1 files changed, 126 insertions, 0 deletions
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();
+}