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//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
//encoder variables
const int refreshrate = 50; //refresh rate of the encoder
volatile long oneENCcount = 0; //the amount of pulses from motor one encoder
double ONErpm = 0.00; //the amount of revolutions motor one makes per minute
void setup() {
pinMode(m1enA, OUTPUT);
pinMode(m1enB, OUTPUT);
pinMode(m1pwm1, OUTPUT);
pinMode(m1pwm2, 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
Serial.begin(9600);
Serial.print("start");
SetTunings(1, 1, 1);
}
void updatePWM() {
int counter1 = 0;
//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;
}
}
void AoneIRS(){
oneENCcount++; //adds one to the count
}
void BoneIRS(){
oneENCcount++; //dieselbe
}
void enc_refr(){
//calculate RPM. It gets updated 48 times per rotation.
ONErpm = (oneENCcount/48.00) * (60000000.00 / refreshrate);
//reset the counting to zero for next cycle.
oneENCcount = 0;
}
void PID(int speed){
Serial.println(ONErpm);
PWMval1 = Compute(); //enter output from PID algorith here
digitalWrite(m1enB, LOW);
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
}
/*working variables*/
unsigned long lastTime;
double Input, Output, Setpoint;
double errSum, lastErr;
double kp, ki, kd;
int Compute()
{
Input = ONErpm;
/*How long since we last calculated*/
unsigned long now = millis();
double timeChange = (double)(now - lastTime);
/*Compute all the working error variables*/
double error = Setpoint - Input;
errSum += (error * timeChange);
double dErr = (error - lastErr) / timeChange;
/*Compute PID Output*/
/*Remember some variables for next time*/
lastErr = error;
lastTime = now;
return kp * error + ki * errSum + kd * dErr;
}
void SetTunings(double Kp, double Ki, double Kd)
{
kp = Kp;
ki = Ki;
kd = Kd;
}
//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.");
delay(50);
}
void drive(int speed, int direction){
//
// Direction............|.Motor 1.|.Motor 2.|.Motor 3.
// 0deg(forward)........|....0....|....-....|....+....
// 60deg................|....+....|....-....|....0....
// 120deg...............|....+....|....0....|....-....
// 180 deg (backward)...|....0....|....+....|....-....
// 240 deg..............|....-....|....+....|....0....
// 300 deg..............|....-....|....0....|....+....
//
digitalWrite(m1enA, HIGH);
digitalWrite(m2enA, HIGH);
digitalWrite(m3enA, HIGH);
digitalWrite(m1enB, LOW);
digitalWrite(m2enB, LOW);
digitalWrite(m3enB, LOW);
Serial.println("debug2");
Serial.println(direction);
if(direction>330 || direction<=30){
//0 deg
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, HIGH);
digitalWrite(m3pwm2, LOW);
Serial.println("0 deg");
}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, LOW);
digitalWrite(m3pwm2, HIGH);
}else if (direction>90 && direction <= 150){
//120 deg
Serial.println("120 deg");
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, HIGH);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, LOW);
}else if (direction > 150 && direction <= 210) {
//180 degrees
Serial.println("on 180");
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, HIGH);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, HIGH);
}else if (direction > 210 && direction <= 270) {
//240 degrees
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
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, HIGH);
digitalWrite(m2pwm2, LOW);
Serial.println("300deg");
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, LOW);
}else{
Serial.println("how?");
}
}
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