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-rw-r--r--debug/motordriver/motordriver.ino428
1 files changed, 217 insertions, 211 deletions
diff --git a/debug/motordriver/motordriver.ino b/debug/motordriver/motordriver.ino
index 0fd30e7..e98c6bc 100644
--- a/debug/motordriver/motordriver.ino
+++ b/debug/motordriver/motordriver.ino
@@ -1,22 +1,32 @@
-//moveohmi = https://robotics.stackexchange.com/questions/7829/how-to-program-a-three-wheel-omni
-
#include <Adafruit_MCP23X17.h>
+//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
+#define m1enA 3 // GPA3
+#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
+#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
+#define m3enB 10 // GPB2
+#define m3pwm1 8 // GPB0
+#define m3pwm2 9 // GPB1
+#define m3encA 24 // teensy port 24
+#define m3encB 9 // teensy port 9
-// motor one
-int enA = 33;
-int in1 = 2;
-int in2 = 3;
-// motor two
-int enB = 36;
-int in3 = 4;
-int in4 = 5;
-// motor three
-int enC = 37;
-int in5 = 7;
-int in6 = 6;
-
-int sp = 160;
+double sp = 1.000; //speed in 0-1
double dirA = 0.00;
double dirB = 0.00;
@@ -25,234 +35,230 @@ 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;
+
+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 to outputs
- pinMode(enA, OUTPUT);
- pinMode(enB, OUTPUT);
- pinMode(enC, OUTPUT);
+ mcp2.pinMode(m1enA, OUTPUT);
+ mcp2.pinMode(m1enB, OUTPUT);
+ mcp2.pinMode(m2enA, OUTPUT);
+ mcp2.pinMode(m2enB, OUTPUT);
+ mcp2.pinMode(m3enA, OUTPUT);
+ mcp2.pinMode(m3enB, OUTPUT);
- pinMode(in1, OUTPUT);
- pinMode(in2, OUTPUT);
- pinMode(in3, OUTPUT);
- pinMode(in4, OUTPUT);
- pinMode(in5, OUTPUT);
- pinMode(in6, 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 to input
+ 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);
}
-void demoOne()
-{
-// this function will run the motors in both directions at a fixed speed
- // turn on motor A
- digitalWrite(in1, HIGH);
- digitalWrite(in2, LOW);
- // set speed to 200 out of possible range 0~255
- analogWrite(enA, sp);
- // turn on motor B
- digitalWrite(in3, HIGH);
- digitalWrite(in4, LOW);
- // set speed to 200 out of possible range 0~255
- analogWrite(enB, sp);
- // turn on motor c
- digitalWrite(in5, HIGH);
- digitalWrite(in6, LOW);
- // set speed to 200 out of possible range 0~255
- analogWrite(enC, sp);
- delay(2000);
- // now change motor directions
- digitalWrite(in1, LOW);
- digitalWrite(in2, HIGH);
- digitalWrite(in3, LOW);
- digitalWrite(in4, HIGH);
- digitalWrite(in5, LOW);
- digitalWrite(in6, HIGH);
- delay(2000);
- // now turn off motors
- digitalWrite(in1, LOW);
- digitalWrite(in2, LOW);
- digitalWrite(in3, LOW);
- digitalWrite(in4, LOW);
+void softpwm(int pin, int value){
+
+
}
-void demoTwo()
-{
- // this function will run the motors across the range of possible speeds
- // note that maximum speed is determined by the motor itself and theoperating voltage
- // the PWM values sent by analogWrite() are fractions of the maximumspeed possible
- // by your hardware
- // turn on motors
- digitalWrite(in1, LOW);
- digitalWrite(in2, HIGH);
- digitalWrite(in3, LOW);
- digitalWrite(in4, HIGH);
- digitalWrite(in5, LOW);
- digitalWrite(in6, HIGH);
- // accelerate from zero to maximum speed
- for (int i = 0; i < 256; i++)
- {
- analogWrite(enA, i);
- analogWrite(enB, i);
- analogWrite(enC, i);
- delay(20);
- }
- // decelerate from maximum speed to zero
- for (int i = 255; i >= 0; --i)
- {
- analogWrite(enA, i);
- analogWrite(enB, i);
- analogWrite(enC, i);
- delay(20);
- }
- // now turn off motors
- digitalWrite(in1, LOW);
- digitalWrite(in2, LOW);
- digitalWrite(in3, LOW);
- digitalWrite(in4, LOW);
- digitalWrite(in5, LOW);
- digitalWrite(in6, LOW);
+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(int sped){
- Serial.print("moving A ");
+void Amove(double sped) {
+ spdA = abs(sped)*255;
+ mcp2.digitalWrite(m1enA, HIGH);
+ mcp2.digitalWrite(m1enB, LOW);
if (sped < 0) {
- digitalWrite(in1, LOW);
- digitalWrite(in2, HIGH);
- Serial.print("back");
- }
- else{
- digitalWrite(in1, HIGH);
- digitalWrite(in2, LOW);
- Serial.print("forward");
+ Serial.print("Motor A back ");
+ mcp2.analogWrite(m1pwm1, spdA);
+ mcp2.analogWrite(m1pwm2, 0);
+ } else {
+ Serial.print("Motor A forward ");
+ mcp2.analogWrite(m1pwm1, 0);
+ mcp2.analogWrite(m1pwm2, spdA);
}
- Serial.print("with speed: ");
- sp = abs(sped);
- analogWrite(enA, sp);
- Serial.println(sp);
+ Serial.println(spdA);
}
-void Bmove(int sped) {
- Serial.print("moving B ");
+void Bmove(double sped) {
+ spdB = abs(sped)*255;
+ mcp2.digitalWrite(m2enA, HIGH);
+ mcp2.digitalWrite(m2enB, LOW);
if (sped < 0) {
- digitalWrite(in3, LOW);
- digitalWrite(in4, HIGH);
- Serial.print("back");
+ Serial.print("Motor B back ");
+ mcp2.analogWrite(m2pwm1, spdB);
+ mcp2.analogWrite(m2pwm2, 0);
} else {
- digitalWrite(in3, HIGH);
- digitalWrite(in4, LOW);
- Serial.print("forward");
+ Serial.print("Motor B forward ");
+ mcp2.analogWrite(m2pwm1, 0);
+ mcp2.analogWrite(m2pwm2, spdB);
}
- Serial.print("with speed: ");
- int sp = abs(sped);
- analogWrite(enB, sp);
- Serial.println(sp);
+ Serial.println(spdB);
}
-void Cmove(int sped) {
- Serial.print("moving C ");
+void Cmove(double sped) {
+ spdC = abs(sped) * 255;
+ mcp2.digitalWrite(m3enA, HIGH);
+ mcp2.digitalWrite(m3enB, LOW);
if (sped < 0) {
- digitalWrite(in5, LOW);
- digitalWrite(in6, HIGH);
- Serial.print("back");
+ Serial.print("Motor C back ");
+ mcp2.analogWrite(m3pwm1, spdC);
+ mcp2.analogWrite(m3pwm2, 0);
} else {
- digitalWrite(in5, HIGH);
- digitalWrite(in6, LOW);
- Serial.print("forward");
+ Serial.print("Motor C forward ");
+ mcp2.analogWrite(m3pwm1, 0);
+ mcp2.analogWrite(m3pwm2, spdC);
}
- Serial.print("with speed: ");
- int sp = abs(sped);
- analogWrite(enC, sp);
- Serial.println(sp);
-}
-
-
-void turnoff(){
- Serial.println("stop");
- analogWrite(enA, 0);
- analogWrite(enB, 0);
- analogWrite(enC, 0);
- digitalWrite(in1, LOW);
- digitalWrite(in2, LOW);
- digitalWrite(in3, LOW);
- digitalWrite(in4, LOW);
- digitalWrite(in5, LOW);
- digitalWrite(in6, LOW);
-}
-void forward(int speed){
- Serial.println("forward");
- analogWrite(enA, speed);
- analogWrite(enB, speed);
- analogWrite(enC, speed);
- digitalWrite(in1, LOW);
- digitalWrite(in2, LOW);
- digitalWrite(in3, HIGH);
- digitalWrite(in4, LOW);
- digitalWrite(in5, HIGH);
- digitalWrite(in6, LOW);
-}
-void turn(int speed){
- Serial.println("turn");
- analogWrite(enA, speed);
- analogWrite(enB, speed);
- analogWrite(enC, speed);
- digitalWrite(in1, HIGH);
- digitalWrite(in2, LOW);
- digitalWrite(in3, HIGH);
- digitalWrite(in4, LOW);
- digitalWrite(in5, HIGH);
- digitalWrite(in6, LOW);
+ Serial.println(spdC);
}
void moveohmi(int speed, int direction){
- turnoff();
- double dirrad = (direction*71) / 4068;
- dirA = 1.047198-dirrad;
- dirB = 3.141593-dirrad;
- dirC = 5.235988-dirrad;
- spdA = speed*sin(dirA);
- spdB = speed*sin(dirB);
- spdC = speed*sin(dirC);
- Amove(spdA);
- Bmove(spdB);
- Cmove(spdC);
-}
-void beddermoveohmi(int speed, int direction){
- turnoff();
+ Amove(0);
+ Bmove(0);
+ Cmove(0);
- double dirrad = (direction*71) / 4068;
+ double dirrad = (direction*71.0000) / 4068.0000;
Serial.println(dirrad);
//vector ontb in x en y
- double x = sin(dirrad)*speed;
- double y = cos(dirrad)*speed;
+ double y = sin(dirrad);
+ double x = cos(dirrad);
Serial.println((String)"x:"+x+" y:"+y);
- spdA = -0.5*x - sqrt(3)/2*y;
- spdB = x;
- spdC = -0.5*x + sqrt(3)/2*y;
- Amove(spdA);
- Bmove(spdB);
- Cmove(spdC);
-
- Serial.println(spdA);
- Serial.println(spdB);
- Serial.println(spdC);
+ 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 loop()
-{
- //demoOne();
- //delay(1000);
- //demoTwo();
+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);
- turnoff();
- beddermoveohmi(255, 0);
+
+ Amove(0);
+ Bmove(0);
+ Cmove(0);
+ Serial.println("seperate A B C stop");
delay(1000);
- turnoff();
- Amove(255);
+
+ Amove(-sp);
+ Bmove(-sp);
+ Cmove(-sp);
+ Serial.println("seperate A B C -rotation");
+ delay(1000);
+
+ moveohmi(0, 0);
+ Serial.println("ohmi stop");
delay(1000);
- turnoff();
- Bmove(255);
+
+ rotate(90, sp);
+ Serial.println("rotation function 90deg");
+ rotate(90, sp);
+ Serial.println("rotation function -90deg");
delay(1000);
- turnoff();
- Cmove(255);
+
+ moveohmi(sp, 35);
+ Serial.println("ohmi move 35deg");
delay(1000);
- turnoff();
- turn(254);
+
+ 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);
+
}
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