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-rw-r--r--debug/motordriver/nomultiplexer/nomultiplexer.ino294
1 files changed, 179 insertions, 115 deletions
diff --git a/debug/motordriver/nomultiplexer/nomultiplexer.ino b/debug/motordriver/nomultiplexer/nomultiplexer.ino
index d2800a8..4ca1ca8 100644
--- a/debug/motordriver/nomultiplexer/nomultiplexer.ino
+++ b/debug/motordriver/nomultiplexer/nomultiplexer.ino
@@ -2,25 +2,29 @@
//https://www.pololu.com/product/2997
//https://www.pololu.com/product/4861
//
-// motor one
-int m1penA = 1;
+// motor one/A front
+int m1enA = 1;
int m1enB = 2;
int m1pwm1 = 3;
int m1pwm2 = 4;
int m1encA = 13;
int m1encB = 14;
-// motor two
+// motor two/B left
int m2enA = 5;
int m2enB = 6;
int m2pwm1 = 7;
int m2pwm2 = 8;
-// motor three
+int m2encA = 15;
+int m2encB = 16;
+// motor three/C right
int m3enA = 9;
int m3enB = 10;
int m3pwm1 = 11;
int m3pwm2 = 12;
+int m3encA = 17;
+int m3encB = 18;
-int sp = 160;
+double sp = 1.000; //speed in 0-1
double dirA = 0.00;
double dirB = 0.00;
@@ -29,6 +33,23 @@ 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;
void setup()
{
@@ -47,146 +68,189 @@ void setup()
pinMode(m3pwm1, OUTPUT);
pinMode(m3pwm2, OUTPUT);
+ //set encoder pins to input
pinMode(m1encA, INPUT);
pinMode(m1encB, INPUT);
+ pinMode(m2encA, INPUT);
+ 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 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){
+void Amove(double sped) {
+ spdA = abs(sped)*255;
digitalWrite(m1enA, HIGH);
- digitalWrite(m1enA, LOW);
- sp = abs(sped);
+ digitalWrite(m1enB, LOW);
if (sped < 0) {
- Serial.print("back");
- analogWrite(m1pwm1, sp);
- digitalWrite(m1pwm2, LOW);
+ Serial.print("Motor A back ");
+ analogWrite(m1pwm1, spdA);
+ analogWrite(m1pwm2, 0);
} else {
- Serial.print("forward");
- digitalWrite(m1pwm1, LOW);
- analogWrite(m1pwm2, sp);
+ Serial.print("Motor A forward ");
+ analogWrite(m1pwm1, 0);
+ analogWrite(m1pwm2, spdA);
}
- Serial.println(sp);
+ Serial.println(spdA);
}
-void Bmove(int sped) {
- Serial.print("moving B ");
+void Bmove(double sped) {
+ spdB = abs(sped)*255;
+ digitalWrite(m2enA, HIGH);
+ digitalWrite(m2enB, LOW);
if (sped < 0) {
- digitalWrite(in3, LOW);
- digitalWrite(in4, HIGH);
- Serial.print("back");
+ Serial.print("Motor B back ");
+ analogWrite(m2pwm1, spdB);
+ analogWrite(m2pwm2, 0);
} else {
- digitalWrite(in3, HIGH);
- digitalWrite(in4, LOW);
- Serial.print("forward");
+ Serial.print("Motor B forward ");
+ analogWrite(m2pwm1, 0);
+ 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;
+ digitalWrite(m3enA, HIGH);
+ digitalWrite(m3enB, LOW);
if (sped < 0) {
- digitalWrite(in5, LOW);
- digitalWrite(in6, HIGH);
- Serial.print("back");
+ Serial.print("Motor C back ");
+ analogWrite(m3pwm1, spdC);
+ analogWrite(m3pwm2, 0);
} else {
- digitalWrite(in5, HIGH);
- digitalWrite(in6, LOW);
- Serial.print("forward");
+ Serial.print("Motor C forward ");
+ analogWrite(m3pwm1, 0);
+ 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 - sqrt(3.000)/2.000*y)*speed;
+ double spdeC = (-0.500*x + sqrt(3.000)/2.000*y)*speed;
+ Serial.println(spdeA);
+ Amove(spdeA);
+ Bmove(spdeB);
+ Cmove(spdeC);
Serial.println();
Serial.println();
}
-void loop()
-{
+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);
- turnoff();
- Bmove(255);
+
+ moveohmi(0, 0);
+ Serial.println("ohmi stop");
delay(1000);
- turnoff();
- Cmove(255);
+
+ rotate(90, sp);
+ Serial.println("rotation function 90deg");
+ rotate(90, sp);
+ Serial.println("rotation function -90deg");
+ delay(1000);
+
+ moveohmi(sp, 35);
+ Serial.println("ohmi move 35deg");
delay(1000);
- turnoff();
- turn(254);
+
+ moveohmi(sp, 215);
+ 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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