Fixed the pinouts for the drive motor. Temporarily disabled takeup.

This commit is contained in:
Matt McWilliams 2024-02-19 13:35:27 +01:00
parent 6869b6f403
commit 0dc3269b31
5 changed files with 34 additions and 20 deletions

View File

@ -6,10 +6,12 @@ ContactPrinter::ContactPrinter () {
}
void ContactPrinter::Setup () {
pinMode(takeup_picture_pin_cw, OUTPUT);
pinMode(takeup_picture_pin_ccw, OUTPUT);
pinMode(takeup_stock_pin_cw, OUTPUT);
pinMode(takeup_stock_pin_ccw, OUTPUT);
pinMode(start_button_pin, INPUT_PULLUP);
drive_motor.Setup();
@ -29,19 +31,19 @@ void ContactPrinter::Setup () {
digitalWrite(takeup_stock_pin_ccw, LOW);
SetSpeedTakeup(0.4);
//SetSpeedDrive(1.0);
SetSpeedDrive(1.0);
}
void ContactPrinter::Start () {
RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
delay(100);
Serial.println("Start()");
drive_motor.Start();
//RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
running = true;
}
void ContactPrinter::Stop () {
drive_motor.Start();
delay(100);
drive_motor.Stop();
RampTakeup(takeup_pwm_duty_cycle, 0, takeup_ramp_time);
digitalWrite(takeup_picture_pin_cw, LOW);
digitalWrite(takeup_picture_pin_ccw, LOW);
@ -55,7 +57,7 @@ void ContactPrinter::SetSpeedTakeup(float speed) {
}
void ContactPrinter::SetSpeedDrive(float speed) {
//drive_motor.SetSpeed();
drive_motor.SetSpeed(speed);
}
void ContactPrinter::SetDirectionStock(bool clockwise) {
@ -123,8 +125,11 @@ bool ContactPrinter::IsRunning () {
void ContactPrinter::Loop () {
timer = millis();
drive_motor.Loop();
if (takeup_ramping) {
RampTakeupLoop();
ButtonLoop();
if (running) {
drive_motor.Loop();
if (takeup_ramping) {
RampTakeupLoop();
}
}
}

View File

@ -25,7 +25,7 @@ class ContactPrinter {
const uint8_t takeup_stock_pin_cw = 18;
const uint8_t takeup_stock_pin_ccw = 5;
const uint8_t start_button_pin = 17;
const uint8_t start_button_pin = 15;
/* MOTOR PWM */
const uint32_t pwm_frequency = 30000;

View File

@ -17,6 +17,9 @@ void DriveMotor::Setup () {
pinMode(forward_pin, OUTPUT);
pinMode(backward_pin, OUTPUT);
pinMode(encoder_a_pin, INPUT);
pinMode(encoder_b_pin, INPUT);
ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
ledcAttachPin(enable_pin, pwm_channel);
ledcWrite(pwm_channel, pwm_duty_cycle);
@ -30,14 +33,18 @@ void DriveMotor::Start() {
digitalWrite(forward_pin, HIGH);
digitalWrite(backward_pin, LOW);
}
void DriveMotor::Stop() {
pwm_duty_cycle = 0;
digitalWrite(forward_pin, LOW);
digitalWrite(backward_pin, LOW);
ledcWrite(pwm_channel, pwm_duty_cycle);
}
void DriveMotor::SetSpeed() {
pwm_duty_cycle = 255;
void DriveMotor::SetSpeed(float speed) {
pwm_duty_cycle = floor(255 * speed);
Serial.print("Set drive motor PWM = ");
Serial.println(pwm_duty_cycle);
}
void DriveMotor::Loop () {

View File

@ -8,11 +8,11 @@ class DriveMotor {
private:
//defaults are for EPS32 dev board
volatile uint8_t enable_pin = 13;
volatile uint8_t forward_pin = 12; //Clockwise
volatile uint8_t enable_pin = 26;
volatile uint8_t forward_pin = 27; //Clockwise
volatile uint8_t backward_pin = 14; //Counter-clockwise
volatile uint8_t encoder_a_pin = 27;
volatile uint8_t encoder_b_pin = 26;
volatile uint8_t encoder_a_pin = 33;
volatile uint8_t encoder_b_pin = 25;
volatile uint8_t pwm_duty_cycle = 0;
@ -36,7 +36,9 @@ class DriveMotor {
void Loop();
void Start();
void Stop();
void SetSpeed();
void SetSpeed(float speed);
static void ReadEncoder();
};

View File

@ -6,9 +6,9 @@
*********/
// Motor A
int motor1Pin1 = 27;
int motor1Pin2 = 26;
int enable1Pin = 14;
int motor1Pin1 = 14;
int motor1Pin2 = 27;
int enable1Pin = 26;
// Setting PWM properties
const int freq = 30000;