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Diffstat (limited to 'code/debug/motors/enc-pwm-3-motor/src/main.cpp')
-rw-r--r--code/debug/motors/enc-pwm-3-motor/src/main.cpp284
1 files changed, 0 insertions, 284 deletions
diff --git a/code/debug/motors/enc-pwm-3-motor/src/main.cpp b/code/debug/motors/enc-pwm-3-motor/src/main.cpp
deleted file mode 100644
index 4e3cf37..0000000
--- a/code/debug/motors/enc-pwm-3-motor/src/main.cpp
+++ /dev/null
@@ -1,284 +0,0 @@
-//motor: https://www.pololu.com/product/4861
-//motor driver: https://www.pololu.com/product/2997
-
-//Create the timers
-IntervalTimer pwm_timer;
-IntervalTimer enc_timer;
-
-//define the pins
-//If the motors are spinning incorectly, change pins not the drive function.
-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;
-
-//PWM variables
-int pwmacc = 100; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
-int PWMval1 = 0; //value of the PWM1, means you can enter value from 0 to the value of pwmacc
-int PWMval2 = 0; //same but for the second one
-int PWMval3 = 0; //same but for the thirth one
-
-//encoder variables
-const int refreshrate = 50; //refresh rate of the encoder
-volatile long oneENCcount = 0; //the amount of pulses from motor one encoder
-volatile long twoENCcount = 0; //idem, but motor two
-volatile long threeENCcount = 0; //kɛlɔ
-
-double ONErpm = 0.00; //the amount of revolutions motor one makes per minute
-double TWOrpm = 0.00; //mismo
-double THREErpm = 0.00; //адилхан
-
-
-
-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);
-
- pwm_timer.begin(updatePWM, refreshrate); //speed at wich PWM is updated PWM
- enc_timer.begin(enc_refr, 50); //refresh rate of the encoder
-
- attachInterrupt(digitalPinToInterrupt(m1encoA), AoneIRS, CHANGE); //calls void AoneIRS if there is a change of the stare of m1encoA
- attachInterrupt(digitalPinToInterrupt(m1encoB), BoneIRS, CHANGE); //ditto
- attachInterrupt(digitalPinToInterrupt(m2encoA), AtwoIRS, CHANGE); //hali
- attachInterrupt(digitalPinToInterrupt(m2encoB), BtwoIRS, CHANGE); //একই
- attachInterrupt(digitalPinToInterrupt(m3encoA), AthreeIRS, CHANGE); //ߊ߬ ߓߍ߮ ߓߋ߫ ߞߟߋ߫
- attachInterrupt(digitalPinToInterrupt(m3encoB), AthreeIRS, CHANGE); //To samo
-
- Serial.begin(9600);
- Serial.print("start");
-
-}
-
-void updatePWM() {
- //PWM one
- //if the entered valvue is less the zero set it to zero, because lower that zero is not posible
- if (PWMval1 < 0) {
- PWMval1 = 0;
- }
- //if the enterd value is higher than the maximum posible value, set it to max.
- if (PWMval1 > pwmacc) {
- PWMval1 = pwmacc;
- }
- //check if the counter has passed the PWM value, and turn of the motor based on that.
- if (counter1 < PWMval1) {
- digitalWrite(m1enA, HIGH);
- } else {
- digitalWrite(m1enA, LOW);
- }
- counter1++;
-
- if (counter1 >= pwmacc) {
- counter1 = 0;
- }
-
- //PWM two
- static int counter2 = 0;
- if (PWMval2 < 0) {
- PWMval2 = 0;
- }
- if (PWMval2 > pwmacc) {
- PWMval2 = pwmacc;
- }
-
- if (counter2 < PWMval2) {
- digitalWrite(m2enA, HIGH);
- } else {
- digitalWrite(m2enA, LOW);
- }
-
- counter2++;
- if (counter2 >= pwmacc) {
- counter2 = 0;
- }
-
- //PWM three
- int static counter3 = 0;
- if (PWMval3 < 0) {
- PWMval3 = 0;
- }
- if (PWMval3 > pwmacc) {
- PWMval3 = pwmacc;
- }
-
- if (counter3 < PWMval3) {
- digitalWrite(m3enA, HIGH);
- } else {
- digitalWrite(m3enA, LOW);
- }
-
- counter3++;
- if (counter3 >= pwmacc) {
- counter3 = 0;
- }
-}
-
-void AoneIRS(){
- oneENCcount++ //adds one to the count
-}
-void BoneIRS(){
- oneENCcount++ //dieselbe
-}
-void AtwoIRS(){
- twoENCcount++ //même
-}
-void BtwoIRS(){
- twoENCcount++ //samme
-}
-void AthreeIRS(){
- threeENCcount++ //aynı
-}
-void BthreeIRS(){
- threeENCcount++ //такой же
-}
-
-void enc_refr(){
- //calculate RPM. It gets updated 48 times per rotation.
- ONErpm = (oneENCcount/48.00) * (60000000.00 / refreshrate)
- TWOrpm = (twoENCcount/48.00) * (60000000.00 / refreshrate)
- THREErpm = (threeENCcount/48.00) * (60000000.00 / refreshrate)
- //reset the counting to zero for next cycle.
- oneENCcount = 0;
- twoENCcount = 0;
- threeENCcount = 0;
-
-}
-void drive(int speed, int direction){
- //
- //!!!
- // If the motors are spinning incorectly, change pins not the drive function.
- //!!!
- //
- // 0 = motor off
- // + = motor spinning forwards
- // - = motor spinning backwards
- //
- // Motor 1 is the left one.
- // Motor 2 is the one in the back.
- // Motor 3 is the right one.
- //
- // Direction............|.Motor 1.|.Motor 2.|.Motor 3.
- // 0deg(forward)........|....-....|....0....|....+....
- // 60deg................|....0....|....-....|....+....
- // 120deg...............|....+....|....-....|....0....
- // 180 deg (backward)...|....+....|....0....|....-....
- // 240 deg..............|....0....|....+....|....-....
- // 300 deg..............|....-....|....+....|....0....
- //
-
- PWMval1 = speed;
- PWMval2 = speed;
- PWMval3 = speed;
- digitalWrite(m1enB, LOW);
- digitalWrite(m2enB, LOW);
- digitalWrite(m3enB, LOW);
- Serial.println("debug2");
- Serial.println(direction);
- if(direction>330 || direction<=30){
- //0 deg
- Serial.println("0 deg");
- digitalWrite(m1pwm1, LOW);
- digitalWrite(m1pwm2, HIGH);
-
- digitalWrite(m2pwm1, LOW);
- digitalWrite(m2pwm2, LOW);
-
- digitalWrite(m3pwm1, HIGH);
- digitalWrite(m3pwm2, LOW);
- }else if (direction>30 && direction <= 90){
- //60 deg
- Serial.println("60deg");
- digitalWrite(m1pwm1, LOW);
- digitalWrite(m1pwm2, LOW);
-
- digitalWrite(m2pwm1, LOW);
- digitalWrite(m2pwm2, HIGH);
-
- digitalWrite(m3pwm1, HIGH);
- digitalWrite(m3pwm2, LOW);
- }else if (direction>90 && direction <= 150){
- //120 deg
- Serial.println("120 deg");
- digitalWrite(m1pwm1, HIGH);
- digitalWrite(m1pwm2, LOW);
-
- digitalWrite(m2pwm1, LOW);
- digitalWrite(m2pwm2, HIGH);
-
- 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, LOW);
- digitalWrite(m3pwm2, HIGH);
- }else if (direction > 210 && direction <= 270) {
- //240 degrees
- Serial.println("240deg");
- digitalWrite(m1pwm1, LOW);
- digitalWrite(m1pwm2, LOW);
-
- digitalWrite(m2pwm1, HIGH);
- digitalWrite(m2pwm2, LOW);
-
- digitalWrite(m3pwm1, LOW);
- digitalWrite(m3pwm2, HIGH);
- }else if (direction > 270 && direction <= 330) {
- //300 degrees
- Serial.println("300deg");
- digitalWrite(m1pwm1, LOW);
- digitalWrite(m1pwm2, HIGH);
-
- digitalWrite(m2pwm1, HIGH);
- digitalWrite(m2pwm2, LOW);
-
- digitalWrite(m3pwm1, LOW);
- digitalWrite(m3pwm2, LOW);
- }else{
- Serial.println("how?");
- }
-}
-
-//the loop routine runs over and over again forever:
-void loop() {
- drive(50, 0); //speed value between 0-100
- Serial.println("Motor one is at: "+ ONErpm + " RPM.");
- Serial.println("Motor two is at: "+ TWOrpm + " RPM.");
- Serial.println("Motor three is at: "+ THREErpm + " RPM.");
- delay(1500);
-}
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