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Sketch has been updated to do monitoring of multiple rotations, active monitoring of number of estimated frames. Currently not registering the first ~910 pulses (why??)

This commit is contained in:
Matt McWilliams 2024-01-13 23:29:25 -05:00
parent 82fbd4af33
commit d1302e79fd
1 changed files with 55 additions and 18 deletions
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73
ino/motor_encoder_poc/motor_encoder_poc.ino
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@ -25,17 +25,31 @@
#define MOTORA 10 #define MOTORA 10
#define MOTORB 11 #define MOTORB 11
volatile int posi = 0; // specify posi as volatile volatile int64_t posi = 0; // specify posi as volatile
const long maxTime = 10000; const long maxTime = 100000;
const int maxRotations = 10;
const int ppr = 11; const int ppr = 11;
const float ratio = 62.0; const float ratio = 62.0 / 1.0;
const int maxPulses = (int) round((float) ppr * ratio); const int maxPulses = (int) round((float) ppr * ratio);
const int speed = 40; const int speed = 230;
const int framesPerRotation = 18;
const int pulsesPerFrame = (int) round((float) maxPulses / (float) framesPerRotation);
volatile long start = 0; volatile long start = 0;
volatile bool done = false; volatile bool done = false;
volatile bool stop = false; volatile bool stop = false;
volatile int incoming; volatile int incoming;
volatile float rpm; volatile float rpm;
volatile int rotations = 0;
volatile int lastRotationPosition = 0;
volatile int lastFramePosition = 0;
volatile int frames = 0;
float calculateFPS () {
}
float calculateRPM (long rotationLength) {
return 60000.0 / (float) (rotationLength);
}
void setup() { void setup() {
Serial.begin(57600); Serial.begin(57600);
@ -54,18 +68,14 @@ void setup() {
Serial.println(ratio); Serial.println(ratio);
Serial.print("Pulses: "); Serial.print("Pulses: ");
Serial.println(maxPulses); Serial.println(maxPulses);
Serial.print("Frames per Rotation: ");
Serial.println(framesPerRotation);
Serial.print("Pulses per Frame: ");
Serial.println(pulsesPerFrame);
} }
void loop() { void loop() {
int pos; int64_t pos;
if (Serial.available() > 0) {
incoming = Serial.read();
start = -1;
posi = 0;
done = false;
stop = false;
}
// Read the position in an atomic block to avoid a potential // Read the position in an atomic block to avoid a potential
// misread if the interrupt coincides with this code running // misread if the interrupt coincides with this code running
// see: https://www.arduino.cc/reference/en/language/variables/variable-scope-qualifiers/volatile/ // see: https://www.arduino.cc/reference/en/language/variables/variable-scope-qualifiers/volatile/
@ -74,7 +84,22 @@ void loop() {
pos = posi; pos = posi;
} }
if (abs(pos) == maxPulses) { if (pos != lastRotationPosition && abs(pos) % maxPulses == 0) {
lastRotationPosition = pos;
rotations++;
frames = rotations * framesPerRotation;
}
if (pos != lastFramePosition && abs(pos) % pulsesPerFrame == 0) {
lastFramePosition = pos;
frames++;
Serial.print("Frames: ");
Serial.print(frames);
Serial.print("@");
Serial.println(String(pos));
}
if (abs(pos) >= maxPulses * maxRotations) {
stop = true; stop = true;
} }
if (start == -1) { if (start == -1) {
@ -82,18 +107,30 @@ void loop() {
analogWrite(MOTORA, speed); analogWrite(MOTORA, speed);
digitalWrite(MOTORB, LOW); digitalWrite(MOTORB, LOW);
start = millis(); start = millis();
rotations = 0;
} else if ((stop || millis() - start >= maxTime) && !done) { } else if ((stop || millis() - start >= maxTime) && !done) {
digitalWrite(MOTORA, LOW); digitalWrite(MOTORA, LOW);
digitalWrite(MOTORB, LOW); digitalWrite(MOTORB, LOW);
Serial.print("Final: "); Serial.print("Final: ");
Serial.println(pos); Serial.println(pos);
Serial.print("Time: "); Serial.print("Time: ");
Serial.println(millis() - start); Serial.println(millis() - start);
rpm = (float) 60000 / (float) (millis() - start); rpm = calculateRPM(millis() - start) * (float) (rotations + 1);
Serial.print("RPM: "); Serial.print("RPM: ");
Serial.println(rpm); Serial.println(rpm);
Serial.print("Rotations: ");
Serial.println(rotations + 1);
Serial.print("Frames: ");
Serial.println(frames);
done = true; done = true;
} }
if (Serial.available() > 0) {
incoming = Serial.read();
start = -1;
posi = 0;
done = false;
stop = false;
}
} }
void readEncoder(){ void readEncoder(){