GPB0 -#define m3pwm2 9 // GPB1 -#define m3encA 24 // teensy port 24 -#define m3encB 9 // teensy port 9 - -const int maxspeed = 1000; - -double sp = 0.00; -//encoder -double Arpm = 0.00; -volatile long Aencount = 0; -unsigned long ALtime = 0; -unsigned long ACtime = 0; -unsigned long APtime = 0; -double Brpm = 0.00; -volatile long Bencount = 0; -unsigned long BLtime = 0; -unsigned long BCtime = 0; -unsigned long BPtime = 0; -double Crpm = 0.00; -volatile long Cencount = 0; -unsigned long CLtime = 0; -unsigned long CCtime = 0; -unsigned long CPtime = 0; - -//kiwidrive -double dirA = 0.00; -double dirB = 0.00; -double dirC = 0.00; -double spdA = 0.00; -double spdB = 0.00; -double spdC = 0.00; -double dirrad = 0.00; -double pi = 3.1415926535897; - -//softPWM -volatile int PWMval1 = 0; // PWM m1enA value 0-100 -volatile int PWMval2 = 0; // PWM m2enA value 0-100 -volatile int PWMval3 = 0; // PWM m3enA value 0-100 - -volatile int PWMval = 0; // PWM value 0-100 -File ; -File avrage; -Sd2Card card; -SdVolume volume; -SdFile root; -const int chipSelect = BUILTIN_SDCARD; -int x = 1; - -int Nloop = 0; -int Atotloopdata[maxspeed] = {}; -int Btotloopdata[maxspeed] = {}; -int Ctotloopdata[maxspeed] = {}; - -Adafruit_MCP23X17 mcp2; - -void setup() { - if (!mcp2.begin_I2C(0x22)) { - Serial.println("Error initializing MCP23017 at 0x22."); - //while (1); - } - // set all the motor control pins - mcp2.pinMode(m1enA, OUTPUT); - mcp2.pinMode(m1enB, OUTPUT); - mcp2.pinMode(m2enA, OUTPUT); - mcp2.pinMode(m2enB, OUTPUT); - mcp2.pinMode(m3enA, OUTPUT); - mcp2.pinMode(m3enB, OUTPUT); - mcp2.pinMode(m1pwm1, OUTPUT); - mcp2.pinMode(m1pwm2, OUTPUT); - mcp2.pinMode(m2pwm1, OUTPUT); - mcp2.pinMode(m2pwm2, OUTPUT); - mcp2.pinMode(m3pwm1, OUTPUT); - mcp2.pinMode(m3pwm2, OUTPUT); - - //set encoder pins - mcp2.pinMode(m1encA, INPUT); - mcp2.pinMode(m1encB, INPUT); - mcp2.pinMode(m2encA, INPUT); - mcp2.pinMode(m2encB, INPUT); - pinMode(m3encA, INPUT); - pinMode(m3encB, INPUT); - attachInterrupt(digitalPinToInterrupt(m1encA), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m1encB), AencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encA), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m2encB), BencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encA), CencoderISR, CHANGE); - attachInterrupt(digitalPinToInterrupt(m3encB), CencoderISR, CHANGE); - - Timer3.initialize(800); // 800 microseconds or 1.25kHz - Timer3.attachInterrupt(updatePWM1); - Timer3.attachInterrupt(updatePWM2); - Timer3.attachInterrupt(updatePWM3); -} - -void updatePWM1() { - static int counter1 = 0; - - if (counter1 < PWMval1) { - mcp2.digitalWrite(m1enA, HIGH); - } else { - mcp2.digitalWrite(m1enA, LOW); - } - - counter1++; - if (counter1 >= 100) { - counter1 = 0; - } -} -void updatePWM2() { - static int counter2 = 0; - - if (counter2 < PWMval2) { - mcp2.digitalWrite(m2enA, HIGH); - } else { - mcp2.digitalWrite(m2enA, LOW); - } - - counter2++; - if (counter2 >= 100) { - counter2 = 0; - } -} -void updatePWM3() { - static int counter3 = 0; - - if (counter3 < PWMval3) { - mcp2.digitalWrite(m3enA, HIGH); - } else { - mcp2.digitalWrite(m3enA, LOW); - } - - counter3++; - if (counter3 >= 100) { - counter3 = 0; - } -} -void mcpsoftpwm(int pin, int vall){ - //M1enA = 3 = GPA3 - //M2enA = 7 = GPA7 - //M3enA = 11 = GPB3 - Serial.print("softPWM pin: "); - Serial.print(pin); - Serial.print(", value: "); - Serial.println(vall); - if (pin = 3){ - PWMval1 = vall; - Serial.print("Motor 1 enA PWM set"); - } - if (pin = 7){ - PWMval2 = vall; - Serial.print("Motor 2 enA PWM set"); - } - if (pin = 11){ - PWMval3 = vall; - Serial.print("Motor 3 enA PWM set"); - } - -} - -void AencoderISR() { - Aencount++; -} -void BencoderISR() { - Bencount++; -} -void CencoderISR() { - Cencount++; -} - -void Areadenc() { - ACtime = micros(); - APtime = ACtime - ALtime; - ALtime = ACtime; - Arpm = (Aencount / 211.2) * (60000000.0 / APtime); - Serial.print("Motor A RPM: "); - Serial.print(Arpm); - Serial.print(" Sample period:"); - Serial.print(APtime); - Serial.print("ms, encoder count:"); - Serial.println(Aencount); - Aencount = 0; -} -void Breadenc() { - BCtime = micros(); - BPtime = BCtime - BLtime; - BLtime = BCtime; - Brpm = (Bencount / 211.2) * (60000000.0 / BPtime); - Serial.print("Motor B RPM: "); - Serial.print(Brpm); - Serial.print(" Sample period: "); - Serial.print(BPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Bencount); - Bencount = 0; -} -void Creadenc() { - CCtime = micros(); - CPtime = CCtime - CLtime; - CLtime = CCtime; - Crpm = (Cencount / 211.2) * (60000000.0 / CPtime); - Serial.print("Motor C RPM: "); - Serial.print(Crpm); - Serial.print(" Sample period: "); - Serial.print(CPtime); - Serial.print(" ms, encoder count: "); - Serial.println(Cencount); - Cencount = 0; -} -void Aresetenc(){ - ACtime = micros(); - ALtime = ACtime; - Aencount = 0; -} -void Bresetenc(){ - BCtime = micros(); - BLtime = BCtime; - Bencount = 0; -} -void Cresetenc(){ - CCtime = micros(); - CLtime = CCtime; - Cencount = 0; -} - -void Amove(double sped) { - spdA = abs(sped) * 0.1; - mcpsoftpwm(m1enA, spdA); - mcp2.digitalWrite(m1enB, LOW); - if (sped < 0) { - //Serial.print("Motor A back "); - mcp2.digitalWrite(m1pwm1, LOW); - mcp2.digitalWrite(m1pwm2, HIGH); - } else { - //Serial.print("Motor A forward "); - mcp2.digitalWrite(m1pwm1, HIGH); - mcp2.digitalWrite(m1pwm2, LOW); - } - //Serial.println(spdA); -} -void Bmove(double sped) { - spdB = abs(sped) * 0.1; - mcpsoftpwm(m2enA, spdB); - mcp2.digitalWrite(m2enB, LOW); - if (sped < 0) { - //Serial.print("Motor B back "); - mcp2.digitalWrite(m2pwm1, LOW); - mcp2.digitalWrite(m2pwm2, HIGH); - } else { - //Serial.print("Motor B forward "); - mcp2.digitalWrite(m2pwm1, HIGH); - mcp2.digitalWrite(m2pwm2, LOW); - } - //Serial.println(spdB); -} -void Cmove(double sped) { - spdC = abs(sped) * 0.1; - mcpsoftpwm(m3enA, spdC); - mcp2.digitalWrite(m3enB, LOW); - if (sped < 0) { - //Serial.print("Motor C back "); - mcp2.digitalWrite(m3pwm1, LOW); - mcp2.digitalWrite(m3pwm2, HIGH); - } else { - //Serial.print("Motor C forward "); - mcp2.digitalWrite(m3pwm1, HIGH); - mcp2.digitalWrite(m3pwm2, LOW); - } - //Serial.println(spdC); -} -void move(double sped) { - Amove(sped); - Bmove(sped); - Cmove(sped); -} -void readenc() { - Areadenc(); - Breadenc(); - Creadenc(); -} -void resetenc() { - Aresetenc(); - Bresetenc(); - Cresetenc(); -} - -void loop() { - move(0); - delay(2000); - for (int i = 0; i < maxspeed; i++) { - Serial.println("0,0"); - } - int Acurrentloopdata[maxspeed] = {}; - int Bcurrentloopdata[maxspeed] = {}; - int Ccurrentloopdata[maxspeed] = {}; - for (int i = 0; i < maxspeed; i++) { - move(i); - delay(100); - readenc(); - Serial.print(i); - Serial.print(","); - Serial.print(Arpm); - Acurrentloopdata[i] = Arpm; - Serial.print(","); - Serial.print(Brpm); - Acurrentloopdata[i] = Brpm; - Serial.print(","); - Serial.print(Crpm); - Acurrentloopdata[i] = Crpm; - Serial.print(","); - Serial.println(Atotloopdata[i]); - Serial.print(","); - Serial.println(Btotloopdata[i]); - Serial.print(","); - Serial.println(Ctotloopdata[i]); - } - Acurrentloopdata[0] = 0; - Bcurrentloopdata[0] = 0; - Ccurrentloopdata[0] = 0; - if (Nloop == 0){ - for (int i = 0; i < maxspeed; i++) { - Atotloopdata[i] = Acurrentloopdata[i]; - Btotloopdata[i] = Bcurrentloopdata[i]; - Ctotloopdata[i] = Ccurrentloopdata[i]; - } - }else{ - for (int i = 0; i < maxspeed; i++) { - Atotloopdata[i] = ((Atotloopdata[i]*Nloop)+Acurrentloopdata[i])/(Nloop+1); - Btotloopdata[i] = ((Btotloopdata[i]*Nloop)+Bcurrentloopdata[i])/(Nloop+1); - Ctotloopdata[i] = ((Ctotloopdata[i]*Nloop)+Ccurrentloopdata[i])/(Nloop+1); - } - } - resetenc(); - SD.remove("Aavrage_motor_values.dat"); - SD.remove("Bavrage_motor_values.dat"); - SD.remove("Cavrage_motor_values.dat"); - File AdataFile = SD.open("Aavrage_motor_values.dat", FILE_WRITE); - if (AdataFile) { - for (int i = 0; i < maxspeed; i++) { - AdataFile.print(Atotloopdata[i]); - AdataFile.print(", "); - } - AdataFile.close(); - } - File BdataFile = SD.open("Aavrage_motor_values.dat", FILE_WRITE); - if (BdataFile) { - for (int i = 0; i < maxspeed; i++) { - BdataFile.print(Btotloopdata[i]); - BdataFile.print(", "); - } - BdataFile.close(); - } - File CdataFile = SD.open("Aavrage_motor_values.dat", FILE_WRITE); - if (CdataFile) { - for (int i = 0; i < maxspeed; i++) { - CdataFile.print(Ctotloopdata[i]); - CdataFile.print(", "); - } - CdataFile.close(); - } - SD.remove("ABC_avrage_motor_values.csv"); - File debugFile = SD.open("ABC_avrage_motor_values.csv", FILE_WRITE); - if (debugFile) { - debugFile.println(""); - debugFile.println("Motor A values"); - debugFile.println(""); - for (int i = 0; i < maxspeed; i++) { - debugFile.print(i); - debugFile.print(", "); - debugFile.println(Atotloopdata[i]); - } - debugFile.println(""); - debugFile.println("Motor B values"); - debugFile.println(""); - for (int i = 0; i < maxspeed; i++) { - debugFile.print(i); - debugFile.print(", "); - debugFile.println(Btotloopdata[i]); - } - debugFile.println(""); - debugFile.println("Motor C values"); - debugFile.println(""); - for (int i = 0; i < maxspeed; i++) { - debugFile.print(i); - debugFile.print(", "); - debugFile.println(Ctotloopdata[i]); - } - } - - if (!card.init(SPI_HALF_SPEED, chipSelect)) { - Serial.println("FAILED TO FIND SD CARD"); - Serial.println("* is a card inserted?"); - Serial.println("* is your wiring correct?"); - Serial.println("* did you change the chipSelect pin to match your shield or module?"); - } - - - Nloop++; - - -} diff --git a/OLD_CODE_REMOVE_LATER/debug/prewk/tcs34725/tcs34725.ino b/OLD_CODE_REMOVE_LATER/debug/prewk/tcs34725/tcs34725.ino deleted file mode 100644 index 88d1467..0000000 --- a/OLD_CODE_REMOVE_LATER/debug/prewk/tcs34725/tcs34725.ino +++ /dev/null @@ -1,45 +0,0 @@ -#include <Wire.h> -#include "Adafruit_TCS34725.h" - -/* Example code for the Adafruit TCS34725 breakout library */ - -/* Connect SCL to analog 5 - Connect SDA to analog 4 - Connect VDD to 3.3V DC - Connect GROUND to common ground */ - -/* Initialise with default values (int time = 2.4ms, gain = 1x) */ -// Adafruit_TCS34725 tcs = Adafruit_TCS34725(); - -/* Initialise with specific int time and gain values */ -Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_614MS, TCS34725_GAIN_1X); - -void setup(void) { - Serial.begin(9600); - - if (tcs.begin()) { - Serial.println("Found sensor"); - } else { - Serial.println("No TCS34725 found ... check your connections"); - while (1); - } - - // Now we're ready to get readings! -} - -void loop(void) { - uint16_t r, g, b, c, colorTemp, lux; - - tcs.getRawData(&r, &g, &b, &c); - // colorTemp = tcs.calculateColorTemperature(r, g, b); - colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c); - lux = tcs.calculateLux(r, g, b); - - Serial.print("Color Temp: "); Serial.print(colorTemp, DEC); Serial.print(" K - "); - Serial.print("Lux: "); Serial.print(lux, DEC); Serial.print(" - "); - Serial.print("R: "); Serial.print(r, DEC); Serial.print(" "); - Serial.print("G: "); Serial.print(g, DEC); Serial.print(" "); - Serial.print("B: "); Serial.print(b, DEC); Serial.print(" "); - Serial.print("C: "); Serial.print(c, DEC); Serial.print(" "); - Serial.println(" "); -} diff --git a/code/debug/communication/rx/rx_decode_teensy/.gitignore b/code/debug/communication/rx/rx_decode_teensy/.gitignore deleted file mode 100644 index 89cc49c..0000000 --- a/code/debug/communication/rx/rx_decode_teensy/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -.pio -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/ipch diff --git a/code/debug/communication/rx/rx_teensy/.gitignore b/code/debug/communication/rx/rx_teensy/.gitignore deleted file mode 100644 index 89cc49c..0000000 --- a/code/debug/communication/rx/rx_teensy/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -.pio -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/ipch diff --git a/code/debug/communication/rx/rx_teensy/src/main.cpp b/code/debug/communication/rx/rx_teensy/src/main.cpp index f8e33a1..768b70b 100644 --- a/code/debug/communication/rx/rx_teensy/src/main.cpp +++ b/code/debug/communication/rx/rx_teensy/src/main.cpp @@ -15,5 +15,6 @@ void loop() { incomingbyte = Serial3.read(); Serial.print(char(incomingbyte)); } + milis(1); -}
\ No newline at end of file +}
\ No newline at end of file diff --git a/code/debug/communication/tx/tx-IR/include/README b/code/debug/communication/tx/tx-IR/include/README new file mode 100644 index 0000000..49819c0 --- /dev/null +++ b/code/debug/communication/tx/tx-IR/include/README @@ -0,0 +1,37 @@ + +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 convention is to give header files names that end with `.h'. + +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 diff --git a/code/debug/communication/tx/tx-IR/lib/README b/code/debug/communication/tx/tx-IR/lib/README new file mode 100644 index 0000000..9379397 --- /dev/null +++ b/code/debug/communication/tx/tx-IR/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into the executable file. + +The source code of each library should be placed in a separate directory +("lib/your_library_name/[Code]"). + +For example, see the structure of the following example libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +Example contents of `src/main.c` using Foo and Bar: +``` +#include <Foo.h> +#include <Bar.h> + +int main (void) +{ + ... +} + +``` + +The PlatformIO Library Dependency Finder will find automatically dependent +libraries by scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/code/debug/communication/tx/tx-IR/platformio.ini b/code/debug/communication/tx/tx-IR/platformio.ini new file mode 100644 index 0000000..87a4592 --- /dev/null +++ b/code/debug/communication/tx/tx-IR/platformio.ini @@ -0,0 +1,14 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:seeed_xiao] +platform = atmelsam +board = seeed_xiao +framework = arduino diff --git a/code/debug/communication/tx/tx-IR/src/main.cpp b/code/debug/communication/tx/tx-IR/src/main.cpp new file mode 100644 index 0000000..43d396f --- /dev/null +++ b/code/debug/communication/tx/tx-IR/src/main.cpp @@ -0,0 +1,86 @@ +#include <Arduino.h> + +int ir1 = 0; +int ir2 = 1; +int ir3 = 9; +int ir4 = 2; +int ir5 = 3; +int ir6 = 4; +int ir7 = 5; +int ir8 = 8; + +int dir1 = 1; // data IR1 +int dir2 = 1; // data IR2 +int dir3 = 1; // etc +int dir4 = 1; +int dir5 = 1; +int dir6 = 1; +int dir7 = 1; +int dir8 = 1; + +volatile long IRcount1 = 0; +volatile long IRcount2 = 0; +volatile long IRcount3 = 0; +volatile long IRcount4 = 0; +volatile long IRcount5 = 0; +volatile long IRcount6 = 0; +volatile long IRcount7 = 0; +volatile long IRcount8 = 0; + +void setup() { + pinMode(ir1, INPUT); + pinMode(ir2, INPUT); + pinMode(ir3, INPUT); + pinMode(ir4, INPUT); + pinMode(ir5, INPUT); + pinMode(ir6, INPUT); + pinMode(ir7, INPUT); + pinMode(ir8, INPUT); + + Serial.begin(9600); + Serial1.begin(9600); + Serial.println("start"); + Serial1.println("start"); + + Serial.println("Starting loop"); + Serial1.println("Starting loop"); +} + +void loop() { + unsigned long p1 = pulseIn(ir1, HIGH); //pulse width in microseconds + unsigned long p2 = pulseIn(ir2, HIGH); //pulse width in microseconds + unsigned long p3 = pulseIn(ir3, HIGH); //pulse width in microseconds + unsigned long p4 = pulseIn(ir4, HIGH); //pulse width in microseconds + unsigned long p5 = pulseIn(ir5, HIGH); //pulse width in microseconds + unsigned long p6 = pulseIn(ir6, HIGH); //pulse width in microseconds + unsigned long p7 = pulseIn(ir7, HIGH); //pulse width in microseconds + unsigned long p8 = pulseIn(ir8, HIGH); //pulse width in microseconds + + //one seeed xiao uses S-R the other uses B-E as start and end + // it returns data like this: + // S0, 0, 0, 0, 0, 0, 0, 0R + //or + // B0, 0, 0, 0, 0, 0, 0, 0E + + //Serial1print("B"); //uncomment this line to use B-E + Serial1.print("S"); //uncomment this line to use S-R + Serial1.print(p1); + Serial1.print(", "); + Serial1.print(p2); + Serial1.print(", "); + Serial1.print(p3); + Serial1.print(", "); + Serial1.print(p4); + Serial1.print(", "); + Serial1.print(p5); + Serial1.print(", "); + Serial1.print(p6); + Serial1.print(", "); + Serial1.print(p7); + Serial1.print(", "); + Serial1.println(p8); + //Serial1.println("E"); //uncomment this line to use B-E + Serialq.println("R"); //uncomment this line to use S-R + + delay(100); // delay to avoid flooding the serial port +}
\ No newline at end of file diff --git a/code/debug/communication/tx/tx-IR/test/README b/code/debug/communication/tx/tx-IR/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/code/debug/communication/tx/tx-IR/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 diff --git a/code/debug/communication/tx/tx_rand_XIAO/.gitignore b/code/debug/communication/tx/tx_rand_XIAO/.gitignore deleted file mode 100644 index 89cc49c..0000000 --- a/code/debug/communication/tx/tx_rand_XIAO/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -.pio -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/ipch diff --git a/code/debug/communication/tx/tx_rand_XIAO/src/main.cpp b/code/debug/communication/tx/tx_rand_XIAO/src/main.cpp index 3e9444b..d164e3d 100644 --- a/code/debug/communication/tx/tx_rand_XIAO/src/main.cpp +++ b/code/debug/communication/tx/tx_rand_XIAO/src/main.cpp @@ -29,6 +29,26 @@ void loop() { rn7 = random(1500); rn8 = random(1500); + Serial.print("S"); + //Serial.print("B"); + Serial.print(rn1); + Serial.print(", "); + Serial.print(rn2); + Serial.print(", "); + Serial.print(rn3); + Serial.print(", "); + Serial.print(rn4); + Serial.print(", "); + Serial.print(rn5); + Serial.print(", "); + Serial.print(rn6); + Serial.print(", "); + Serial.print(rn7); + Serial.print(", "); + Serial.println(rn8); + Serial.println("R"); + //Serial.print("E"); + Serial1.print("S"); //Serial1.print("B"); Serial1.print(rn1); diff --git a/code/debug/motors/3m_test/.gitignore b/code/debug/motors/3m_test/.gitignore deleted file mode 100644 index 89cc49c..0000000 --- a/code/debug/motors/3m_test/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -.pio -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/ipch diff --git a/code/debug/motors/PWM/.gitignore b/code/debug/motors/PWM/.gitignore deleted file mode 100644 index 89cc49c..0000000 --- a/code/debug/motors/PWM/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -.pio -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/ipch diff --git a/code/debug/motors/PWM/src/main.cpp b/code/debug/motors/PWM/src/main.cpp index 7564056..53369e4 100644 --- a/code/debug/motors/PWM/src/main.cpp +++ b/code/debug/motors/PWM/src/main.cpp @@ -1,13 +1,46 @@ -#include "SoftPWM.h" #include <Arduino.h> -int pwmPin = 3; +int pwmPin = 3; //pin for PWM output +int pwmacc = 1000; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc +int PWMval = 0; //value of the PWM, means you can enter value from 0 to the value of pwmacc + +void setup() { +} void setup() { - SoftPWMBegin(); + + Timer3.initialize(800); // 800 microseconds or 1.25Hz + Timer3.attachInterrupt(updatePWM); +} + +void updatePWM() { + static int counter = 0; + if PWMval < 0) { + PWMval = 0; + } + if (PWMval > pwmacc) { + PWMval = pwmacc; + } + + if (counter < PWMval) { + digitalWrite(pwmPin, HIGH); + } else { + digitalWrite(pwmPin, LOW); + } + + counter++; + if (counter >= pwmacc) { + counter = 0; + } } void loop() { - SoftPWMSetFadeTime(pwmPin, 2500, 2500); - delay(1000); + for i (0; i < pwmacc; i++) { + PWMval = i; + delay(10); + } + for i (pwmacc; i > 0; i--) { + PWMval = i; + delay(10); + } }
\ No newline at end of file diff --git a/code/debug/motors/base_drive/.gitignore b/code/debug/motors/base_drive/.gitignore deleted file mode 100644 index 89cc49c..0000000 --- a/code/debug/motors/base_drive/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -.pio -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/ipch diff --git a/code/main/XIAO_ir/.gitignore b/code/main/XIAO_ir/.gitignore deleted file mode 100644 index 89cc49c..0000000 --- a/code/main/XIAO_ir/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -.pio -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/ipch diff --git a/code/main/teensy_goalie/.gitignore b/code/main/teensy_goalie/.gitignore deleted file mode 100644 index 89cc49c..0000000 --- a/code/main/teensy_goalie/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -.pio -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/ipch diff --git a/code/main/teensy_player/.gitignore b/code/main/teensy_player/.gitignore deleted file mode 100644 index 89cc49c..0000000 --- a/code/main/teensy_player/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -.pio -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/ipch |
