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Work on stepper motor design and software. Motor still moves more slowly than it should but will investigate multiple factors leading to this result

This commit is contained in:
Matt McWilliams 2022-10-28 19:46:02 -04:00
parent 98f2c7a24a
commit 1fcbec7466
2 changed files with 158 additions and 7 deletions
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75
ino/mcopy_arri_s_firmware/mcopy_arri_s_firmware.ino Normal file
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@ -0,0 +1,75 @@
#include <AccelStepper.h>
#include <Adafruit_MotorShield.h>
volatile boolean DEBUG = true;
Adafruit_MotorShield AFMStop(0x60);
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
//Set up for a 200step motor (NEMA 17)
Adafruit_StepperMotor *myMotor = AFMS.getStepper(200, 1);
void forwardstep() {
myMotor->onestep(FORWARD, DOUBLE);
}
void backwardstep() {
myMotor->onestep(BACKWARD, DOUBLE);
}
//Set up AccelStepper
AccelStepper stepper(forwardstep, backwardstep);
void setupMotor () {
TWBR = ((F_CPU /400000l) - 16) / 2; // Change the i2c clock to 400KHz
if (!AFMS.begin()) { // default frequency 1.6KHz
Serial.println("Could not find Motor Shield. Check wiring.");
while (1);
}
Serial.println("Motor Shield found.");
//myMotor->setSpeed(600);
//stepper.setMaxSpeed(600.0);
//stepper.setSpeed(600.0);
//stepper.setAcceleration(500.0);
}
void setup() {
Serial.begin(57600);
setupMotor();
//stepper.setMaxSpeed(600.0);
//stepper.move(600);
}
void loop() {
// put your main code here, to run repeatedly:
//Serial.println("Microstep steps");
//myMotor->step(200, FORWARD, MICROSTEP);
//myMotor->step(round(200 / 8), FORWARD, SINGLE); //109ms @ speed 600
//myMotor->step(round(200 / 8), FORWARD, SINGLE); //172ms @ speed 100
//myMotor->step(round(200 / 8), FORWARD, MICROSTEP); //1557ms @ speed 600
//myMotor->step(round(200 / 8), FORWARD, MICROSTEP); //1621ms @ speed 100
//myMotor->step(200, FORWARD, SINGLE); //873ms @ speed 600
//myMotor->step(200, FORWARD, SINGLE); //1377ms @ speed 100
//myMotor->step(200, FORWARD, MICROSTEP); //12466ms @ speed 600
//myMotor->step(200, FORWARD, MICROSTEP); //12967ms @ speed 100
//if (stepper.distanceToGo() != 0) {
long startTime = millis();
//stepper.runToNewPosition(0);
//stepper.runToNewPosition(600);
myMotor->step(600, FORWARD, DOUBLE);
//myMotor->step(600, FORWARD, SINGLE);
stepper.run();
long stopTime = millis();
Serial.print(stopTime - startTime);
Serial.println("ms");
delay(1000);
//}
}

90
scad/arri_s.scad
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@ -100,15 +100,20 @@ module bodyCapBellowsAdapter () {
}
}
/**
** Stepper Motor Design
**/
module animationMotorBodyPositive () {
difference () {
motorBarrel();
//hollow out
translate([0, 0, 4]) cylinder(r = R(BarrelDiameter) - 5, h = BarrelLength, center = true, $fn = 200);
//cut
translate([0, 0, 20]) cube([100, 100, BarrelLength], center = true);
translate([0, 0, 40]) cube([100, 100, BarrelLength], center = true);
cylinder(r = R(23), h = BarrelLength + 1, center = true, $fn = 100);
translate([0, (BarrelDiameter / 2) - 2, -10]) cube([8, 8, 16], center = true);
//window
translate([0, (BarrelDiameter / 2) - 2, -5]) cube([8, 20, 42], center = true);
}
//rim
@ -145,21 +150,85 @@ module animationMotorBodyPositive () {
}
module boltSlot () {
cylinder(r = R(6), h = 40, center = true, $fn = 40);
cylinder(r = R(3.25), h = 50, center = true, $fn = 40);
cylinder(r = R(6), h = 46.5, center = true, $fn = 40);
cylinder(r = R(3.25), h = 55, center = true, $fn = 40);
}
module animationMotorBody () {
boltZOffset = -6;
difference () {
animationMotorBodyPositive();
//m3 bolts (vertical)
translate([31/2, 31/2, boltZOffset]) boltSlot();
translate([31/2, -31/2, boltZOffset]) boltSlot();
translate([-31/2, 31/2, boltZOffset]) boltSlot();
translate([-31/2, -31/2, -6]) boltSlot();
// //cap m3s
rotate([0, 0, -60]) translate([14.5, 0, capM3OffsetZ]) {
rotate([0, 90, 0]) {
cylinder(r = R(3.25), h = 20, center = true, $fn = 40);
translate([0, 0, 6.5]) cylinder(r = R(6), h = 3, center = true, $fn = 40);
}
}
rotate([0, 0, 120]) translate([14.5, 0, capM3OffsetZ]) {
rotate([0, 90, 0]) {
cylinder(r = R(3.25), h = 20, center = true, $fn = 40);
translate([0, 0, 6.5]) cylinder(r = R(6), h = 3, center = true, $fn = 40);
}
}
}
}
module animationMotorCapPositive () {
difference() {
cylinder(r = R(BarrelDiameter), h = 10, center = true, $fn = 200);
translate([0, 0, -(10 /2) + (7.5/2) - 0.1]) cylinder(r = R(BearingDiameter), h = 7.5, center = true, $fn = 80);
cylinder(r = R(13), h = 10 + 1, center = true, $fn = 80);
}
translate([0, 0, -(10/2)-(5/2)]) difference() {
cylinder(r = R(BarrelDiameter) - 5.3, h = 5, center = true, $fn = 200);
cylinder(r = R(BarrelDiameter) - 7.5, h = 5 + 1, center = true, $fn = 200);
}
translate([0, 0, -(10/2)-(5/2)]) difference() {
union() {
rotate([0, 0, -60]) translate([13, 0, 0]) cube([6, 8, 5], center = true);
rotate([0, 0, 120]) translate([13, 0, 0]) cube([6, 8, 5], center = true);
}
cylinder(r = R(BearingDiameter)+1, h = 5 + 1, center = true, $fn = 200);
}
translate([0, 0, -(10/2)-(5/2)]) intersection() {
cylinder(r = R(BarrelDiameter), h = 5, center = true, $fn = 200);
translate([0, (BarrelDiameter / 2) - 2, 0]) cube([8-0.3, 8, 30], center = true);
}
}
module animationMotorCap () {
difference() {
animationMotorCapPositive();
rotate([0, 0, -60]) translate([14.5, 0, -(10/2)-(5/2)]) {
cube([2.5, 5.7, 6], center = true);
rotate([0, 90, 0]) cylinder(r = R(3.25), h = 10, center = true, $fn = 40);
}
rotate([0, 0, 120]) translate([14.5, 0, -(10/2)-(5/2)]) {
cube([2.5, 5.7, 6], center = true);
rotate([0, 90, 0]) cylinder(r = R(3.25), h = 10, center = true, $fn = 40);
}
//m3 set screw
rotate([0, 0, 180]) translate([14.5, 0, 0]) {
translate([2, 0, -6]) cube([2.5, 5.7, 20], center = true);
rotate([0, 90, 0]) {
cylinder(r = R(3.25), h = 20, center = true, $fn = 40);
translate([0, 0, 6.5]) cylinder(r = R(6), h = 3, center = true, $fn = 40);
}
}
}
}
/**
** DC Motor Design
**/
module animationMotorDCBodyPositive () {
rimH = 10 + 3.5;
difference () {
@ -368,11 +437,14 @@ module driveCouplingDCConnector () {
translate([0, 0, (H/2)+H2+(20/2)]) cube([20, 20, 20], center = true);
}
}
//translate([0, 20, 0]) color("red") motorOriginal();
//translate([0, -50, 0]) animationMotorDCBody();
//translate([0, -50, 19.5]) animationMotorDCCap();
/*
translate([0, 20, 0]) color("red") motorOriginal();
//bodyCapBellowsAdapter();
//animationMotorBody();
//translate([0, 0, -49.5]) color("green") NEMA17();
//
//bodyCap();
color("red") translate([0, -8.75, -45-4]) rotate([180, 0, -90]) geared_motor();
//color("blue") translate([-22, -10, -30.5]) microswitch();
@ -394,9 +466,11 @@ translate([0, 0, -12]) color("blue") driveCouplingDC();
//translate([0, 0, 19.5]) animationMotorDCCap();
animationMotorDCBody();
*/
//translate([0, 0, -49.5]) color("green") NEMA17();
//color("blue") translate([0, 0, 19.5]) animationMotorCap();
PART2 = "drive_coupling_DC";
PART2 = "animation_motor";
if (PART2 == "drive_coupling_DC_connector") {
driveCouplingDCConnector();
@ -406,4 +480,6 @@ if (PART2 == "drive_coupling_DC_connector") {
animationMotorDCCap();
} else if (PART2 == "animation_motor_DC") {
animationMotorDCBody();
} else if (PART2 == "animation_motor") {
animationMotorBody();
}