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2 Commits
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b9e91a14ab
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b9e91a14ab
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78850704ba
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BIN
res/Lab 2 - Motion Control 23-24.pdf
Normal file
BIN
res/Lab 2 - Motion Control 23-24.pdf
Normal file
Binary file not shown.
BIN
res/LeibRamp.pdf
Normal file
BIN
res/LeibRamp.pdf
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Binary file not shown.
204
res/lab_2/LeibRampStepper.c
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204
res/lab_2/LeibRampStepper.c
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@@ -0,0 +1,204 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <windows.h>
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#include <math.h>
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/* Only needed in Windows program to maintain compatibility with Arduino version of C/C++ */
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#define bool BOOL
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#define true 1
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#define false 0
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const bool FWDS = true;
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const bool BWDS = false;
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const long ticksPerSec = 1000; // ms on PC
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// on Arduino it is 1E6 for micros (for s/w) or 1.6E7 for 62.5 ns ticks (for h/w)
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/* Function prototypes: */
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/* PC only, don't need function prototypes on Arduino as they get added within compilation process */
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void moveOneStep();
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void computeNewSpeed();
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long computeStepsToGo();
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void goToPosition(long newPosition);
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void printLoop();
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long millis(void);
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/* Note: we are using global variables ONLY to preserve compatibility with the Arduino program structure.
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They should not normally be used in C or C++ programs as they make for a poor software design. */
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/* Global variables relating to stepper motor position counting etc. */
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long stepsToGo; /* Number of steps left to make in present movement */
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long targetPosition; /* Intended destination of motor for given movement */
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volatile long currentPosition = 0; /* Position in steps of motor relative to startup position */
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float maxSpeed; /* Maximum speed in present movement (not nec. max permitted) */
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bool direction; /* Direction of present movement: FWDS or BWDS */
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/* Global variables used in simplistic and Leib Ramp algorithms */
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volatile float p; /* Step interval in clock ticks or microseconds */
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float p1, ps; /* Minimum and maximum step periods */
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float deltaP; /* You'll be able to get rid of this later */
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float R; /* Multiplying constant used in Eiderman's algorithm */
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/* Global variable used for noting previous time of a step in timed loop and for calculating speed and accel */
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long prevStepTime=0;
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long millisAtStart;
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float prevSpeed=0.0;
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/* Define permissible parameters for motor */
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// For testing on PC only, not for use in Arduino program: try movements in order of 50-100 steps
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float accelSteps=20; /* leave this as a variable as we may over-write it */
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const float minSpeed = 1.0;
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const float maxPermissSpeed = 20.0;
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const float maxAccel = 10.0;
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int main()
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{
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unsigned long currentMillis = millis();
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prevStepTime = 0;
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long positionToMoveTo;
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while(true)
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{
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printf("Enter position to move to in profile (or 999 to terminate)\n");
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scanf("%ld", &positionToMoveTo);
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if (positionToMoveTo==999) break;
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printf(" Time (s), Speed (steps/s), Accel (steps/s^2), Posit'n (steps), Step time (ticks)\n");
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goToPosition(positionToMoveTo);
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/* -------------------------------------------------------------- */
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/* Start of pre-computation code - only executed once per profile */
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// STEP 1
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// Define number of steps in acceleration phase using Equation (3)
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accelSteps = (long)(( maxPermissSpeed * maxPermissSpeed - minSpeed * minSpeed) / ( 2.0 * (float)maxAccel)); // Equation 4 but need to consider initial speed
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stepsToGo = computeStepsToGo();
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maxSpeed = maxPermissSpeed;
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if (2 * accelSteps > stepsToGo)
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{
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// STEP 2
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// Define maximum speed in profile and number of steps in acceleration phase
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// Use Equations (4) and (5)
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maxSpeed = sqrt(minSpeed * minSpeed + stepsToGo * maxAccel); // Modified version of eq. 5
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accelSteps = (long)(stepsToGo / 2);
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}
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// STEPS 3 and 5
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// Calculate initial value of and p1 and R Set p = p1
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p1 = (float)ticksPerSec / sqrt( minSpeed * minSpeed + 2 * maxAccel); // Eq 17 incorporating initial velocity
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p = p1;
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R = (float) maxAccel / ((float)ticksPerSec * (float)ticksPerSec); // Eq 19
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ps = ((float)ticksPerSec) / maxSpeed; // STEP 4 Eq 7 in paper
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/* End of pre-computation code */
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/* -------------------------------------------------------------- */
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millisAtStart = millis(); /* Needed only to tabulate speed vs. time */
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/* Timed loop for stepping, and associated coding */
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while(stepsToGo > 0)
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{
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currentMillis = millis();
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if (currentMillis - prevStepTime >= p)
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{
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moveOneStep();
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prevStepTime = currentMillis;
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computeNewSpeed();
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}
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}
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}
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return 0;
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}
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/* Only needed for compatibility with Arduino program because millis() is not a native Windows API function */
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long millis(void)
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{
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return GetTickCount();
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}
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/* Move a single step. */
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void moveOneStep()
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{
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if (p != 0) /* p=0 is code for "don't make steps" */
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{
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// Print to screen instead of making a step
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if (direction == FWDS)
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{
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currentPosition++;
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}
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else
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{
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currentPosition--;
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}
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/* Instead of actually making step, print out parameters for current step */
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float speed = (float)(ticksPerSec)/p;
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float accel = (float)(ticksPerSec)*(speed-prevSpeed)/p;
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printf("%16.3f, %16.3f, %16.3f, %16ld, %16.3f\n", 0.001*(millis()-millisAtStart), speed, accel, currentPosition, p);
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prevSpeed = speed;
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}
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}
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/* Calcuate new value of step interval p based on constants defined in loop() */
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void computeNewSpeed()
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{
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float q;
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float m;
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stepsToGo = computeStepsToGo();
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/* ----------------------------------------------------------------- */
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/* Start of on-the-fly step calculation code, executed once per step */
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if (stepsToGo == 0) // STEP 6a
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{
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p = 0; // Not actually a zero step interval, used to switch stepping off
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return;
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}
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else if (stepsToGo >= accelSteps && (long)p > (long)ps) // Speeding up
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{
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m = -R; // Equation (9)
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}
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else if (stepsToGo <= accelSteps) // Slowing down
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{
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m = R; // Equation 10
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}
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else // Running at constant speed
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{
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m = 0; // Equation (11)
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}
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/* else p is unchanged: running at constant speed */
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/* Update to step interval based on Eiderman's algorithm, using temporary variables */
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// STEP 6b, c and d using Equations (12) and (13)
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q = m * p * p; // this is a part of optional enhancement
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p = p * ( 1 + q + 1.5 * q * q); // this is an enhanced approximation -equation [22]
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/* Need to ensure rounding error does not cause drift outside acceptable interval range:
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replace p with relevant bound if it strays outside */
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if (p > p1)
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{
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p = p1;
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}
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/* End of on-the-fly step calculation code */
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/* ----------------------------------------------------------------- */
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}
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/* Work out how far the stepper motor still needs to move */
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long computeStepsToGo()
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{
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if (direction == FWDS)
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{
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return targetPosition - currentPosition;
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}
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else
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{
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return currentPosition - targetPosition;
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}
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}
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/* Set the target position and determine direction of intended movement */
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void goToPosition(long newPosition)
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{
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targetPosition = newPosition;
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if (targetPosition - currentPosition > 0)
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{
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direction = FWDS;
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}
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else
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{
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direction = BWDS;
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}
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}
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286
res/lab_2/LeibRampStepper/LeibRampStepper.ino
Normal file
286
res/lab_2/LeibRampStepper/LeibRampStepper.ino
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@@ -0,0 +1,286 @@
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/* Stepper motor demonstration program written by Arthur Jones,
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4 November 2018. Implements a simplistic and ineffective ramping
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algorithm but provides framework for implementation of LeibRamp
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algorithm described by Aryeh Eiderman, http://hwml.com/LeibRamp.pdf
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Makes use of background work and some aspects of code developed
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by Choaran Wang, 2017-18. This in turn incorporates some ideas
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used in the AccelStepper library:
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https://www.airspayce.com/mikem/arduino/AccelStepper/
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Serial input aspects are based closely upon:
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http://forum.arduino.cc/index.php?topic=396450
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Example 4 - Receive a number as text and convert it to an int
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Modified to read a long */
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const int stepPin = 13;
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const int dirPin = 9;
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const bool FWDS = true;
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const bool BWDS = false;
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const long ticksPerSec = 1000000; // microseconds in this case
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/* Define permissible parameters for motor */
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// For testing by watching LED: try movements in order of 100 steps
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//float accelSteps=20; /* leave this as a variable as we may over-write it */
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//const float minSpeed = 2.0;
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//const float maxPermissSpeed = 20.0;
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//const float maxAccel = 10.0;
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//const long stepLengthMus = 10000;
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// For lab testing with real motor: try movements in the order of 3000 steps
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float accelSteps=1000; /* leave this as a variable as we may over-write it */
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const float minSpeed=10.0;
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const float maxPermissSpeed=100000000.0;
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const float maxAccel=500.0;
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const long stepLengthMus=100;
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/* Intervals in milliseconds for user-defined timed loops */
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const long printInterval = 1000;
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/* Global variables used for loop timing */
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unsigned long prevMillisPrint = 0; /* stores last time values were printed */
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/* Global variables used in serial input */
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enum {numChars = 32};
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char receivedChars[numChars]; /* an array to store the received data */
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long dataNumber = 0; /* Value read from serial monitor input */
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boolean newData = false;
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/* Global variables relating to stepper motor position counting etc. */
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long stepsToGo; /* Number of steps left to make in present movement */
|
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long targetPosition; /* Intended destination of motor for given movement */
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volatile long currentPosition = 0; /* Position in steps of motor relative to startup position */
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double maxSpeed; /* Maximum speed in present movement (not nec. max permitted) */
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bool direction; /* Direction of present movement: FWDS or BWDS */
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volatile float p; /* Step interval in clock ticks or microseconds */
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float p1, ps; /* Minimum and maximum step periods */
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double deltaP; /* You'll be able to get rid of this later */
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double R; /* Multiplying constant used in Eiderman's algorithm */
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/* Global variable used for noting previous time of a step in timed loop */
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long prevStepTime;
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void setup()
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{
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long stepsToGo = 0;
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currentPosition = 0;
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goToPosition(dataNumber);
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pinMode(stepPin, OUTPUT);
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pinMode(dirPin, OUTPUT);
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Serial.begin(9600);
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Serial.println("Enter target position in number of steps and hit return");
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prevStepTime = micros();
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}
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void loop()
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{
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unsigned long currentMillis = millis();
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unsigned long currentMicros;
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recvWithEndMarker();
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stepsToGo = computeStepsToGo();
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if (convertNewNumber())
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{
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Serial.print("Converted number: datanumber is: ");
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Serial.println(dataNumber);
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// Only get to this stage if there was new data to convert
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if (stepsToGo <= 0)
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{
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// Only get to this stage if not busy, otherwise will have thrown away input
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goToPosition(dataNumber);
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Serial.print("Got target position: ");
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Serial.println(targetPosition);
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/* Define number of steps in acceleration phase using Equation (3) */
|
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accelSteps = long(( maxPermissSpeed * maxPermissSpeed) / ( 2.0 * (double)maxAccel)); // Equation 4 but need to consider initial speed
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stepsToGo = computeStepsToGo();
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maxSpeed = maxPermissSpeed;
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if (2 * accelSteps > stepsToGo)
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{
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// Define maximum speed in profile and number of steps in acceleration phase
|
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maxSpeed = sqrt(minSpeed * minSpeed + stepsToGo * maxAccel); // Modified version of eq. 5
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accelSteps = (long)(stepsToGo / 2);
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}
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ps = ((double)ticksPerSec) / maxSpeed; // Eq 7
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p1 = (double)ticksPerSec / sqrt( minSpeed * minSpeed + 2 * maxAccel); // Eq 17 but need initial velocity
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p = p1;
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R = (double) maxAccel / ((double)ticksPerSec * (double)ticksPerSec); // Eq 19
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}
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}
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/* Timed loop for stepping */
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currentMicros = micros();
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if (currentMicros - prevStepTime >= p)
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{
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moveOneStep();
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prevStepTime = currentMicros;
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computeNewSpeed();
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}
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/* Timed loop for printing */
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if (currentMillis - prevMillisPrint >= printInterval)
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{
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// save the last time you printed output
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prevMillisPrint = currentMillis;
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printLoop();
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}
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}
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/* Move a single step, holding pulse high for delayMicroSeconds */
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void moveOneStep()
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{
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if (p != 0) /* p=0 is code for "don't make steps" */
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{
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digitalWrite(stepPin, HIGH);
|
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if (direction == FWDS)
|
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{
|
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/* Is something missing here? */
|
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digitalWrite(dirPin, HIGH);
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currentPosition++;
|
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}
|
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else
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||||
{
|
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/* Is something missing here? */
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digitalWrite(dirPin, LOW);
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currentPosition--;
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}
|
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delayMicroseconds(stepLengthMus);
|
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digitalWrite(stepPin, LOW);
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}
|
||||
}
|
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|
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/* Calcuate new value of step interval p based on constants defined in loop() */
|
||||
void computeNewSpeed()
|
||||
{
|
||||
double q;
|
||||
double m;
|
||||
stepsToGo = computeStepsToGo();
|
||||
|
||||
/* ----------------------------------------------------------------- */
|
||||
/* Start of on-the-fly step calculation code, executed once per step */
|
||||
if (stepsToGo == 0)
|
||||
{
|
||||
p = 0; // Not actually a zero step interval, used to switch stepping off
|
||||
return;
|
||||
}
|
||||
else if (stepsToGo > accelSteps && (long)p > long(ps)) //Speeding up
|
||||
{
|
||||
m = -R; // definition following equation 20
|
||||
}
|
||||
else if (stepsToGo <= accelSteps) // Slowing down
|
||||
{
|
||||
m = R;
|
||||
}
|
||||
else // Running at constant speed
|
||||
{
|
||||
m = 0;
|
||||
}
|
||||
|
||||
/* Update to step interval based on Eiderman's algorithm, using temporary variables */
|
||||
q = m * p * p; // this is a part of optional enhancement
|
||||
p = p * ( 1 + q + 1.5 * q * q); // this is an enhanced approximation -equation [22]
|
||||
/* Need to ensure rounding error does not cause drift outside acceptable interval range:
|
||||
replace p with relevant bound if it strays outside */
|
||||
if (p < ps)
|
||||
{
|
||||
p = ps;
|
||||
}
|
||||
if (p > p1)
|
||||
{
|
||||
p = p1;
|
||||
}
|
||||
/* End of on-the-fly step calculation code */
|
||||
/* ----------------------------------------------------------------- */
|
||||
}
|
||||
|
||||
/* Work out how far the stepper motor still needs to move */
|
||||
long computeStepsToGo()
|
||||
{
|
||||
if (direction == FWDS)
|
||||
{
|
||||
return targetPosition - currentPosition;
|
||||
}
|
||||
else
|
||||
{
|
||||
return currentPosition - targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
/* Set the target position and determine direction of intended movement */
|
||||
void goToPosition(long newPosition)
|
||||
{
|
||||
targetPosition = newPosition;
|
||||
if (targetPosition - currentPosition > 0)
|
||||
{
|
||||
direction = FWDS;
|
||||
}
|
||||
else
|
||||
{
|
||||
direction = BWDS;
|
||||
}
|
||||
}
|
||||
|
||||
/* Receive data from serial port finishing with "newline" character.
|
||||
Based on http://forum.arduino.cc/index.php?topic=396450 Example 4 */
|
||||
void recvWithEndMarker()
|
||||
{
|
||||
static byte ndx = 0;
|
||||
char endMarker = '\n';
|
||||
char rc;
|
||||
|
||||
if (Serial.available() > 0)
|
||||
{
|
||||
rc = Serial.read();
|
||||
|
||||
if (rc != endMarker)
|
||||
{
|
||||
receivedChars[ndx] = rc;
|
||||
ndx++;
|
||||
if (ndx >= numChars)
|
||||
{
|
||||
ndx = numChars - 1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
receivedChars[ndx] = '\0'; // terminate the string
|
||||
ndx = 0;
|
||||
newData = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool convertNewNumber()
|
||||
/* Converts character string to long integer only if there are new
|
||||
data to convert, otherwise returns false */
|
||||
{
|
||||
if (newData)
|
||||
{
|
||||
dataNumber = 0.0;
|
||||
dataNumber = atol(receivedChars);
|
||||
newData = false;
|
||||
Serial.println(dataNumber);
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/* Print current position of stepper using timed loop */
|
||||
void printLoop()
|
||||
{
|
||||
/* Sample all counters one after the other to avoid delay-related offsets */
|
||||
Serial.print("Current position = ");
|
||||
Serial.print(currentPosition);
|
||||
Serial.print("\r\n");
|
||||
Serial.print("p = ");
|
||||
Serial.print(p);
|
||||
Serial.print("\r\n");
|
||||
}
|
||||
209
res/lab_2/LeibRampStepperMac.c
Normal file
209
res/lab_2/LeibRampStepperMac.c
Normal file
@@ -0,0 +1,209 @@
|
||||
// Leib Ramp Stepper program with millis function adapted for MacOS
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <windows.h>
|
||||
#include <math.h>
|
||||
#include <time.h>
|
||||
|
||||
|
||||
/* Only needed in Windows program to maintain compatibility with Arduino version of C/C++ */
|
||||
typedef enum { false, true } bool;
|
||||
#define true 1
|
||||
#define false 0
|
||||
const bool FWDS = true;
|
||||
const bool BWDS = false;
|
||||
|
||||
const long ticksPerSec = 1000; // ms on PC
|
||||
// on Arduino it is 1E6 for micros (for s/w) or 1.6E7 for 62.5 ns ticks (for h/w)
|
||||
|
||||
/* Function prototypes: */
|
||||
/* PC only, don't need function prototypes on Arduino as they get added within compilation process */
|
||||
void moveOneStep();
|
||||
void computeNewSpeed();
|
||||
long computeStepsToGo();
|
||||
void goToPosition(long newPosition);
|
||||
void printLoop();
|
||||
long millis(void);
|
||||
|
||||
/* Note: we are using global variables ONLY to preserve compatibility with the Arduino program structure.
|
||||
They should not normally be used in C or C++ programs as they make for a poor software design. */
|
||||
/* Global variables relating to stepper motor position counting etc. */
|
||||
long stepsToGo; /* Number of steps left to make in present movement */
|
||||
long targetPosition; /* Intended destination of motor for given movement */
|
||||
volatile long currentPosition = 0; /* Position in steps of motor relative to startup position */
|
||||
float maxSpeed; /* Maximum speed in present movement (not nec. max permitted) */
|
||||
bool direction; /* Direction of present movement: FWDS or BWDS */
|
||||
|
||||
/* Global variables used in simplistic and Leib Ramp algorithms */
|
||||
volatile float p; /* Step interval in clock ticks or microseconds */
|
||||
float p1, ps; /* Minimum and maximum step periods */
|
||||
float deltaP; /* You'll be able to get rid of this later */
|
||||
float R; /* Multiplying constant used in Eiderman's algorithm */
|
||||
|
||||
/* Global variable used for noting previous time of a step in timed loop and for calculating speed and accel */
|
||||
long prevStepTime=0;
|
||||
long millisAtStart;
|
||||
float prevSpeed=0.0;
|
||||
|
||||
/* Define permissible parameters for motor */
|
||||
// For testing on PC only, not for use in Arduino program: try movements in order of 50-100 steps
|
||||
float accelSteps=20; /* leave this as a variable as we may over-write it */
|
||||
const float minSpeed = 1.0;
|
||||
const float maxPermissSpeed = 20.0;
|
||||
const float maxAccel = 10.0;
|
||||
|
||||
int main()
|
||||
{
|
||||
unsigned long currentMillis = millis();
|
||||
prevStepTime = 0;
|
||||
long positionToMoveTo;
|
||||
while(true)
|
||||
{
|
||||
printf("Enter position to move to in profile (or 999 to terminate)\n");
|
||||
scanf("%ld", &positionToMoveTo);
|
||||
if (positionToMoveTo==999) break;
|
||||
printf(" Time (s), Speed (steps/s), Accel (steps/s^2), Posit'n (steps), Step time (ticks)\n");
|
||||
|
||||
goToPosition(positionToMoveTo);
|
||||
|
||||
/* -------------------------------------------------------------- */
|
||||
/* Start of pre-computation code - only executed once per profile */
|
||||
// STEP 1
|
||||
// Define number of steps in acceleration phase using Equation (3)
|
||||
accelSteps = (long)(( maxPermissSpeed * maxPermissSpeed - minSpeed * minSpeed) / ( 2.0 * (float)maxAccel)); // Equation 4 but need to consider initial speed
|
||||
stepsToGo = computeStepsToGo();
|
||||
maxSpeed = maxPermissSpeed;
|
||||
if (2 * accelSteps > stepsToGo)
|
||||
{
|
||||
// STEP 2
|
||||
// Define maximum speed in profile and number of steps in acceleration phase
|
||||
// Use Equations (4) and (5)
|
||||
maxSpeed = sqrt(minSpeed * minSpeed + stepsToGo * maxAccel); // Modified version of eq. 5
|
||||
accelSteps = (long)(stepsToGo / 2);
|
||||
}
|
||||
|
||||
// STEPS 3 and 5
|
||||
// Calculate initial value of and p1 and R Set p = p1
|
||||
p1 = (float)ticksPerSec / sqrt( minSpeed * minSpeed + 2 * maxAccel); // Eq 17 incorporating initial velocity
|
||||
p = p1;
|
||||
R = (float) maxAccel / ((float)ticksPerSec * (float)ticksPerSec); // Eq 19
|
||||
ps = ((float)ticksPerSec) / maxSpeed; // STEP 4 Eq 7 in paper
|
||||
|
||||
/* End of pre-computation code */
|
||||
/* -------------------------------------------------------------- */
|
||||
millisAtStart = millis(); /* Needed only to tabulate speed vs. time */
|
||||
|
||||
/* Timed loop for stepping, and associated coding */
|
||||
while(stepsToGo > 0)
|
||||
{
|
||||
currentMillis = millis();
|
||||
if (currentMillis - prevStepTime >= p)
|
||||
{
|
||||
moveOneStep();
|
||||
prevStepTime = currentMillis;
|
||||
computeNewSpeed();
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* Only needed for compatibility with Arduino program because millis() is not a native MacOS function */
|
||||
long millis(void)
|
||||
{
|
||||
struct timespec _t;
|
||||
clock_gettime(CLOCK_REALTIME, &_t);
|
||||
return _t.tv_sec*1000 + lround(_t.tv_nsec/1e6);
|
||||
}
|
||||
|
||||
/* Move a single step. */
|
||||
void moveOneStep()
|
||||
{
|
||||
if (p != 0) /* p=0 is code for "don't make steps" */
|
||||
{
|
||||
// Print to screen instead of making a step
|
||||
if (direction == FWDS)
|
||||
{
|
||||
currentPosition++;
|
||||
}
|
||||
else
|
||||
{
|
||||
currentPosition--;
|
||||
}
|
||||
|
||||
/* Instead of actually making step, print out parameters for current step */
|
||||
float speed = (float)(ticksPerSec)/p;
|
||||
float accel = (float)(ticksPerSec)*(speed-prevSpeed)/p;
|
||||
printf("%16.3f, %16.3f, %16.3f, %16ld, %16.3f\n", 0.001*(millis()-millisAtStart), speed, accel, currentPosition, p);
|
||||
prevSpeed = speed;
|
||||
}
|
||||
}
|
||||
|
||||
/* Calcuate new value of step interval p based on constants defined in loop() */
|
||||
void computeNewSpeed()
|
||||
{
|
||||
float q;
|
||||
float m;
|
||||
stepsToGo = computeStepsToGo();
|
||||
|
||||
/* ----------------------------------------------------------------- */
|
||||
/* Start of on-the-fly step calculation code, executed once per step */
|
||||
if (stepsToGo == 0) // STEP 6a
|
||||
{
|
||||
p = 0; // Not actually a zero step interval, used to switch stepping off
|
||||
return;
|
||||
}
|
||||
else if (stepsToGo >= accelSteps && (long)p > (long)ps) // Speeding up
|
||||
{
|
||||
m = -R; // Equation (9)
|
||||
}
|
||||
else if (stepsToGo <= accelSteps) // Slowing down
|
||||
{
|
||||
m = R; // Equation 10
|
||||
}
|
||||
else // Running at constant speed
|
||||
{
|
||||
m = 0; // Equation (11)
|
||||
}
|
||||
/* else p is unchanged: running at constant speed */
|
||||
|
||||
/* Update to step interval based on Eiderman's algorithm, using temporary variables */
|
||||
// STEP 6b, c and d using Equations (12) and (13)
|
||||
q = m * p * p; // this is a part of optional enhancement
|
||||
p = p * ( 1 + q + 1.5 * q * q); // this is an enhanced approximation -equation [22]
|
||||
/* Need to ensure rounding error does not cause drift outside acceptable interval range:
|
||||
replace p with relevant bound if it strays outside */
|
||||
if (p > p1)
|
||||
{
|
||||
p = p1;
|
||||
}
|
||||
/* End of on-the-fly step calculation code */
|
||||
/* ----------------------------------------------------------------- */
|
||||
}
|
||||
|
||||
/* Work out how far the stepper motor still needs to move */
|
||||
long computeStepsToGo()
|
||||
{
|
||||
if (direction == FWDS)
|
||||
{
|
||||
return targetPosition - currentPosition;
|
||||
}
|
||||
else
|
||||
{
|
||||
return currentPosition - targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
/* Set the target position and determine direction of intended movement */
|
||||
void goToPosition(long newPosition)
|
||||
{
|
||||
targetPosition = newPosition;
|
||||
if (targetPosition - currentPosition > 0)
|
||||
{
|
||||
direction = FWDS;
|
||||
}
|
||||
else
|
||||
{
|
||||
direction = BWDS;
|
||||
}
|
||||
}
|
||||
247
res/lab_2/PIDClosedLoop/PIDClosedLoop.ino
Normal file
247
res/lab_2/PIDClosedLoop/PIDClosedLoop.ino
Normal file
@@ -0,0 +1,247 @@
|
||||
|
||||
/* Example of driving servomotor using PID closed loop control */
|
||||
|
||||
#include <SPI.h> /* Needed to communicate with LS7366R (Counter Click) */
|
||||
#include <PID_v1.h>
|
||||
|
||||
/* Serial input aspects are based closely upon:
|
||||
http://forum.arduino.cc/index.php?topic=396450
|
||||
Example 4 - Receive a number as text and convert it to an int
|
||||
Modified to read a float */
|
||||
|
||||
/* LS7366R aspects very loosely based on concepts used in controlling
|
||||
the Robogaia 3-axis encoder shield though implementation is very different
|
||||
https://www.robogaia.com/3-axis-encoder-conter-arduino-shield.html */
|
||||
|
||||
/* Pins used for L298 driver */
|
||||
const int enA = 13; /* PWM output, also visible as LED */
|
||||
const int in1 = 8; /* H bridge selection input 1 */
|
||||
const int in2 = 9; /* H bridge selection input 2 */
|
||||
const float minPercent = -100.0;
|
||||
const float maxPercent = 100.0;
|
||||
|
||||
/* Used to to initiate SPI communication to LS7366R chip (Counter click) */
|
||||
const int chipSelectPin = 10;
|
||||
|
||||
/* Size of buffer used to store received characters */
|
||||
enum {numChars = 32};
|
||||
|
||||
/* Intervals in milliseconds for user-defined timed loops */
|
||||
const int printInterval = 1000;
|
||||
const int controlInterval = 20;
|
||||
|
||||
/* Global variables used in serial input */
|
||||
char receivedChars[numChars]; // an array to store the received data
|
||||
float dataNumber = 0;
|
||||
boolean newData = false;
|
||||
|
||||
/* Global variables used for motor control and encoder reading */
|
||||
double percentSpeed = 0;
|
||||
double encoderPosnMeasured = 0;
|
||||
double positionSetPoint = 0;
|
||||
|
||||
/* PID */
|
||||
double Kp = 0.1;
|
||||
double Ki = 0.1;
|
||||
double Kd = 0.05;
|
||||
|
||||
PID myPID(&encoderPosnMeasured, &percentSpeed, &positionSetPoint, Kp, Ki, Kd, DIRECT);
|
||||
|
||||
/* Global variables used for loop timing */
|
||||
unsigned long prevMillisPrint = 0; /* stores last time values were printed */
|
||||
unsigned long prevMillisControl = 0;
|
||||
|
||||
/* Overlapping regions of memory used to convert four bytes to a long integer */
|
||||
union fourBytesToLong
|
||||
{
|
||||
long result;
|
||||
unsigned char bytes [4];
|
||||
};
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(9600);
|
||||
Serial.print("Kp"); Serial.print(Kp);
|
||||
Serial.print("Ki"); Serial.print(Ki);
|
||||
Serial.print("Kd"); Serial.println(Kd);
|
||||
Serial.println("Enter desired motor position: ");
|
||||
|
||||
/* Set up and initialise pin used for selecting LS7366R counter: hi=inactive */
|
||||
pinMode(chipSelectPin, OUTPUT);
|
||||
digitalWrite(chipSelectPin, HIGH);
|
||||
|
||||
SetUpLS7366RCounter();
|
||||
|
||||
delay(100);
|
||||
|
||||
/* Configure control pins for L298 H bridge */
|
||||
pinMode(enA, OUTPUT);
|
||||
pinMode(in1, OUTPUT);
|
||||
pinMode(in2, OUTPUT);
|
||||
|
||||
/* Set initial rotation direction */
|
||||
digitalWrite(in1, LOW);
|
||||
digitalWrite(in2, HIGH);
|
||||
|
||||
delay(100);
|
||||
positionSetPoint = 0;
|
||||
encoderPosnMeasured=readEncoderCountFromLS7366R();
|
||||
myPID.SetOutputLimits(-100,100);
|
||||
myPID.SetMode(AUTOMATIC);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
unsigned long currentMillis = millis();
|
||||
|
||||
// Call control loop at frequency controInterval
|
||||
if (currentMillis - prevMillisControl >= controlInterval) {
|
||||
// save the last time the control loop was called
|
||||
prevMillisControl = currentMillis;
|
||||
controlLoop();
|
||||
}
|
||||
|
||||
// Call print loop at frequency of printInterval
|
||||
if (currentMillis - prevMillisPrint >= printInterval) {
|
||||
// save the last time you printed output
|
||||
prevMillisPrint = currentMillis;
|
||||
printLoop();
|
||||
}
|
||||
|
||||
recvWithEndMarker();// Update value read from serial line
|
||||
// If a valid number has been read this is set to the current required position
|
||||
if(convertNewNumber()){
|
||||
positionSetPoint=dataNumber;
|
||||
}
|
||||
}
|
||||
|
||||
void controlLoop()
|
||||
{
|
||||
// Get the current position from the encoder
|
||||
encoderPosnMeasured=readEncoderCountFromLS7366R(); // Get current motor position
|
||||
myPID.Compute(); // Use the PID library to compute new value for motor input
|
||||
driveMotorPercent(percentSpeed); // Send value to motor
|
||||
}
|
||||
|
||||
|
||||
void driveMotorPercent(double percentSpeed)
|
||||
/* Output PWM and H bridge signals based on positive or negative duty cycle % */
|
||||
{
|
||||
percentSpeed = constrain(percentSpeed, -100, 100);
|
||||
int regVal = map(percentSpeed, -100, 100, -255, 255);
|
||||
analogWrite(enA, (int)abs(regVal)); // Write value to speed control pin
|
||||
digitalWrite(in1, regVal>0); // Set the value of direction control pins to true or false
|
||||
digitalWrite(in2, !(regVal>0));
|
||||
}
|
||||
|
||||
void printLoop()
|
||||
/* Print count and control information */
|
||||
{
|
||||
double error;
|
||||
Serial.print("Actual position: ");
|
||||
Serial.print(encoderPosnMeasured);
|
||||
Serial.print("\t");
|
||||
Serial.print("Desired position: ");
|
||||
Serial.print(positionSetPoint);
|
||||
Serial.print("\t");
|
||||
error = positionSetPoint - encoderPosnMeasured;
|
||||
Serial.print("Error: ");
|
||||
Serial.print(error);
|
||||
Serial.print("\t");
|
||||
// Serial.print(percentSpeed);
|
||||
Serial.print("\r\n");
|
||||
}
|
||||
|
||||
|
||||
long readEncoderCountFromLS7366R()
|
||||
/* Reads the LS7366R chip to obtain up/down count from encoder. Reads four
|
||||
bytes separately then concverts them to a long integer using a union */
|
||||
{
|
||||
fourBytesToLong converter; /* Union of four bytes and a long integer */
|
||||
|
||||
digitalWrite(chipSelectPin,LOW); /* Make LS7366R active */
|
||||
|
||||
SPI.transfer(0x60); // Request count
|
||||
converter.bytes[3] = SPI.transfer(0x00); /* Read highest order byte */
|
||||
converter.bytes[2] = SPI.transfer(0x00);
|
||||
converter.bytes[1] = SPI.transfer(0x00);
|
||||
converter.bytes[0] = SPI.transfer(0x00); /* Read lowest order byte */
|
||||
|
||||
digitalWrite(chipSelectPin,HIGH); /* Make LS7366R inactive */
|
||||
|
||||
return converter.result;
|
||||
}
|
||||
|
||||
void SetUpLS7366RCounter(void)
|
||||
/* Initialises LS7366R hardware counter on Counter Click board to read quadrature signals */
|
||||
{
|
||||
/* Control registers in LS7366R - see LS7366R datasheet for this and subsequent control words */
|
||||
unsigned char IR = 0x00, MRD0=0x00;
|
||||
|
||||
// SPI initialization
|
||||
SPI.begin();
|
||||
//SPI.setClockDivider(SPI_CLOCK_DIV16); // SPI at 1Mhz (on 16Mhz clock)
|
||||
delay(10);
|
||||
|
||||
/* Configure as free-running 4x quadrature counter */
|
||||
digitalWrite(chipSelectPin,LOW); /* Select chip and initialise transfer */
|
||||
/* Instruction register IR */
|
||||
IR |= 0x80; /* Write to register (B7=1, B6=0) */
|
||||
IR |= 0x08; /* Select register MDR0: B5=0, B4=0, B3=1 */
|
||||
SPI.transfer(IR); /* Write to instruction register */
|
||||
/* Mode register 0 */
|
||||
MRD0 |= 0x03; /* 4x quadrature count: B0=1, B1=1 */
|
||||
/* B2=B3=0: free running. B4=B5=0: disable index. */
|
||||
/* B6=0: asynchronous index. B7: Filter division factor = 1. */
|
||||
SPI.transfer(MRD0);
|
||||
digitalWrite(chipSelectPin,HIGH);
|
||||
|
||||
/* Clear the counter i.e. set it to zero */
|
||||
IR = 0x00; /* Clear the instructino register IR */
|
||||
digitalWrite(chipSelectPin,LOW); /* Select chip and initialise transfer */
|
||||
IR |= 0x20; /* Select CNTR: B5=1,B4=0,B3=0; CLR register: B7=0,B6=0 */
|
||||
SPI.transfer(IR); /* Write to instruction register */
|
||||
digitalWrite(chipSelectPin,HIGH);
|
||||
}
|
||||
|
||||
void recvWithEndMarker()
|
||||
/* Receive data from serial port finishing with "newline" character.
|
||||
Based on http://forum.arduino.cc/index.php?topic=396450 Example 4 */
|
||||
{
|
||||
static byte ndx = 0;
|
||||
char endMarker = '\n';
|
||||
char rc;
|
||||
|
||||
if (Serial.available() > 0) { // If data is available read value from serial monitor
|
||||
rc = Serial.read();
|
||||
|
||||
if (rc != endMarker) { // Store character in buffer if not end marker
|
||||
receivedChars[ndx] = rc;
|
||||
ndx++;
|
||||
if (ndx >= numChars) {
|
||||
ndx = numChars - 1;
|
||||
}
|
||||
}
|
||||
else { // Add end of string character and change flag to indicate new data is available
|
||||
receivedChars[ndx] = '\0'; // terminate the string
|
||||
ndx = 0;
|
||||
newData = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool convertNewNumber()
|
||||
/* Converts character string to floating point number only if there are new
|
||||
data to convert, otherwise returns false */
|
||||
{
|
||||
if (newData) {
|
||||
dataNumber = 0.0;
|
||||
dataNumber = atof(receivedChars);
|
||||
newData = false;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
235
res/lab_2/ProportionalClosedLoop/ProportionalClosedLoop.ino
Normal file
235
res/lab_2/ProportionalClosedLoop/ProportionalClosedLoop.ino
Normal file
@@ -0,0 +1,235 @@
|
||||
|
||||
/* Example of driving servomotor using simple proportional closed loop control */
|
||||
|
||||
#include <SPI.h> /* Needed to communicate with LS7366R (Counter Click) */
|
||||
|
||||
/* Serial input aspects are based closely upon:
|
||||
http://forum.arduino.cc/index.php?topic=396450
|
||||
Example 4 - Receive a number as text and convert it to an int
|
||||
Modified to read a float */
|
||||
|
||||
/* LS7366R aspects very loosely based on concepts used in controlling
|
||||
the Robogaia 3-axis encoder shield though implementation is very different
|
||||
https://www.robogaia.com/3-axis-encoder-conter-arduino-shield.html */
|
||||
|
||||
/* Pins used for L298 driver */
|
||||
const int enA = 13; /* PWM output, also visible as LED */
|
||||
const int in1 = 8; /* H bridge selection input 1 */
|
||||
const int in2 = 9; /* H bridge selection input 2 */
|
||||
const float minPercent = -100.0;
|
||||
const float maxPercent = 100.0;
|
||||
|
||||
/* Used to to initiate SPI communication to LS7366R chip (Counter click) */
|
||||
const int chipSelectPin = 10;
|
||||
|
||||
/* Size of buffer used to store received characters */
|
||||
enum {numChars = 32};
|
||||
|
||||
/* Intervals in milliseconds for user-defined timed loops */
|
||||
const int printInterval = 1000;
|
||||
const int controlInterval = 20;
|
||||
|
||||
/* Global variables used in serial input */
|
||||
char receivedChars[numChars]; // an array to store the received data
|
||||
float dataNumber = 0; // new for this version
|
||||
boolean newData = false;
|
||||
|
||||
/* Global variable used for motor control */
|
||||
double percentDutyCycle;
|
||||
|
||||
long encoderPosnMeasured = 0;
|
||||
double positionSetPoint = 0;
|
||||
|
||||
/* Proportional gain constant */
|
||||
double Kp = 0.1;
|
||||
|
||||
/* Global variables used for loop timing */
|
||||
unsigned long prevMillisPrint = 0; /* stores last time values were printed */
|
||||
unsigned long prevMillisControl = 0; /* Stores last time control loop executed */
|
||||
|
||||
/* Overlapping regions of memory used to convert four bytes to a long integer */
|
||||
union fourBytesToLong
|
||||
{
|
||||
long result;
|
||||
unsigned char bytes [4];
|
||||
};
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(9600);
|
||||
Serial.println("Enter desired motor position: ");
|
||||
|
||||
/* Set up and initialise pin used for selecting LS7366R counter: hi=inactive */
|
||||
pinMode(chipSelectPin, OUTPUT);
|
||||
digitalWrite(chipSelectPin, HIGH);
|
||||
|
||||
SetUpLS7366RCounter();
|
||||
|
||||
delay(100);
|
||||
|
||||
/* Configure control pins for L298 H bridge */
|
||||
pinMode(enA, OUTPUT);
|
||||
pinMode(in1, OUTPUT);
|
||||
pinMode(in2, OUTPUT);
|
||||
|
||||
/* Set initial rotation direction */
|
||||
digitalWrite(in1, LOW);
|
||||
digitalWrite(in2, HIGH);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
unsigned long currentMillis = millis();
|
||||
|
||||
// Call control loop at frequency controInterval
|
||||
if (currentMillis - prevMillisControl >= controlInterval)
|
||||
{
|
||||
// Save the current time for comparison the next time the loop is called
|
||||
prevMillisControl = currentMillis;
|
||||
controlLoop();
|
||||
}
|
||||
|
||||
// Call print loop at frequency of printInterval
|
||||
if (currentMillis - prevMillisPrint >= printInterval)
|
||||
{
|
||||
// Save the current time for comparison the next time the loop is called
|
||||
prevMillisPrint = currentMillis;
|
||||
printLoop();
|
||||
}
|
||||
|
||||
recvWithEndMarker(); // Update value read from serial line
|
||||
// If a valid number has been read this is set to the current required position
|
||||
if(convertNewNumber())
|
||||
{
|
||||
positionSetPoint = dataNumber;
|
||||
}
|
||||
}
|
||||
|
||||
void controlLoop()
|
||||
{
|
||||
double error;
|
||||
// Get the current position from the encoder
|
||||
encoderPosnMeasured = readEncoderCountFromLS7366R();
|
||||
// Calculate the difference in position from the required position
|
||||
error = positionSetPoint - (double)encoderPosnMeasured;
|
||||
// Multiply by the gain
|
||||
percentDutyCycle = error * Kp;
|
||||
driveMotorPercent(percentDutyCycle);
|
||||
}
|
||||
|
||||
/* Output PWM and H bridge signals based on positive or negative duty cycle % */
|
||||
void driveMotorPercent(double percentDutyCycle)
|
||||
{
|
||||
// constrain the duty cycle to a value between -100 and 100 then map to +-255
|
||||
percentDutyCycle = constrain(percentDutyCycle, -100, 100);
|
||||
int regVal = map(percentDutyCycle, -100, 100, -255, 255);
|
||||
analogWrite(enA, (int)abs(regVal)); // Write value to speed control pin
|
||||
digitalWrite(in1, regVal>0); // Set the value of direction control pins to true or false
|
||||
digitalWrite(in2, !(regVal>0));
|
||||
}
|
||||
|
||||
/* Print count and control information */
|
||||
void printLoop()
|
||||
{ Serial.print("Actual position: ");
|
||||
Serial.print(encoderPosnMeasured);
|
||||
Serial.print("\t");
|
||||
Serial.print("Desired position: ");
|
||||
Serial.print(positionSetPoint);
|
||||
Serial.print("\t");
|
||||
Serial.print("Error: ");
|
||||
Serial.print(positionSetPoint - (double)encoderPosnMeasured);
|
||||
Serial.print("\r\n");
|
||||
}
|
||||
|
||||
/* Reads the LS7366R chip to obtain up/down count from encoder. Reads four
|
||||
bytes separately then concverts them to a long integer using a union */
|
||||
long readEncoderCountFromLS7366R()
|
||||
{
|
||||
fourBytesToLong converter; /* Union of four bytes and a long integer */
|
||||
|
||||
digitalWrite(chipSelectPin,LOW); /* Make LS7366R active */
|
||||
|
||||
SPI.transfer(0x60); // Request count
|
||||
converter.bytes[3] = SPI.transfer(0x00); /* Read highest order byte */
|
||||
converter.bytes[2] = SPI.transfer(0x00);
|
||||
converter.bytes[1] = SPI.transfer(0x00);
|
||||
converter.bytes[0] = SPI.transfer(0x00); /* Read lowest order byte */
|
||||
|
||||
digitalWrite(chipSelectPin,HIGH); /* Make LS7366R inactive */
|
||||
|
||||
return converter.result;
|
||||
}
|
||||
|
||||
/* Initialises LS7366R hardware counter on Counter Click board to read quadrature signals */
|
||||
void SetUpLS7366RCounter(void)
|
||||
{
|
||||
/* Control registers in LS7366R - see LS7366R datasheet for this and subsequent control words */
|
||||
unsigned char IR = 0x00, MRD0=0x00;
|
||||
|
||||
// SPI initialization
|
||||
SPI.begin();
|
||||
//SPI.setClockDivider(SPI_CLOCK_DIV16); // SPI at 1Mhz (on 16Mhz clock)
|
||||
delay(10);
|
||||
|
||||
/* Configure as free-running 4x quadrature counter */
|
||||
digitalWrite(chipSelectPin,LOW); /* Select chip and initialise transfer */
|
||||
/* Instruction register IR */
|
||||
IR |= 0x80; /* Write to register (B7=1, B6=0) */
|
||||
IR |= 0x08; /* Select register MDR0: B5=0, B4=0, B3=1 */
|
||||
SPI.transfer(IR); /* Write to instruction register */
|
||||
/* Mode register 0 */
|
||||
MRD0 |= 0x03; /* 4x quadrature count: B0=1, B1=1 */
|
||||
/* B2=B3=0: free running. B4=B5=0: disable index. */
|
||||
/* B6=0: asynchronous index. B7: Filter division factor = 1. */
|
||||
SPI.transfer(MRD0);
|
||||
digitalWrite(chipSelectPin,HIGH);
|
||||
|
||||
/* Clear the counter i.e. set it to zero */
|
||||
IR = 0x00; /* Clear the instructino register IR */
|
||||
digitalWrite(chipSelectPin,LOW); /* Select chip and initialise transfer */
|
||||
IR |= 0x20; /* Select CNTR: B5=1,B4=0,B3=0; CLR register: B7=0,B6=0 */
|
||||
SPI.transfer(IR); /* Write to instruction register */
|
||||
digitalWrite(chipSelectPin,HIGH);
|
||||
}
|
||||
|
||||
/* Receive data from serial port finishing with "newline" character.
|
||||
Based on http://forum.arduino.cc/index.php?topic=396450 Example 4 */
|
||||
void recvWithEndMarker()
|
||||
{
|
||||
static byte ndx = 0;
|
||||
char endMarker = '\n';
|
||||
char rc;
|
||||
|
||||
if (Serial.available() > 0) { // If data is available read value from serial monitor
|
||||
rc = Serial.read();
|
||||
|
||||
if (rc != endMarker) { // Store character in buffer if not end marker
|
||||
receivedChars[ndx] = rc;
|
||||
ndx++;
|
||||
if (ndx >= numChars) {
|
||||
ndx = numChars - 1;
|
||||
}
|
||||
}
|
||||
else { // Add end of string character and change flag to indicate new data is available
|
||||
receivedChars[ndx] = '\0'; // terminate the string
|
||||
ndx = 0;
|
||||
newData = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool convertNewNumber()
|
||||
/* Converts character string to floating point number only if there are new
|
||||
data to convert, otherwise returns false */
|
||||
{
|
||||
if (newData) {
|
||||
dataNumber = 0.0;
|
||||
dataNumber = atof(receivedChars);
|
||||
newData = false;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
208
res/lab_2/SimpleControlNoFeedback/SimpleControlNoFeedback.ino
Normal file
208
res/lab_2/SimpleControlNoFeedback/SimpleControlNoFeedback.ino
Normal file
@@ -0,0 +1,208 @@
|
||||
/* Example of driving servomotor and reading encoder signals */
|
||||
|
||||
#include <SPI.h> /* Needed to communicate with LS7366R (Counter Click) */
|
||||
|
||||
/* Serial input aspects are based closely upon:
|
||||
http://forum.arduino.cc/index.php?topic=396450
|
||||
Example 4 - Receive a number as text and convert it to an int
|
||||
Modified to read a float */
|
||||
|
||||
/* LS7366R aspects very loosely based on concepts used in controlling
|
||||
the Robogaia 3-axis encoder shield though implementation is very different
|
||||
https://www.robogaia.com/3-axis-encoder-conter-arduino-shield.html */
|
||||
|
||||
/* Pins used for L298 DC Motor driver */
|
||||
#define enA 13 /* PWM output, also visible as LED */
|
||||
#define in1 8 /* H bridge selection input 1 */
|
||||
#define in2 9 /* H bridge selection input 2 */
|
||||
#define minPercent -100.0
|
||||
#define maxPercent 100.0
|
||||
|
||||
/* Used to to initiate SPI communication to LS7366R chip (Counter click) */
|
||||
#define chipSelectPin 10
|
||||
|
||||
/* Size of buffer used to store received characters */
|
||||
#define numChars 32
|
||||
|
||||
/* Intervals in milliseconds for user-defined timed loops */
|
||||
#define printInterval 1000
|
||||
|
||||
/* Global variables used in serial input */
|
||||
char receivedChars[numChars]; // an array to store the received data
|
||||
float dataNumber = 0;
|
||||
boolean newData = false;
|
||||
|
||||
/* Global variable used for motor control */
|
||||
double percentSpeed;
|
||||
|
||||
/* Global variables used for loop timing */
|
||||
unsigned long prevMillisPrint = 0; /* stores last time values were printed */
|
||||
|
||||
/* Overlapping regions of memory used to convert four bytes to a long integer */
|
||||
union fourBytesToLong
|
||||
{
|
||||
long result;
|
||||
unsigned char bytes [4];
|
||||
};
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(9600);
|
||||
Serial.println("Enter PWM duty cycle as a percentage (positive for forward, negative for reverse");
|
||||
|
||||
/* Set up and initialise pin used for selecting LS7366R counter: hi=inactive */
|
||||
pinMode(chipSelectPin, OUTPUT);
|
||||
digitalWrite(chipSelectPin, HIGH);
|
||||
|
||||
SetUpLS7366RCounter();
|
||||
|
||||
delay(100);
|
||||
|
||||
/* Configure control pins for L298 H bridge */
|
||||
pinMode(enA, OUTPUT);
|
||||
pinMode(in1, OUTPUT);
|
||||
pinMode(in2, OUTPUT);
|
||||
|
||||
/* Set initial rotation direction */
|
||||
digitalWrite(in1, LOW);
|
||||
digitalWrite(in2, HIGH);
|
||||
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
unsigned long currentMillis = millis();
|
||||
|
||||
// Print out value to serial monitor at interval specified by printInterval variable
|
||||
if (currentMillis - prevMillisPrint >= printInterval) {
|
||||
// save the last time you printed output
|
||||
prevMillisPrint = currentMillis;
|
||||
printLoop();
|
||||
}
|
||||
|
||||
// Check if new data has been input via serial monitor
|
||||
recvWithEndMarker();
|
||||
if(convertNewNumber()) // Update value read from serial line
|
||||
{
|
||||
percentSpeed=dataNumber;
|
||||
driveMotorPercent(percentSpeed); // Send new speed value to motor driver
|
||||
}
|
||||
}
|
||||
|
||||
void driveMotorPercent(double percentSpeed)
|
||||
/* Output PWM and H bridge signals based on positive or negative duty cycle % */
|
||||
{
|
||||
percentSpeed = constrain(percentSpeed, -100, 100); // Value must be in range -100 to +100
|
||||
int regVal = map(percentSpeed, -100, 100, -255, 255); // Scale value to range -255 to +255
|
||||
analogWrite(enA, (int)abs(regVal)); // Write value to speed control pin
|
||||
digitalWrite(in1, regVal>0); // Set the value of direction control pins to true or false
|
||||
digitalWrite(in2, !(regVal>0)); // depending on whether speed is positive or negative
|
||||
}
|
||||
|
||||
void printLoop()
|
||||
/* Print count and control information */
|
||||
{
|
||||
/* Sample counter chip and output position and requested speed */
|
||||
long encoderCountFromLS7366R = readEncoderCountFromLS7366R();
|
||||
|
||||
Serial.print("Count from LS7366R = ");
|
||||
Serial.print(encoderCountFromLS7366R);
|
||||
Serial.print(" Percent speed = ");
|
||||
Serial.print(percentSpeed);
|
||||
Serial.print("\r\n");
|
||||
}
|
||||
|
||||
long readEncoderCountFromLS7366R()
|
||||
/* Reads the LS7366R chip to obtain up/down count from encoder. Reads four
|
||||
bytes separately then concverts them to a long integer using a union */
|
||||
{
|
||||
fourBytesToLong converter; /* Union of four bytes and a long integer */
|
||||
|
||||
digitalWrite(chipSelectPin,LOW); /* Make LS7366R active */
|
||||
|
||||
SPI.transfer(0x60); // Request count
|
||||
converter.bytes[3] = SPI.transfer(0x00); /* Read highest order byte */
|
||||
converter.bytes[2] = SPI.transfer(0x00);
|
||||
converter.bytes[1] = SPI.transfer(0x00);
|
||||
converter.bytes[0] = SPI.transfer(0x00); /* Read lowest order byte */
|
||||
|
||||
digitalWrite(chipSelectPin,HIGH); /* Make LS7366R inactive */
|
||||
|
||||
return converter.result;
|
||||
}
|
||||
|
||||
|
||||
void SetUpLS7366RCounter(void)
|
||||
/* Initialiseds LS7366R hardware counter on Counter Click board to read quadrature signals */
|
||||
{
|
||||
/* Control registers in LS7366R - see LS7366R datasheet for this and subsequent control words */
|
||||
unsigned char IR = 0x00, MRD0=0x00;
|
||||
|
||||
// SPI initialization
|
||||
SPI.begin();
|
||||
//SPI.setClockDivider(SPI_CLOCK_DIV16); // SPI at 1Mhz (on 16Mhz clock)
|
||||
delay(10);
|
||||
|
||||
/* Configure as free-running 4x quadrature counter */
|
||||
digitalWrite(chipSelectPin,LOW); /* Select chip and initialise transfer */
|
||||
/* Instruction register IR */
|
||||
IR |= 0x80; /* Write to register (B7=1, B6=0) */
|
||||
IR |= 0x08; /* Select register MDR0: B5=0, B4=0, B3=1 */
|
||||
SPI.transfer(IR); /* Write to instruction register */
|
||||
/* Mode register 0 */
|
||||
MRD0 |= 0x03; /* 4x quadrature count: B0=1, B1=1 */
|
||||
/* B2=B3=0: free running. B4=B5=0: disable index. */
|
||||
/* B6=0: asynchronous index. B7: Filter division factor = 1. */
|
||||
SPI.transfer(MRD0);
|
||||
digitalWrite(chipSelectPin,HIGH);
|
||||
|
||||
/* Clear the counter i.e. set it to zero */
|
||||
IR = 0x00; /* Clear the instructino register IR */
|
||||
digitalWrite(chipSelectPin,LOW); /* Select chip and initialise transfer */
|
||||
IR |= 0x20; /* Select CNTR: B5=1,B4=0,B3=0; CLR register: B7=0,B6=0 */
|
||||
SPI.transfer(IR); /* Write to instruction register */
|
||||
digitalWrite(chipSelectPin,HIGH);
|
||||
|
||||
}
|
||||
|
||||
void recvWithEndMarker()
|
||||
/* Receive data from serial port finishing with "newline" character.
|
||||
Based on http://forum.arduino.cc/index.php?topic=396450 Example 4 */
|
||||
{
|
||||
static byte ndx = 0;
|
||||
char endMarker = '\n';
|
||||
char rc;
|
||||
|
||||
if (Serial.available() > 0) { // If data is available read value from serial monitor
|
||||
rc = Serial.read();
|
||||
|
||||
if (rc != endMarker) { // Store character in buffer if not end marker
|
||||
receivedChars[ndx] = rc;
|
||||
ndx++;
|
||||
if (ndx >= numChars) {
|
||||
ndx = numChars - 1;
|
||||
}
|
||||
}
|
||||
else { // Add end of string character and change flag to indicate new data is available
|
||||
receivedChars[ndx] = '\0'; // terminate the string
|
||||
ndx = 0;
|
||||
newData = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool convertNewNumber()
|
||||
/* Converts character string to floating point number only if there are new
|
||||
data to convert, otherwise returns false */
|
||||
{
|
||||
if (newData) {
|
||||
dataNumber = 0.0;
|
||||
dataNumber = atof(receivedChars);
|
||||
newData = false;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
183
res/lab_2/SimplisticRampStepper Mac.c
Normal file
183
res/lab_2/SimplisticRampStepper Mac.c
Normal file
@@ -0,0 +1,183 @@
|
||||
// Simplistic Ramp Stepper program with millis function adapted for MacOS
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <windows.h>
|
||||
#include <math.h>
|
||||
#include <time.h>
|
||||
|
||||
/* Only needed in Windows program to maintain compatibility with Arduino version of C/C++ */
|
||||
typedef enum { false, true } bool;
|
||||
#define true 1
|
||||
#define false 0
|
||||
const bool FWDS = true;
|
||||
const bool BWDS = false;
|
||||
|
||||
const long ticksPerSec = 1000; // ms on PC
|
||||
// on Arduino it is 1E6 for micros (for s/w) or 1.6E7 for 62.5 ns ticks (for h/w)
|
||||
|
||||
void moveOneStep();
|
||||
void computeNewSpeed();
|
||||
long computeStepsToGo();
|
||||
void goToPosition(long newPosition);
|
||||
long millis(void);
|
||||
|
||||
/* Note: we are using global variables ONLY to preserve compatibility with the Arduino program structure.
|
||||
They should not normally be used in C or C++ programs as they make for a poor software design. */
|
||||
/* Global variables relating to stepper motor position counting etc. */
|
||||
long stepsToGo; /* Number of steps left to make in present movement */
|
||||
long targetPosition; /* Intended destination of motor for given movement */
|
||||
volatile long currentPosition = 0; /* Position in steps of motor relative to startup position */
|
||||
float maxSpeed; /* Maximum speed in present movement (not nec. max permitted) */
|
||||
bool direction; /* Direction of present movement: FWDS or BWDS */
|
||||
|
||||
/* Global variables used in simplistic and Leib Ramp algorithms */
|
||||
volatile float p; /* Step interval in clock ticks or microseconds */
|
||||
float ps; /* Maximum step periods */
|
||||
float deltaP; /* You'll be able to get rid of this later */
|
||||
|
||||
/* Global variable used for noting previous time of a step in timed loop and for calculating speed and accel */
|
||||
long prevStepTime=0;
|
||||
long millisAtStart;
|
||||
float prevSpeed=0.0;
|
||||
|
||||
/* Define permissible parameters for motor */
|
||||
// For testing on PC only, not for use in Arduino program: try movements in order of 50-100 steps
|
||||
float accelSteps=20; /* leave this as a variable as we may over-write it */
|
||||
const float minSpeed = 1.0; // in steps/s
|
||||
const float maxPermissSpeed = 20.0; // in steps/s
|
||||
const float maxAccel = 10.0; // in steps/s^2
|
||||
|
||||
int main()
|
||||
{
|
||||
unsigned long currentMillis = millis();
|
||||
prevStepTime = 0;
|
||||
long positionToMoveTo;
|
||||
while(true)
|
||||
{
|
||||
printf("Enter position to move to in profile (or 999 to terminate)\n");
|
||||
scanf("%ld", &positionToMoveTo);
|
||||
if (positionToMoveTo==999) break;
|
||||
printf(" Time (s), Speed (steps/s), Accel (steps/s^2), Posit'n (steps), Step time (ticks)\n");
|
||||
|
||||
goToPosition(positionToMoveTo);
|
||||
|
||||
/* -------------------------------------------------------------- */
|
||||
/* Start of pre-computation code - only executed once per profile */
|
||||
|
||||
float maxInterval = ((float)ticksPerSec) / minSpeed;
|
||||
ps = ((float)ticksPerSec) / maxPermissSpeed;
|
||||
deltaP = (maxInterval - ps) / accelSteps;
|
||||
stepsToGo = computeStepsToGo();
|
||||
maxSpeed = maxPermissSpeed;
|
||||
if (2 * accelSteps > stepsToGo)
|
||||
{
|
||||
accelSteps = (long)(stepsToGo / 2);
|
||||
}
|
||||
|
||||
p = maxInterval;
|
||||
|
||||
ps = ((float)ticksPerSec) / maxSpeed;
|
||||
/* End of pre-computation code */
|
||||
/* -------------------------------------------------------------- */
|
||||
millisAtStart = millis(); /* Needed only to tabulate speed vs. time */
|
||||
|
||||
/* Timed loop for stepping */
|
||||
while(stepsToGo > 0)
|
||||
{
|
||||
currentMillis = millis();
|
||||
if (currentMillis - prevStepTime >= p)
|
||||
{
|
||||
moveOneStep();
|
||||
prevStepTime = currentMillis;
|
||||
computeNewSpeed();
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* Only needed for compatibility with Arduino program because millis() is not a native MacOS function */
|
||||
long millis(void)
|
||||
{
|
||||
struct timespec _t;
|
||||
clock_gettime(CLOCK_REALTIME, &_t);
|
||||
return _t.tv_sec*1000 + lround(_t.tv_nsec/1e6);
|
||||
}
|
||||
|
||||
/* Move a single step. If this were running on the Arduino we would holding pulse high for delayMicroSeconds */
|
||||
void moveOneStep()
|
||||
{
|
||||
if (p != 0) /* p=0 is code for "don't make steps" */
|
||||
{
|
||||
// Print to screen instead of making a step
|
||||
if (direction == FWDS)
|
||||
{
|
||||
currentPosition++;
|
||||
}
|
||||
else
|
||||
{
|
||||
currentPosition--;
|
||||
}
|
||||
|
||||
/* Instead of actually making step, print out parameters for current step */
|
||||
float speed = (float)(ticksPerSec)/p;
|
||||
float accel = (float)(ticksPerSec)*(speed-prevSpeed)/p;
|
||||
printf("%16.3f, %16.3f, %16.3f, %16ld, %16.3f\n", 0.001*(millis()-millisAtStart), speed, accel, currentPosition, p);
|
||||
prevSpeed = speed;
|
||||
}
|
||||
}
|
||||
|
||||
/* Calcuate new value of step interval p based on constants defined in timed loop */
|
||||
void computeNewSpeed()
|
||||
{
|
||||
stepsToGo = computeStepsToGo();
|
||||
|
||||
/* Start of on-the-fly step calculation code, executed once per step */
|
||||
if (stepsToGo == 0)
|
||||
{
|
||||
p = 0; // Not actually a zero step interval, used to switch stepping off
|
||||
return;
|
||||
}
|
||||
else if (stepsToGo >= accelSteps && (long)p > (long)ps) // Changed to make ramps even length
|
||||
/* Speeding up */
|
||||
{
|
||||
p -= deltaP;
|
||||
}
|
||||
else if (stepsToGo <= accelSteps)
|
||||
/* Slowing down */
|
||||
{
|
||||
p += deltaP;
|
||||
}
|
||||
/* else p is unchanged: running at constant speed */
|
||||
|
||||
/* End of on-the-fly step calculation code */
|
||||
}
|
||||
|
||||
/* Work out how far the stepper motor still needs to move */
|
||||
long computeStepsToGo()
|
||||
{
|
||||
if (direction == FWDS)
|
||||
{
|
||||
return targetPosition - currentPosition;
|
||||
}
|
||||
else
|
||||
{
|
||||
return currentPosition - targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
/* Set the target position and determine direction of intended movement */
|
||||
void goToPosition(long newPosition)
|
||||
{
|
||||
targetPosition = newPosition;
|
||||
if (targetPosition - currentPosition > 0)
|
||||
{
|
||||
direction = FWDS;
|
||||
}
|
||||
else
|
||||
{
|
||||
direction = BWDS;
|
||||
}
|
||||
}
|
||||
|
||||
178
res/lab_2/SimplisticRampStepper.c
Normal file
178
res/lab_2/SimplisticRampStepper.c
Normal file
@@ -0,0 +1,178 @@
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <windows.h>
|
||||
#include <math.h>
|
||||
|
||||
/* Only needed in Windows program to maintain compatibility with Arduino version of C/C++ */
|
||||
#define bool BOOL
|
||||
#define true 1
|
||||
#define false 0
|
||||
const bool FWDS = true;
|
||||
const bool BWDS = false;
|
||||
|
||||
const long ticksPerSec = 1000; // ms on PC
|
||||
// on Arduino it is 1E6 for micros (for s/w) or 1.6E7 for 62.5 ns ticks (for h/w)
|
||||
|
||||
void moveOneStep();
|
||||
void computeNewSpeed();
|
||||
long computeStepsToGo();
|
||||
void goToPosition(long newPosition);
|
||||
long millis(void);
|
||||
|
||||
/* Note: we are using global variables ONLY to preserve compatibility with the Arduino program structure.
|
||||
They should not normally be used in C or C++ programs as they make for a poor software design. */
|
||||
/* Global variables relating to stepper motor position counting etc. */
|
||||
long stepsToGo; /* Number of steps left to make in present movement */
|
||||
long targetPosition; /* Intended destination of motor for given movement */
|
||||
volatile long currentPosition = 0; /* Position in steps of motor relative to startup position */
|
||||
float maxSpeed; /* Maximum speed in present movement (not nec. max permitted) */
|
||||
bool direction; /* Direction of present movement: FWDS or BWDS */
|
||||
|
||||
/* Global variables used in simplistic and Leib Ramp algorithms */
|
||||
volatile float p; /* Step interval in clock ticks or microseconds */
|
||||
float ps; /* Maximum step periods */
|
||||
float deltaP; /* You'll be able to get rid of this later */
|
||||
|
||||
/* Global variable used for noting previous time of a step in timed loop and for calculating speed and accel */
|
||||
long prevStepTime=0;
|
||||
long millisAtStart;
|
||||
float prevSpeed=0.0;
|
||||
|
||||
/* Define permissible parameters for motor */
|
||||
// For testing on PC only, not for use in Arduino program: try movements in order of 50-100 steps
|
||||
float accelSteps=20; /* leave this as a variable as we may over-write it */
|
||||
const float minSpeed = 1.0; // in steps/s
|
||||
const float maxPermissSpeed = 20.0; // in steps/s
|
||||
const float maxAccel = 10.0; // in steps/s^2
|
||||
|
||||
int main()
|
||||
{
|
||||
unsigned long currentMillis = millis();
|
||||
prevStepTime = 0;
|
||||
long positionToMoveTo;
|
||||
while(true)
|
||||
{
|
||||
printf("Enter position to move to in profile (or 999 to terminate)\n");
|
||||
scanf("%ld", &positionToMoveTo);
|
||||
if (positionToMoveTo==999) break;
|
||||
printf(" Time (s), Speed (steps/s), Accel (steps/s^2), Posit'n (steps), Step time (ticks)\n");
|
||||
|
||||
goToPosition(positionToMoveTo);
|
||||
|
||||
/* -------------------------------------------------------------- */
|
||||
/* Start of pre-computation code - only executed once per profile */
|
||||
|
||||
float maxInterval = ((float)ticksPerSec) / minSpeed;
|
||||
ps = ((float)ticksPerSec) / maxPermissSpeed;
|
||||
deltaP = (maxInterval - ps) / accelSteps;
|
||||
stepsToGo = computeStepsToGo();
|
||||
maxSpeed = maxPermissSpeed;
|
||||
if (2 * accelSteps > stepsToGo)
|
||||
{
|
||||
accelSteps = (long)(stepsToGo / 2);
|
||||
}
|
||||
|
||||
p = maxInterval;
|
||||
|
||||
ps = ((float)ticksPerSec) / maxSpeed;
|
||||
/* End of pre-computation code */
|
||||
/* -------------------------------------------------------------- */
|
||||
millisAtStart = millis(); /* Needed only to tabulate speed vs. time */
|
||||
|
||||
/* Timed loop for stepping */
|
||||
while(stepsToGo > 0)
|
||||
{
|
||||
currentMillis = millis();
|
||||
if (currentMillis - prevStepTime >= p)
|
||||
{
|
||||
moveOneStep();
|
||||
prevStepTime = currentMillis;
|
||||
computeNewSpeed();
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
long millis(void)
|
||||
/* Only needed for compatibility with Arduino program because millis() is not a native Windows API function */
|
||||
{
|
||||
return GetTickCount();
|
||||
}
|
||||
|
||||
void moveOneStep()
|
||||
/* Move a single step. If this were running on the Arduino we would holding pulse high for delayMicroSeconds */
|
||||
{
|
||||
if (p != 0) /* p=0 is code for "don't make steps" */
|
||||
{
|
||||
// Print to screen instead of making a step
|
||||
if (direction == FWDS)
|
||||
{
|
||||
currentPosition++;
|
||||
}
|
||||
else
|
||||
{
|
||||
currentPosition--;
|
||||
}
|
||||
|
||||
/* Instead of actually making step, print out parameters for current step */
|
||||
float speed = (float)(ticksPerSec)/p;
|
||||
float accel = (float)(ticksPerSec)*(speed-prevSpeed)/p;
|
||||
printf("%16.3f, %16.3f, %16.3f, %16ld, %16.3f\n", 0.001*(millis()-millisAtStart), speed, accel, currentPosition, p);
|
||||
prevSpeed = speed;
|
||||
}
|
||||
}
|
||||
|
||||
/* Calcuate new value of step interval p based on constants defined in timed loop */
|
||||
void computeNewSpeed()
|
||||
{
|
||||
stepsToGo = computeStepsToGo();
|
||||
|
||||
/* Start of on-the-fly step calculation code, executed once per step */
|
||||
if (stepsToGo == 0)
|
||||
{
|
||||
p = 0; // Not actually a zero step interval, used to switch stepping off
|
||||
return;
|
||||
}
|
||||
else if (stepsToGo >= accelSteps && (long)p > (long)ps) // Changed to make ramps even length
|
||||
/* Speeding up */
|
||||
{
|
||||
p -= deltaP;
|
||||
}
|
||||
else if (stepsToGo <= accelSteps)
|
||||
/* Slowing down */
|
||||
{
|
||||
p += deltaP;
|
||||
}
|
||||
/* else p is unchanged: running at constant speed */
|
||||
|
||||
/* End of on-the-fly step calculation code */
|
||||
}
|
||||
|
||||
/* Work out how far the stepper motor still needs to move */
|
||||
long computeStepsToGo()
|
||||
{
|
||||
if (direction == FWDS)
|
||||
{
|
||||
return targetPosition - currentPosition;
|
||||
}
|
||||
else
|
||||
{
|
||||
return currentPosition - targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
/* Set the target position and determine direction of intended movement */
|
||||
void goToPosition(long newPosition)
|
||||
{
|
||||
targetPosition = newPosition;
|
||||
if (targetPosition - currentPosition > 0)
|
||||
{
|
||||
direction = FWDS;
|
||||
}
|
||||
else
|
||||
{
|
||||
direction = BWDS;
|
||||
}
|
||||
}
|
||||
|
||||
349
res/lab_2/SimplisticRampStepper/SimplisticRampStepper.ino
Normal file
349
res/lab_2/SimplisticRampStepper/SimplisticRampStepper.ino
Normal file
@@ -0,0 +1,349 @@
|
||||
/* Stepper motor demonstration program written by Arthur Jones,
|
||||
4 November 2018. Implements a simplistic and ineffective ramping
|
||||
algorithm but provides framework for implementation of LeibRamp
|
||||
algorithm described by Aryeh Eiderman, http://hwml.com/LeibRamp.pdf
|
||||
|
||||
Makes use of background work and some aspects of code developed
|
||||
by Choaran Wang, 2017-18. This in turn incorporates some ideas
|
||||
used in the AccelStepper library:
|
||||
https://www.airspayce.com/mikem/arduino/AccelStepper/
|
||||
|
||||
Serial input aspects are based closely upon:
|
||||
http://forum.arduino.cc/index.php?topic=396450
|
||||
Example 4 - Receive a number as text and convert it to an int
|
||||
Modified to read a long */
|
||||
|
||||
// #define USEINTERRUPTS
|
||||
const int stepPin = 13;
|
||||
const int dirPin = 9;
|
||||
const bool FWDS = true;
|
||||
const bool BWDS = false;
|
||||
#ifdef USEINTERRUPTS
|
||||
const long ticksPerSec = 16000000; // Clock speed of Arduino
|
||||
#else
|
||||
const long ticksPerSec = 1000000; // microseconds in this case
|
||||
#endif
|
||||
|
||||
|
||||
/* Define permissible parameters for motor */
|
||||
// For testing by watching LED: try movements in order of 100 steps
|
||||
//float accelSteps=20; /* leave this as a variable as we may over-write it */
|
||||
//const float minSpeed = 2.0;
|
||||
//const float maxPermissSpeed = 20.0;
|
||||
//const float maxAccel = 10.0;
|
||||
//const long stepLengthMus = 10000;
|
||||
|
||||
// For lab testing with real motor: try movements in the order of 3000 steps
|
||||
float accelSteps=1000; /* leave this as a variable as we may over-write it */
|
||||
const float minSpeed=10.0;
|
||||
const float maxPermissSpeed=1000.0;
|
||||
const float maxAccel=500.0;
|
||||
const long stepLengthMus=100;
|
||||
|
||||
/* Intervals in milliseconds for user-defined timed loops */
|
||||
const long printInterval = 1000;
|
||||
|
||||
/* Global variables used for loop timing */
|
||||
unsigned long prevMillisPrint = 0; /* stores last time values were printed */
|
||||
|
||||
/* Global variables used in serial input */
|
||||
enum {numChars = 32};
|
||||
char receivedChars[numChars]; /* an array to store the received data */
|
||||
long dataNumber = 0; /* Value read from serial monitor input */
|
||||
boolean newData = false;
|
||||
|
||||
/* Global variables relating to stepper motor position counting etc. */
|
||||
long stepsToGo; /* Number of steps left to make in present movement */
|
||||
long targetPosition; /* Intended destination of motor for given movement */
|
||||
volatile long currentPosition = 0; /* Position in steps of motor relative to startup position */
|
||||
double maxSpeed; /* Maximum speed in present movement (not nec. max permitted) */
|
||||
bool direction; /* Direction of present movement: FWDS or BWDS */
|
||||
|
||||
volatile float p; /* Step interval in clock ticks or microseconds */
|
||||
float p1, ps; /* Minimum and maximum step periods */
|
||||
double deltaP; /* You'll be able to get rid of this later */
|
||||
double R; /* Multiplying constant used in Eiderman's algorithm */
|
||||
|
||||
/* Global variable used for noting previous time of a step in timed loop */
|
||||
long prevStepTime;
|
||||
|
||||
void setup()
|
||||
{
|
||||
long stepsToGo = 0;
|
||||
currentPosition = 0;
|
||||
goToPosition(dataNumber);
|
||||
pinMode(stepPin, OUTPUT);
|
||||
pinMode(dirPin, OUTPUT);
|
||||
Serial.begin(9600);
|
||||
Serial.println("Enter target position in number of steps and hit return");
|
||||
|
||||
// If USEINTERRUPTS is defined at the start of the program this section will be used
|
||||
#ifdef USEINTERRUPTS
|
||||
cli();
|
||||
TCCR1A = 0; // No output compare
|
||||
TCCR1B = 0;
|
||||
TCCR1B |= (1 << WGM12); //CTC mode
|
||||
OCR1A = 0; // Set to zero for the present time: catch this to switch interrupt off
|
||||
TCCR1B |= (1 << CS12); // 256 prescaler: overwritten in ISR
|
||||
TIMSK1 |= (1 << OCIE1A); //enable timer compare interrupt
|
||||
sei();
|
||||
#else //
|
||||
// Use built-in Arduino function micros() to get the time in microseconds since the program started running.
|
||||
// Documentation: https://www.arduino.cc/reference/en/language/functions/time/micros/
|
||||
prevStepTime = micros(); // This is a built-in Arduino function.
|
||||
#endif
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
unsigned long currentMillis = millis();
|
||||
unsigned long currentMicros;
|
||||
recvWithEndMarker();
|
||||
stepsToGo = computeStepsToGo();
|
||||
if (convertNewNumber())
|
||||
{
|
||||
/* Only get to this stage if there was new data to convert */
|
||||
if (stepsToGo <= 0)
|
||||
{
|
||||
/* Only get to this stage if not busy, otherwise will have thrown away input */
|
||||
goToPosition(dataNumber);
|
||||
|
||||
/* Delete these and replace with Leib Ramp formulae */
|
||||
double maxInterval = ((double)ticksPerSec) / minSpeed;
|
||||
ps = ((double)ticksPerSec) / maxPermissSpeed;
|
||||
deltaP = (maxInterval - ps) / accelSteps;
|
||||
/* End of section requiring redefinitions */
|
||||
|
||||
stepsToGo = computeStepsToGo();
|
||||
maxSpeed = maxPermissSpeed;
|
||||
if (2 * accelSteps > stepsToGo)
|
||||
{
|
||||
/* Definiiton of S where ther is no constant speed period - check it is still applicable */
|
||||
accelSteps = (long)(stepsToGo / 2);
|
||||
/* Need to redefine maxSpeed here as we never fully accelerate */
|
||||
}
|
||||
|
||||
/* Will need to over-write these with correct initial value of p and p1, along with R */
|
||||
p = maxInterval;
|
||||
p1 = (double)ticksPerSec/minSpeed;
|
||||
/* End of section requiring redefinitions */
|
||||
|
||||
ps = ((double)ticksPerSec) / maxSpeed; /* Eq 7 in paper: this is OK */
|
||||
|
||||
#ifdef USEINTERRUPTS
|
||||
if (p != 0)
|
||||
{
|
||||
// Re-enable interrupts if non-zero steps
|
||||
TIMSK1 |= (1 << OCIE1A);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
#ifndef USEINTERRUPTS
|
||||
|
||||
/* Timed loop for stepping, and associated coding */
|
||||
currentMicros = micros();
|
||||
if (currentMicros - prevStepTime >= p)
|
||||
{
|
||||
moveOneStep();
|
||||
prevStepTime = currentMicros;
|
||||
computeNewSpeed();
|
||||
}
|
||||
#endif
|
||||
/* Timed loop for printing */
|
||||
if (currentMillis - prevMillisPrint >= printInterval)
|
||||
{
|
||||
/* Save the last time output was printed */
|
||||
prevMillisPrint = currentMillis;
|
||||
printLoop();
|
||||
}
|
||||
}
|
||||
|
||||
void moveOneStep()
|
||||
/* Move a single step, holding pulse high for delayMicroSeconds */
|
||||
{
|
||||
if (p != 0) /* p=0 is code for "don't make steps" */
|
||||
{
|
||||
digitalWrite(stepPin, HIGH);
|
||||
if (direction == FWDS)
|
||||
{
|
||||
/* Is something missing here? */
|
||||
currentPosition++;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Is something missing here? */
|
||||
currentPosition--;
|
||||
}
|
||||
delayMicroseconds(stepLengthMus);
|
||||
digitalWrite(stepPin, LOW);
|
||||
}
|
||||
}
|
||||
|
||||
void computeNewSpeed()
|
||||
/* Calcuate new value of step interval p based on constants defined in loop() */
|
||||
{
|
||||
/* You may need to declare some temporary variables for this function... */
|
||||
stepsToGo = computeStepsToGo();
|
||||
|
||||
if (stepsToGo == 0)
|
||||
{
|
||||
p = 0; // Not actually a zero step interval, used to switch stepping off
|
||||
return;
|
||||
}
|
||||
else if (stepsToGo > accelSteps && (long)p > long(ps))
|
||||
/* Speeding up */
|
||||
{
|
||||
/* Delete this simplistic change to p and replace with something else */
|
||||
p -= deltaP;
|
||||
}
|
||||
else if (stepsToGo <= accelSteps)
|
||||
/* Slowing down */
|
||||
{
|
||||
/* Delete this simplistic change to p and replace with something else */
|
||||
p += deltaP;
|
||||
}
|
||||
else
|
||||
/* Running at constant speed */
|
||||
{
|
||||
/* For simpplistic approach, p=p so do nothing to it.
|
||||
But you will need to put something here for Leib ramp ... */
|
||||
}
|
||||
/* Update to step interval based on Leib ramp algorithm, using temporary variables */
|
||||
|
||||
/* Need to ensure rounding error does not cause drift outside acceptable interval range:
|
||||
replace p with relevant bound if it strays outside - so need to write some code here */
|
||||
|
||||
|
||||
}
|
||||
|
||||
long computeStepsToGo()
|
||||
/* Work out how far the stepper motor still needs to move */
|
||||
{
|
||||
if (direction == FWDS)
|
||||
{
|
||||
return targetPosition - currentPosition;
|
||||
}
|
||||
else
|
||||
{
|
||||
return currentPosition - targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
void goToPosition(long newPosition)
|
||||
/* Set the target position and determine direction of intended movement */
|
||||
{
|
||||
targetPosition = newPosition;
|
||||
if (targetPosition - currentPosition > 0)
|
||||
{
|
||||
direction = FWDS;
|
||||
}
|
||||
else
|
||||
{
|
||||
direction = BWDS;
|
||||
}
|
||||
}
|
||||
|
||||
void recvWithEndMarker()
|
||||
/* Receive data from serial port finishing with "newline" character.
|
||||
Based on http://forum.arduino.cc/index.php?topic=396450 Example 4 */
|
||||
{
|
||||
static byte ndx = 0;
|
||||
char endMarker = '\n';
|
||||
char rc;
|
||||
|
||||
if (Serial.available() > 0)
|
||||
{
|
||||
rc = Serial.read();
|
||||
|
||||
if (rc != endMarker)
|
||||
{
|
||||
receivedChars[ndx] = rc;
|
||||
ndx++;
|
||||
if (ndx >= numChars)
|
||||
{
|
||||
ndx = numChars - 1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
receivedChars[ndx] = '\0'; // terminate the string
|
||||
ndx = 0;
|
||||
newData = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool convertNewNumber()
|
||||
/* Converts character string to long integer only if there are new
|
||||
data to convert, otherwise returns false */
|
||||
{
|
||||
if (newData)
|
||||
{
|
||||
dataNumber = 0.0; // new for this version
|
||||
dataNumber = atol(receivedChars); // new for this version
|
||||
newData = false;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void printLoop()
|
||||
/* Print current position of stepper using timed loop */
|
||||
{
|
||||
/* Sample all counters one after the other to avoid delay-related offsets */
|
||||
Serial.print("Current position = ");
|
||||
Serial.print(currentPosition);
|
||||
Serial.print("\r\n");
|
||||
}
|
||||
|
||||
#ifdef USEINTERRUPTS
|
||||
ISR(TIMER1_COMPA_vect)
|
||||
/* Interrupt service routine which essentially just calls moveOneStep and computeNewSpeed.
|
||||
However, it also changes the prescale value on-the-fly so that the full range of possible
|
||||
step rates can be exploited, from around 0.25 Hz upwards, limited by step pulse width. */
|
||||
{
|
||||
if (p == 0)
|
||||
{
|
||||
// Disable interrupt to avoid endless calling of interrupt if not needed
|
||||
TIMSK1 &= !(1 << OCIE1A);
|
||||
}
|
||||
moveOneStep();
|
||||
|
||||
/* Adapt prescaler to keep OCR1A as large as possible within acceptable range */
|
||||
if (p < 65536)
|
||||
{
|
||||
// Prescaler 1
|
||||
OCR1A = (long)p - 1;
|
||||
TCCR1B = (TCCR1B & 0xF8) | 0x01;
|
||||
}
|
||||
else if (p < 524288)
|
||||
{
|
||||
// Prescaler 8
|
||||
OCR1A = ((long)p >> 3) - 1;
|
||||
TCCR1B = (TCCR1B & 0xF8) | 0x02;
|
||||
}
|
||||
else if (p < 4194304)
|
||||
{
|
||||
// Prescaler 64
|
||||
OCR1A = ((long)p >> 6) - 1;
|
||||
TCCR1B = (TCCR1B & 0xF8) | 0x03;
|
||||
}
|
||||
else if (p < 16777216)
|
||||
{
|
||||
// Prescaler 256
|
||||
OCR1A = ((long)p >> 8) - 1;
|
||||
TCCR1B = (TCCR1B & 0xF8) | 0x04;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Prescaler 1024
|
||||
OCR1A = ((long)p >> 10) - 1;
|
||||
TCCR1B = (TCCR1B & 0xF8) | 0x05;
|
||||
}
|
||||
computeNewSpeed();
|
||||
}
|
||||
#endif
|
||||
107
src/serial_out.txt
Normal file
107
src/serial_out.txt
Normal file
@@ -0,0 +1,107 @@
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Kp0.10Ki0.00Kd0.00
|
||||
Enter desired motor position:
|
||||
Kp0.10Ki0.00Kd0.00
|
||||
Enter desired motor position:
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 5000.00 Error: 5000.00
|
||||
Actual position: 4818.00 Desired position: 5000.00 Error: 182.00
|
||||
Actual position: 5125.00 Desired position: 5000.00 Error: -125.00
|
||||
Actual position: 5125.00 Desired position: 5000.00 Error: -125.00
|
||||
Actual position: 5125.00 Desired position: 5000.00 Error: -125.00
|
||||
Actual position: 5125.00 Desired position: 5000.00 Error: -125.00
|
||||
Actual position: 5125.00 Desired position: 5000.00 Error: -125.00
|
||||
Actual position: 5125.00 Desired posiKp0.10Ki0.10Kd0.00
|
||||
Enter desired motor position:
|
||||
Kp0.10Ki0.10Kd0.00
|
||||
Enter desired motor position:
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 613.00 Desired position: 5000.00 Error: 4387.00
|
||||
Actual position: 5926.00 Desired position: 5000.00 Error: -926.00
|
||||
Actual position: 5146.00 Desired position: 5000.00 Error: -146.00
|
||||
Actual position: 5146.00 Desired position: 5000.00 Error: -146.00
|
||||
Actual position: 5146.00 Desired position: 5000.00 Error: -146.00
|
||||
Actual position: 5058.00 Desired position: 5000.00 Error: -58.00
|
||||
ActualKp0.10Ki0.00Kd0.10
|
||||
⸮Kp0.10Ki0.00Kd0.10
|
||||
Enter desired motor position:
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 999.00 Desired position: 5000.00 Error: 4001.00
|
||||
Actual position: 3359.00 Desired position: 5000.00 Error: 1641.00
|
||||
Actual position: 4490.00 Desired position: 5000.00 Error: 510.00
|
||||
Actual position: 4735.00 Desired position: 5000.00 Error: 265.00
|
||||
Actual position: 4970.00 Desired position: 5000.00 Error: 30.00
|
||||
Actual position: 5045.00 Desired position: 5000.00 Error: -45.00
|
||||
Actual position: 5085.00 Desired position: 5000.00 Error: -85.00
|
||||
Actual position: 4998.00 Desired position: 5000.00 Error: 2.00
|
||||
Actual position: 5212.00 Desired position: 5000.00 Error: -212.00
|
||||
Actual position: 5196.00 Desired position: 5000.00 Error: -196.00
|
||||
Actual position: 5083.00 Desired position: 5000.00 Error: -83.00
|
||||
Actual position: 5322.00 Desired position: 5000.00 Error: -322.00
|
||||
Actual position: 5261.00 Desired position: 5000.00 Error: -261.00
|
||||
Actual position: 5131.00 Desired position: 5000.00 Error: -131.00
|
||||
Actual position: 5330.00 Desired position: 5000.00 Error: -330.00
|
||||
Actual position: 5258.00 Desired position: 5000.00 Error: -258.00
|
||||
Actual position: 5134.00 Desired position: 5000.00 Error: -134.00
|
||||
Kp0.10Ki0.00Kd0.00
|
||||
Enter desired motor position:
|
||||
Kp0.10Ki0.00Kd0.00
|
||||
Enter desired motor position:
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Kp0.1⸮Kp0.10Ki0.10Kd0.10
|
||||
Enter desired motor position:
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 3088.00 Desired position: 5000.00 Error: 1912.00
|
||||
Actual position: 4664.00 Desired position: 5000.00 Error: 336.00
|
||||
Actual position: 5323.00 Desired position: 5000.00 Error: -323.00
|
||||
Actual position: 5458.00 Desired position: 5000.00 Error: -458.00
|
||||
Actual position: 5147.00 Desired position: 5000.00 Error: -147.00
|
||||
Actual position: 5002.00 Desired position: 5000.00 Error: -2.00
|
||||
Actual position: 4976.00 Desired position: 5000.00 Error: 24.00
|
||||
Actual position: 4828.00 Desired position: 5000.00 Error: 172.00
|
||||
Kp0.10Ki0.10Kd0.05
|
||||
Enter desired motor position:
|
||||
Kp0.10Ki0.10Kd0.05
|
||||
Enter desired motor position:
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 0.00 Desired position: 0.00 Error: 0.00
|
||||
Actual position: 3618.00 Desired position: 5000.00 Error: 1382.00
|
||||
Actual position: 5357.00 Desired position: 5000.00 Error: -357.00
|
||||
Actual position: 5474.00 Desired position: 5000.00 Error: -474.00
|
||||
Actual position: 5383.00 Desired position: 5000.00 Error: -383.00
|
||||
Actual position: 5088.00 Desired position: 5000.00 Error: -88.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
Actual position: 4985.00 Desired position: 5000.00 Error: 15.00
|
||||
|
||||
Reference in New Issue
Block a user