Motor behavior is stable. Discarded one of the L298N boards: now we can run the drive motor off one channel and both takeup motors off another. DO NOT USE LESS THAN 2A. Using 1.3A the motor controller board draws too much and shuts it down. Removed the rerences to Picture/Stock and am just using takeup. All progress at Worm.
This commit is contained in:
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a39ba5c94d
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1aca2dd5c0
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@ -1 +1 @@
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0.2.0
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0.2.1
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@ -7,65 +7,77 @@ ContactPrinter::ContactPrinter () {
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void ContactPrinter::Setup () {
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pinMode(takeup_picture_pin_cw, OUTPUT);
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pinMode(takeup_picture_pin_ccw, OUTPUT);
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pinMode(takeup_stock_pin_cw, OUTPUT);
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pinMode(takeup_stock_pin_ccw, OUTPUT);
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pinMode(takeup_pin_dir_a, OUTPUT);
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pinMode(takeup_pin_dir_b, OUTPUT);
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pinMode(start_button_pin, INPUT_PULLUP);
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drive_motor.Setup();
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ledcSetup(takeup_picture_pwm_channel, pwm_frequency, pwm_resolution);
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ledcSetup(takeup_stock_pwm_channel, pwm_frequency, pwm_resolution);
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ledcSetup(takeup_pwm_channel, pwm_frequency, pwm_resolution);
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Serial.print("Attaching pin ");
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Serial.print(takeup_pin_enable);
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Serial.print(" to ledc channel ");
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Serial.print(takeup_pwm_channel);
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Serial.println(" for takeup");
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ledcAttachPin(takeup_pin_enable, takeup_pwm_channel);
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ledcWrite(takeup_pwm_channel, takeup_pwm_duty_cycle);
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ledcAttachPin(takeup_picture_pin_enable, takeup_picture_pwm_channel);
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ledcAttachPin(takeup_stock_pin_enable, takeup_stock_pwm_channel);
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digitalWrite(takeup_pin_dir_a, LOW);
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digitalWrite(takeup_pin_dir_b, LOW);
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ledcWrite(takeup_picture_pwm_channel, takeup_pwm_duty_cycle);
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ledcWrite(takeup_stock_pwm_channel, takeup_pwm_duty_cycle);
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digitalWrite(takeup_picture_pin_cw, LOW);
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digitalWrite(takeup_picture_pin_ccw, LOW);
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digitalWrite(takeup_stock_pin_cw, LOW);
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digitalWrite(takeup_stock_pin_ccw, LOW);
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SetSpeedTakeup(0.4);
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SetSpeedDrive(1.0);
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SetDirectionTakeup(true);
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SetSpeedTakeup(0.9);
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SetSpeedDrive(0.8);
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start_time = millis();
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}
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void ContactPrinter::Start () {
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Serial.println("Start()");
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drive_motor.Start();
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//RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
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StartTakeup();
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run_time = timer;
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running = true;
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}
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void ContactPrinter::Stop () {
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Serial.println("Stop()");
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drive_motor.Stop();
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RampTakeup(takeup_pwm_duty_cycle, 0, takeup_ramp_time);
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digitalWrite(takeup_picture_pin_cw, LOW);
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digitalWrite(takeup_picture_pin_ccw, LOW);
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digitalWrite(takeup_stock_pin_cw, LOW);
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digitalWrite(takeup_stock_pin_ccw, LOW);
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StopTakeup();
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run_time = timer;
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running = false;
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}
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void ContactPrinter::SetSpeedTakeup(float speed) {
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takeup_speed = speed;
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takeup_pwm_duty_cycle = floor(speed * 255);
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takeup_pwm_duty_cycle = floor(speed * pwm_maximum);
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Serial.print("Set takeup motors PWM = ");
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Serial.println(takeup_pwm_duty_cycle);
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}
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void ContactPrinter::StartTakeup () {
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ledcWrite(takeup_pwm_channel, takeup_pwm_duty_cycle);
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if (takeup_dir) {
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digitalWrite(takeup_pin_dir_a, LOW);
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digitalWrite(takeup_pin_dir_b, HIGH);
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} else {
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digitalWrite(takeup_pin_dir_a, HIGH);
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digitalWrite(takeup_pin_dir_b, LOW);
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}
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}
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void ContactPrinter::StopTakeup() {
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digitalWrite(takeup_pin_dir_a, LOW);
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digitalWrite(takeup_pin_dir_b, LOW);
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ledcWrite(takeup_pwm_channel, 0);
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}
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void ContactPrinter::SetSpeedDrive(float speed) {
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drive_motor.SetSpeed(speed);
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}
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void ContactPrinter::SetDirectionStock(bool clockwise) {
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takeup_stock_cw = clockwise;
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}
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void ContactPrinter::SetDirectionPicture(bool clockwise) {
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takeup_picture_cw = clockwise;
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void ContactPrinter::SetDirectionTakeup(bool dir) {
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takeup_dir = dir;
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}
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//linear
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@ -77,28 +89,11 @@ void ContactPrinter::RampTakeup(uint16_t start_pwm, uint16_t end_pwm, uint16_t t
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takeup_ramp_current_step = 0;
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takeup_ramping = true;
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if (takeup_picture_cw) {
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digitalWrite(takeup_picture_pin_cw, HIGH);
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digitalWrite(takeup_picture_pin_ccw, LOW);
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} else {
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digitalWrite(takeup_picture_pin_cw, LOW);
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digitalWrite(takeup_picture_pin_ccw, HIGH);
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}
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if (takeup_stock_cw) {
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digitalWrite(takeup_stock_pin_cw, HIGH);
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digitalWrite(takeup_stock_pin_ccw, LOW);
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} else {
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digitalWrite(takeup_stock_pin_cw, LOW);
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digitalWrite(takeup_stock_pin_ccw, HIGH);
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}
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for (uint16_t i = 0; i < takeup_ramp_steps; i++) {
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if (takeup_pwm_duty_cycle <= 0 || takeup_pwm_duty_cycle >= 255) {
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takeup_ramping = false;
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if (takeup_pwm_duty_cycle <= 0 || takeup_pwm_duty_cycle >= pwm_maximum) {
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break;
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}
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ledcWrite(takeup_picture_pwm_channel, takeup_pwm_duty_cycle);
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ledcWrite(takeup_stock_pwm_channel, takeup_pwm_duty_cycle);
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ledcWrite(takeup_pwm_channel, takeup_pwm_duty_cycle);
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delay(takeup_ramp_step);
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if (takeup_ramp_dir) {
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takeup_pwm_duty_cycle++;
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@ -109,13 +104,12 @@ void ContactPrinter::RampTakeup(uint16_t start_pwm, uint16_t end_pwm, uint16_t t
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takeup_ramping = false;
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}
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void ContactPrinter::RampTakeupLoop () {
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}
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void ContactPrinter::ButtonLoop () {
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if (!running && digitalRead(start_button_pin) == LOW) {
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if (!running && timer >= run_time + button_delay && digitalRead(start_button_pin) == LOW) {
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Start();
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} else if (running && timer >= run_time + button_delay && digitalRead(start_button_pin) == LOW) {
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Stop();
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}
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}
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@ -125,11 +119,13 @@ bool ContactPrinter::IsRunning () {
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void ContactPrinter::Loop () {
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timer = millis();
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ButtonLoop();
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if (running) {
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drive_motor.Loop();
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if (takeup_ramping) {
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RampTakeupLoop();
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if (initialized) {
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ButtonLoop();
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if (running) {
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drive_motor.Loop();
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}
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} else if (timer >= start_time + 100) {
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initialized = true;
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}
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}
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}
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@ -17,25 +17,26 @@ class ContactPrinter {
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const uint16_t baud = 115200;
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/* PINS */
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const uint8_t takeup_picture_pin_enable = 23;
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const uint8_t takeup_picture_pin_cw = 22;
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const uint8_t takeup_picture_pin_ccw = 21;
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const uint8_t takeup_stock_pin_enable = 19;
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const uint8_t takeup_stock_pin_cw = 18;
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const uint8_t takeup_stock_pin_ccw = 5;
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const uint8_t takeup_pin_enable = 21;
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const uint8_t takeup_pin_dir_a = 22;
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const uint8_t takeup_pin_dir_b = 23;
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const uint8_t start_button_pin = 15;
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/* MOTOR PWM */
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const uint32_t pwm_frequency = 30000;
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const uint8_t takeup_picture_pwm_channel = 1;
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const uint8_t takeup_stock_pwm_channel = 2;
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const uint32_t pwm_frequency = 5000;
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const uint8_t takeup_pwm_channel = 1;
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const uint8_t pwm_resolution = 8;
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const uint16_t pwm_maximum = 255; //8 = 255, 16 = 65535
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/* BUTTONS */
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const uint16_t button_delay = 500;
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/* MEMORY */
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volatile long timer = 0;
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volatile long start_time = 0;
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volatile long run_time = 0;
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volatile float drive_speed = 1.0; //calculated rpm
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volatile float takeup_speed = 1.0; //estimated rpm
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@ -52,12 +53,9 @@ class ContactPrinter {
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volatile boolean takeup_ramping = false;
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volatile bool takeup_picture_cw = false;
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volatile bool takeup_picture_ccw = true;
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volatile bool takeup_stock_cw = true;
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volatile bool takeup_stock_ccw = true;
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volatile bool takeup_dir = true;
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volatile bool initialized = false;
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volatile bool running = false;
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public:
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@ -70,8 +68,11 @@ class ContactPrinter {
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void Stop();
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void SetSpeedTakeup(float speed);
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void SetSpeedDrive(float speed);
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void SetDirectionStock(bool clockwise);
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void SetDirectionPicture(bool clockwise);
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void SetDirectionTakeup(bool dir);
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void StartTakeup();
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void StopTakeup();
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void EnableTakeup();
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void RampTakeup(uint16_t start, uint16_t end, uint16_t time);
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void RampTakeupLoop();
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pinMode(encoder_b_pin, INPUT);
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ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
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Serial.print("Attaching pin ");
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Serial.print(enable_pin);
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Serial.print(" to ledc channel ");
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Serial.print(pwm_channel);
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Serial.println(" for drive");
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ledcAttachPin(enable_pin, pwm_channel);
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ledcWrite(pwm_channel, pwm_duty_cycle);
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@ -34,15 +39,14 @@ void DriveMotor::Start() {
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digitalWrite(backward_pin, LOW);
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}
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void DriveMotor::Stop() {
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pwm_duty_cycle = 0;
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void DriveMotor::Stop() {;
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digitalWrite(forward_pin, LOW);
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digitalWrite(backward_pin, LOW);
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ledcWrite(pwm_channel, pwm_duty_cycle);
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ledcWrite(pwm_channel, 0);
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}
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void DriveMotor::SetSpeed(float speed) {
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pwm_duty_cycle = floor(255 * speed);
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pwm_duty_cycle = floor(pwm_maximum * speed);
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Serial.print("Set drive motor PWM = ");
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Serial.println(pwm_duty_cycle);
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}
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@ -16,9 +16,10 @@ class DriveMotor {
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volatile uint8_t pwm_duty_cycle = 0;
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const uint32_t pwm_frequency = 30000;
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const uint32_t pwm_frequency = 5000;
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const uint8_t pwm_channel = 0;
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const uint8_t pwm_resolution = 8;
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const uint16_t pwm_maximum = 255; //8 = 255, 16 = 65535
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const uint8_t ppr = 11;
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const float ratio = 187.0 / 3.0;
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@ -1,6 +1,6 @@
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#include "ContactPrinter.h";
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#define VERSION "0.2.0"
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#define VERSION "0"
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/**
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*
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@ -9,23 +9,19 @@
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*
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* Pins
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*
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* 23 Takeup Picture Enable - set duty rate
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* 22 Takeup Picture Clockwise
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* 21 Takeup Picture Counter Clockwise
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* 21 Takeup Picture Enable - set duty rate
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* 22 Takeup Direction A - Stock Clockwise, Picture Counter Clockwise
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* 23 Takeup Direction B - Stock Counter Clockwise, Picture Clockwise
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*
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* 19 Takeup Stock Enable - set duty rate
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* 18 Takeup Stock Clockwise
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* 5 Takeup Stock Counter Clockwise
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*
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* 13 Drive Enable
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* 12 Drive Forward (Clockwise)
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* 26 Drive Enable
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* 27 Drive Forward (Clockwise)
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* 14 Drive Backward (Counter Clockwise)
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* 27 Drive Encoder A
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* 26 Drive Encoder B
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* 33 Drive Encoder A
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* 25 Drive Encoder B
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*
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* 15 Start Button
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*
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* 33 Lamp
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* 32 Lamp
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*
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**/
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@ -33,10 +29,10 @@ ContactPrinter contact_printer;
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void setup () {
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Serial.begin(115200);
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contact_printer.Setup();
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Serial.print("contact_printer v");
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Serial.println(VERSION);
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contact_printer.Setup();
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}
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void loop () {
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contact_printer.Loop();
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}
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}
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@ -15,7 +15,7 @@ if [[ "${1}" == "major" ]]; then
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elif [[ "${1}" == "minor" ]]; then
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let "VERSION[1]=${VERSION[1]}+1"
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let "VERSION[2]=0"
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else; then
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else
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let "VERSION[2]=${VERSION[2]}+1"
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fi
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