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2 Commits

6 changed files with 38 additions and 21 deletions

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

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

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@ -17,6 +17,9 @@ void DriveMotor::Setup () {
pinMode(forward_pin, OUTPUT); pinMode(forward_pin, OUTPUT);
pinMode(backward_pin, OUTPUT); pinMode(backward_pin, OUTPUT);
pinMode(encoder_a_pin, INPUT);
pinMode(encoder_b_pin, INPUT);
ledcSetup(pwm_channel, pwm_frequency, pwm_resolution); ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
ledcAttachPin(enable_pin, pwm_channel); ledcAttachPin(enable_pin, pwm_channel);
ledcWrite(pwm_channel, pwm_duty_cycle); ledcWrite(pwm_channel, pwm_duty_cycle);
@ -30,14 +33,18 @@ void DriveMotor::Start() {
digitalWrite(forward_pin, HIGH); digitalWrite(forward_pin, HIGH);
digitalWrite(backward_pin, LOW); digitalWrite(backward_pin, LOW);
} }
void DriveMotor::Stop() { void DriveMotor::Stop() {
pwm_duty_cycle = 0; pwm_duty_cycle = 0;
digitalWrite(forward_pin, LOW); digitalWrite(forward_pin, LOW);
digitalWrite(backward_pin, LOW); digitalWrite(backward_pin, LOW);
ledcWrite(pwm_channel, pwm_duty_cycle); 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 () { void DriveMotor::Loop () {

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

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@ -23,7 +23,7 @@
* 27 Drive Encoder A * 27 Drive Encoder A
* 26 Drive Encoder B * 26 Drive Encoder B
* *
* 17 Start Button * 15 Start Button
* *
* 33 Lamp * 33 Lamp
* *
@ -32,7 +32,10 @@
ContactPrinter contact_printer; ContactPrinter contact_printer;
void setup () { void setup () {
Serial.begin(115200);
contact_printer.Setup(); contact_printer.Setup();
Serial.print("contact_printer v");
Serial.println(VERSION);
} }
void loop () { void loop () {
contact_printer.Loop(); contact_printer.Loop();

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