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Pausing work on arri_s_DC firmware because hardware is less than ideal. Too much play in the motor position to trust right now. Steppers better approach.

This commit is contained in:
Matt McWilliams 2022-10-28 11:28:30 -04:00
parent 787e6ed06e
commit 98f2c7a24a
1 changed files with 42 additions and 18 deletions
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60
ino/mcopy_arri_s_firmware/mcopy_arri_s_firmware.ino → ino/mcopy_arri_s_DC_firmware/mcopy_arri_s_DC_firmware.ino
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@ -16,8 +16,9 @@ class ArriSMotor {
void Start (boolean dir) {
startTime = millis();
rotationTime = startTime;
direction = dir;
rotations = 0;
Run(direction, speed);
running = true;
@ -26,49 +27,67 @@ class ArriSMotor {
void Run (boolean dir, int speed) {
if (dir) {
analogWrite(pinPositive, speed);
analogWrite(pinNegative, 0);
} else {
analogWrite(pinPositive, 0);
analogWrite(pinNegative, speed);
} else {
analogWrite(pinPositive, speed);
analogWrite(pinNegative, 0);
}
}
void CheckMicroswitch () {
int value = digitalRead(pinMicroswitch);
if (value == 1) {
if (running && !primed && millis() - startTime > primeTime) {
if (running && !primed && millis() - rotationTime > primeTime) {
primed = true;
}
}
if (value == 0) {
if (running && primed && millis() - startTime > minTime) {
Stop();
if (running && primed && millis() - rotationTime > minTime) {
if (rotations < rotationsPer - 1) {
rotations++;
primed = false;
rotationTime = millis();
} else {
Stop();
}
}
}
};
private:
int pinPositive = 5;
int pinNegative = 6;
int pinMicroswitch = 7;
const int pinPositive = 5;
const int pinNegative = 6;
const int pinMicroswitch = 7;
int startTime = 0;
int primeTime = 100;
int minTime = 200;
const int rotationsPer = 3;
volatile int rotations = 0;
volatile long startTime = 0;
volatile long rotationTime = 0;
const int primeTime = 100;
const int minTime = 200;
void Stop () {
int val = 1;
digitalWrite(pinPositive, LOW);
digitalWrite(pinNegative, LOW);
Run(!direction, 55);
delay(50);
EvaluateTiming();
Run(!direction, 40);
long c = millis();
while (val == 1) {
delay(4);
val = digitalRead(pinMicroswitch);
}
Serial.print("Correction: ");
Serial.print(millis() - c);
Serial.println("ms");
digitalWrite(pinPositive, LOW);
digitalWrite(pinNegative, LOW);
running = false;
primed = false;
EvaluateTiming();
}
void EvaluateTiming () {
@ -104,11 +123,16 @@ void setup() {
}
boolean d = false;
int count = 0;
void loop() {
if (!motor.running) {
delay(3000);
delay(5000);
motor.Start(d);
d = !d;
count++;
if (count > 9) {
d = !d;
count = 0;
}
}
motor.CheckMicroswitch();
if (!motor.primed) {