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-rw-r--r--CODE/CODE.ino95
-rw-r--r--CODE/debug/driving/base_drive_with_speed_control/base_drive_with_speed_control.ino221
-rw-r--r--CODE/debug/driving/onemotor_softPWM/onemotor_softPWM.ino126
3 files changed, 436 insertions, 6 deletions
diff --git a/CODE/CODE.ino b/CODE/CODE.ino
index d923b2c..6b07d67 100644
--- a/CODE/CODE.ino
+++ b/CODE/CODE.ino
@@ -1,3 +1,12 @@
+#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
@@ -57,7 +66,6 @@ int dpr6 = "LOW";
int dpr7 = "LOW";
int dpr8 = "LOW";
-
void setup() {
pinMode(m1enA, OUTPUT);
pinMode(m1enB, OUTPUT);
@@ -88,6 +96,81 @@ void setup() {
Serial.begin(9600);
Serial1.begin(9600);
Serial2.begin(9600);
+
+ Timer3.initialize(800); // 800 microseconds / 1.25kHz
+ Timer3.attachInterrupt(updatePWM1);
+ Timer3.attachInterrupt(updatePWM2);
+ Timer3.attachInterrupt(updatePWM3);
+}
+
+void updatePWM1() {
+ static int counter = 0;
+
+ if (counter < PWMval1) {
+ digitalWrite(m1enA, HIGH);
+ } else {
+ digitalWrite(m1enA, LOW);
+ }
+
+ counter++;
+ if (counter >= 100) {
+ counter = 0;
+ }
+}
+
+void updatePWM2() {
+ static int counter = 0;
+
+ if (counter < PWMval1) {
+ digitalWrite(m2enA, HIGH);
+ } else {
+ digitalWrite(m2enA, LOW);
+ }
+
+ counter++;
+ if (counter >= 100) {
+ counter = 0;
+ }
+}
+
+void updatePWM3() {
+ static int counter = 0;
+
+ if (counter < PWMval1) {
+ 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: 3, value: ");
+ Serial.println(value1);
+ PWMval1 = value1;
+}
+void mcpsoftpwm2(int value2) {
+ if (value2 < 0) value2 = 0;
+ if (value2 > 100) value2 = 100;
+
+ Serial.print("softPWM pin: 3, value: ");
+ Serial.println(value2);
+ PWMval2 = value2;
+}
+void mcpsoftpwm3(int value3) {
+ if (value3 < 0) value3 = 0;
+ if (value3 > 100) value3 = 100;
+
+ Serial.print("softPWM pin: 3, value: ");
+ Serial.println(value3);
+ PWMval3 = value3;
}
void drive(int speed, int direction){
@@ -101,9 +184,9 @@ void drive(int speed, int direction){
// 300 deg..............|....-....|....0....|....+....
//
- digitalWrite(m1enA, HIGH);
- digitalWrite(m2enA, HIGH);
- digitalWrite(m3enA, HIGH);
+ mcpsoftpwm1(speed); //pwm speed signal
+ mcpsoftpwm2(speed); //pwm speed signal
+ mcpsoftpwm2(speed); //pwm speed signal
digitalWrite(m1enB, LOW);
digitalWrite(m2enB, LOW);
digitalWrite(m3enB, LOW);
@@ -276,11 +359,11 @@ void loop() {
}
Serial.print(degwhere);
Serial.println(" degrees.");
- drive(255, degwhere);
+ drive(75, degwhere);
delay(1);
}
}else{
- Serial.println("softPWR is off, waiting")
+ Serial.println("softPWR is off, waiting");
delay(100);
}
}
diff --git a/CODE/debug/driving/base_drive_with_speed_control/base_drive_with_speed_control.ino b/CODE/debug/driving/base_drive_with_speed_control/base_drive_with_speed_control.ino
new file mode 100644
index 0000000..0d992e0
--- /dev/null
+++ b/CODE/debug/driving/base_drive_with_speed_control/base_drive_with_speed_control.ino
@@ -0,0 +1,221 @@
+#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 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");
+
+ Timer3.initialize(800); // 800 microseconds / 1.25kHz
+ Timer3.attachInterrupt(updatePWM1);
+ Timer3.attachInterrupt(updatePWM2);
+ Timer3.attachInterrupt(updatePWM3);
+
+}
+
+void updatePWM1() {
+ static int counter = 0;
+
+ if (counter < PWMval1) {
+ digitalWrite(m1enA, HIGH);
+ } else {
+ digitalWrite(m1enA, LOW);
+ }
+
+ counter++;
+ if (counter >= 100) {
+ counter = 0;
+ }
+}
+
+void updatePWM2() {
+ static int counter = 0;
+
+ if (counter < PWMval1) {
+ digitalWrite(m2enA, HIGH);
+ } else {
+ digitalWrite(m2enA, LOW);
+ }
+
+ counter++;
+ if (counter >= 100) {
+ counter = 0;
+ }
+}
+
+void updatePWM3() {
+ static int counter = 0;
+
+ if (counter < PWMval1) {
+ 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: 3, value: ");
+ Serial.println(value1);
+ PWMval1 = value1;
+}
+void mcpsoftpwm2(int value2) {
+ if (value2 < 0) value2 = 0;
+ if (value2 > 100) value2 = 100;
+
+ Serial.print("softPWM pin: 3, value: ");
+ Serial.println(value2);
+ PWMval2 = value2;
+}
+void mcpsoftpwm3(int value3) {
+ if (value3 < 0) value3 = 0;
+ if (value3 > 100) value3 = 100;
+
+ Serial.print("softPWM pin: 3, value: ");
+ Serial.println(value3);
+ PWMval3 = value3;
+}
+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....|....+....
+ //
+
+ mcpsoftpwm1(speed); //pwm speed signal
+ mcpsoftpwm2(speed); //pwm speed signal
+ mcpsoftpwm2(speed); //pwm speed signal
+ 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/CODE/debug/driving/onemotor_softPWM/onemotor_softPWM.ino b/CODE/debug/driving/onemotor_softPWM/onemotor_softPWM.ino
new file mode 100644
index 0000000..2f57d59
--- /dev/null
+++ b/CODE/debug/driving/onemotor_softPWM/onemotor_softPWM.ino
@@ -0,0 +1,126 @@
+#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();
+}
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