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#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
double sp = 1.000; //speed in 0-1
double dirA = 0.00;
double dirB = 0.00;
double dirC = 0.00;
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
mcp2.pinMode(m1enA, OUTPUT);
mcp2.pinMode(m1enB, OUTPUT);
mcp2.pinMode(m2enA, OUTPUT);
mcp2.pinMode(m2enB, OUTPUT);
mcp2.pinMode(m3enA, OUTPUT);
mcp2.pinMode(m3enB, 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 softpwm(int pin, int value){
}
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(double sped) {
spdA = abs(sped)*255;
mcp2.digitalWrite(m1enA, HIGH);
mcp2.digitalWrite(m1enB, LOW);
if (sped < 0) {
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.println(spdA);
}
void Bmove(double sped) {
spdB = abs(sped)*255;
mcp2.digitalWrite(m2enA, HIGH);
mcp2.digitalWrite(m2enB, LOW);
if (sped < 0) {
Serial.print("Motor B back ");
mcp2.analogWrite(m2pwm1, spdB);
mcp2.analogWrite(m2pwm2, 0);
} else {
Serial.print("Motor B forward ");
mcp2.analogWrite(m2pwm1, 0);
mcp2.analogWrite(m2pwm2, spdB);
}
Serial.println(spdB);
}
void Cmove(double sped) {
spdC = abs(sped) * 255;
mcp2.digitalWrite(m3enA, HIGH);
mcp2.digitalWrite(m3enB, LOW);
if (sped < 0) {
Serial.print("Motor C back ");
mcp2.analogWrite(m3pwm1, spdC);
mcp2.analogWrite(m3pwm2, 0);
} else {
Serial.print("Motor C forward ");
mcp2.analogWrite(m3pwm1, 0);
mcp2.analogWrite(m3pwm2, spdC);
}
Serial.println(spdC);
}
void moveohmi(int speed, int direction){
Amove(0);
Bmove(0);
Cmove(0);
double dirrad = (direction*71.0000) / 4068.0000;
Serial.println(dirrad);
//vector ontb in x en y
double y = sin(dirrad);
double x = cos(dirrad);
Serial.println((String)"x:"+x+" y:"+y);
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 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);
Amove(0);
Bmove(0);
Cmove(0);
Serial.println("seperate A B C stop");
delay(1000);
Amove(-sp);
Bmove(-sp);
Cmove(-sp);
Serial.println("seperate A B C -rotation");
delay(1000);
moveohmi(0, 0);
Serial.println("ohmi stop");
delay(1000);
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);
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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