1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
|
//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 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");
}
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;
}
}
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 = ; //enter output from PID algorith here
digitalWrite(m1enB, LOW);
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
}
//the loop routine runs over and over again forever:
void loop() {
drive(50); //speed value between 0-100
Serial.println("Motor one is at: "+ ONErpm + " RPM.");
delay(50);
}
|
