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Code is in test mode for getting approximations of the motor speed with no load, under single strand of film load and with 2 films. Should be possible to create a control loop to maintain a roughly-accurate speed.

This commit is contained in:
Matt McWilliams 2024-02-23 00:31:14 +01:00
parent 8efa6cea8a
commit 39650094bd
4 changed files with 127 additions and 39 deletions
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28
ino/contact_printer/ContactPrinter.cpp
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@ -1,8 +1,7 @@
#include "ContactPrinter.h"
ContactPrinter::ContactPrinter () {
SetSpeedDrive(drive_speed);
SetSpeedTakeup(takeup_speed);
}
void ContactPrinter::Setup () {
@ -26,9 +25,8 @@ void ContactPrinter::Setup () {
digitalWrite(takeup_pin_dir_a, LOW);
digitalWrite(takeup_pin_dir_b, LOW);
SetDirectionTakeup(true);
SetSpeedTakeup(1.0);
SetSpeedDrive(1.0);
SetupTakeup();
SetupDrive();
start_time = millis();
}
@ -48,6 +46,10 @@ void ContactPrinter::Stop () {
running = false;
}
void ContactPrinter::SetDirectionTakeup(bool dir) {
takeup_dir = dir;
}
void ContactPrinter::SetSpeedTakeup(float speed) {
takeup_speed = speed;
takeup_pwm_duty_cycle = floor(speed * pwm_maximum);
@ -74,12 +76,17 @@ void ContactPrinter::StopTakeup() {
ledcWrite(takeup_pwm_channel, 0);
}
void ContactPrinter::SetSpeedDrive(float speed) {
drive_motor.SetSpeed(speed);
void ContactPrinter::SetupTakeup () {
SetDirectionTakeup(true);
SetSpeedTakeup(0.9);
}
void ContactPrinter::SetDirectionTakeup(bool dir) {
takeup_dir = dir;
void ContactPrinter::SetupDrive() {
//drive_motor.SetSpeed(speed);
//drive_motor.SetPWM(247);
drive_motor.SetLoad(load);
drive_motor.SetFPS(18.0);
}
//linear
@ -128,6 +135,9 @@ void ContactPrinter::Loop () {
ButtonLoop();
if (running) {
drive_motor.Loop();
if (drive_motor.GetFrames() >= 1000) {
Stop();
}
}
} else if (timer >= start_time + 100) {
initialized = true;

14
ino/contact_printer/ContactPrinter.h
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@ -38,23 +38,22 @@ class ContactPrinter {
volatile long start_time = 0;
volatile long run_time = 0;
volatile float drive_speed = 1.0; //calculated rpm
volatile float takeup_speed = 1.0; //estimated rpm
volatile float drive_speed = 1.0; //CHANGE
volatile float takeup_speed = 1.0; //percentage of max PWM
volatile uint16_t takeup_pwm_duty_cycle = 0;
volatile uint16_t takeup_ramp_steps = 0; //# of steps
volatile uint16_t takeup_ramp_step = 0; //length of step (ms)
volatile boolean takeup_ramp_dir = true; //true = up, false = down
volatile uint16_t takeup_ramp_time = 500; //default ramp time (ms)
volatile long takeup_ramp_start = 0; //time to start ramping
volatile long takeup_ramp_current_step = 0;
volatile long takeup_ramp_next_step_start = 0;
volatile boolean takeup_ramping = false;
volatile bool takeup_dir = true;
volatile uint8_t load = 2; //0 = no load, 1 = single thread, 2 = dual thread
volatile bool takeup_dir = true;
volatile bool initialized = false;
volatile bool running = false;
@ -67,8 +66,9 @@ class ContactPrinter {
void Loop();
void Start();
void Stop();
void SetSpeedTakeup(float speed);
void SetSpeedDrive(float speed);
void SetSpeedTakeup(float speed); //percent
void SetupDrive();
void SetupTakeup();
void SetDirectionTakeup(bool dir);
void StartTakeup();

94
ino/contact_printer/DriveMotor.cpp
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@ -49,25 +49,11 @@ void DriveMotor::Stop() {;
digitalWrite(forward_pin, LOW);
digitalWrite(backward_pin, LOW);
ledcWrite(pwm_channel, 0);
fps = CalculateFPS(timer - start_time, frames - start_frame);
rpm = CalculateRPM(timer - start_time, rotations - start_rotation);
Serial.print("RPM ");
Serial.println(rpm);
Serial.print("RPM avg: ");
Serial.println(rpm_avg);
Serial.print("RPM min: ");
Serial.println(rpm_min);
Serial.print("RPM max: ");
Serial.println(rpm_max);
Report();
}
Serial.print("FPS ");
Serial.println(fps);
Serial.print("FPS avg: ");
Serial.println(fps_avg);
Serial.print("FPS min: ");
Serial.println(fps_min);
Serial.print("FPS max: ");
Serial.println(fps_max);
void DriveMotor::SetLoad(uint8_t loadInt) {
load = loadInt;
}
void DriveMotor::SetSpeed(float speed) {
@ -78,6 +64,20 @@ void DriveMotor::SetSpeed(float speed) {
Serial.println(pwm_maximum);
}
void DriveMotor::SetPWM(uint32_t pwm) {
pwm_duty_cycle = pwm;
Serial.print("Set drive motor PWM = ");
Serial.print(pwm_duty_cycle);
Serial.print(" / ");
Serial.println(pwm_maximum);
}
void DriveMotor::SetFPS(float fps) {
target_fps = fps;
Serial.print("FPS = ");
Serial.println(fps);
SetPWM(EstimatePWMFromFPS(fps));
}
int32_t DriveMotor::pulses = 0;
@ -125,6 +125,31 @@ void DriveMotor::Loop () {
}
}
void DriveMotor::Report () {
fps = CalculateFPS(timer - start_time, frames - start_frame);
rpm = CalculateRPM(timer - start_time, rotations - start_rotation);
Serial.print("RPM ");
Serial.println(rpm);
Serial.print("RPM avg: ");
Serial.println(rpm_avg);
Serial.print("RPM min: ");
Serial.println(rpm_min);
Serial.print("RPM max: ");
Serial.println(rpm_max);
Serial.print("FPS ");
Serial.println(fps);
Serial.print("FPS avg: ");
Serial.println(fps_avg);
Serial.print("FPS min: ");
Serial.println(fps_min);
Serial.print("FPS max: ");
Serial.println(fps_max);
}
/* Helper methods */
float DriveMotor::CalculateFPS (long time_length, uint32_t frames) {
return 1000.0 / ((float) time_length / (float) frames);
}
@ -132,3 +157,36 @@ float DriveMotor::CalculateFPS (long time_length, uint32_t frames) {
float DriveMotor::CalculateRPM (long time_length, uint32_t rotations) {
return 60000.0 / ((float) time_length / (float) rotations);
}
int32_t DriveMotor::GetFrames () {
return frames;
}
int32_t DriveMotor::GetRotations () {
return rotations;
}
float DriveMotor::FloatMap (float x, float in_min, float in_max, float out_min, float out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
uint16_t DriveMotor::EstimatePWMFromFPS (float fps) {
float min, max;
float max_pwm = pwm_range[0];
float min_pwm = pwm_range[1];
switch (load) {
case 0 :
max = load_none[0];
min = load_none[1];
break;
case 1 :
max = load_one[0];
min = load_one[1];
break;
case 2 :
max = load_two[0];
min = load_two[1];
break;
}
return (uint16_t) floor(FloatMap(fps, min, max, (float) min_pwm, (float) max_pwm));
}

30
ino/contact_printer/DriveMotor.h
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@ -16,8 +16,8 @@ class DriveMotor {
const uint32_t pwm_frequency = 5000;
const uint8_t pwm_channel = 0;
const uint8_t pwm_resolution = 10;
const uint16_t pwm_maximum = 1024; //8 = 255, 10 = 1024, 16 = 65535
const uint8_t pwm_resolution = 8;
const uint16_t pwm_maximum = 255; //8 = 255, 10 = 1024, 16 = 65535
const uint8_t ppr = 11;
const float ratio = 187.0 / 3.0;
@ -25,7 +25,15 @@ class DriveMotor {
const uint8_t frames_per_rotation = 18;
const float pulses_per_frame = (float) pulses_per_rotation / (float) frames_per_rotation;
volatile uint32_t pwm_duty_cycle = 0;
//pwm ranges for mapping to estimated fps
const uint16_t pwm_range[2] = { 255, 210 };
const float load_none[2] = { 25.4, 16.75 };
const float load_one [2] = { 24.8, 16.5 };
const float load_two [2] = { 21.9, 13.4 };
volatile uint8_t load = 2;
volatile uint16_t pwm_duty_cycle = 0;
static int32_t pulses;
@ -54,6 +62,15 @@ class DriveMotor {
volatile float target_fps = 0.0;
volatile float target_rpm = 0.0;
volatile float test[1000];
float CalculateFPS (long time_length, uint32_t frames);
float CalculateRPM (long time_length, uint32_t rotations);
float FloatMap(float x, float in_min, float in_max, float out_min, float out_max);
uint16_t EstimatePWMFromFPS(float);
void Report();
public:
DriveMotor();
@ -61,10 +78,13 @@ class DriveMotor {
void Loop();
void Start();
void Stop();
void SetLoad(uint8_t loadInt);
void SetSpeed(float speed);
void SetPWM(uint32_t pwm);
void SetFPS(float fps);
float CalculateFPS (long time_length, uint32_t frames);
float CalculateRPM (long time_length, uint32_t rotations);
int32_t GetFrames();
int32_t GetRotations();
protected: