diff options
Diffstat (limited to 'code/debug/motors/enc-pwm-3-motor')
| -rw-r--r-- | code/debug/motors/enc-pwm-3-motor/.gitignore | 1 | ||||
| -rw-r--r-- | code/debug/motors/enc-pwm-3-motor/include/README | 37 | ||||
| -rw-r--r-- | code/debug/motors/enc-pwm-3-motor/lib/README | 46 | ||||
| -rw-r--r-- | code/debug/motors/enc-pwm-3-motor/platformio.ini | 14 | ||||
| -rw-r--r-- | code/debug/motors/enc-pwm-3-motor/src/main.cpp | 284 | ||||
| -rw-r--r-- | code/debug/motors/enc-pwm-3-motor/test/README | 11 |
6 files changed, 393 insertions, 0 deletions
diff --git a/code/debug/motors/enc-pwm-3-motor/.gitignore b/code/debug/motors/enc-pwm-3-motor/.gitignore new file mode 100644 index 0000000..03f4a3c --- /dev/null +++ b/code/debug/motors/enc-pwm-3-motor/.gitignore @@ -0,0 +1 @@ +.pio diff --git a/code/debug/motors/enc-pwm-3-motor/include/README b/code/debug/motors/enc-pwm-3-motor/include/README new file mode 100644 index 0000000..49819c0 --- /dev/null +++ b/code/debug/motors/enc-pwm-3-motor/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/motors/enc-pwm-3-motor/lib/README b/code/debug/motors/enc-pwm-3-motor/lib/README new file mode 100644 index 0000000..9379397 --- /dev/null +++ b/code/debug/motors/enc-pwm-3-motor/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/motors/enc-pwm-3-motor/platformio.ini b/code/debug/motors/enc-pwm-3-motor/platformio.ini new file mode 100644 index 0000000..a13d034 --- /dev/null +++ b/code/debug/motors/enc-pwm-3-motor/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:teensy41] +platform = teensy +board = teensy41 +framework = arduino diff --git a/code/debug/motors/enc-pwm-3-motor/src/main.cpp b/code/debug/motors/enc-pwm-3-motor/src/main.cpp new file mode 100644 index 0000000..4e3cf37 --- /dev/null +++ b/code/debug/motors/enc-pwm-3-motor/src/main.cpp @@ -0,0 +1,284 @@ +//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); +} diff --git a/code/debug/motors/enc-pwm-3-motor/test/README b/code/debug/motors/enc-pwm-3-motor/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/code/debug/motors/enc-pwm-3-motor/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 |