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Ajout suite code Arduino moteur DC

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Vincent MERIL
2016-01-26 22:25:53 +01:00
parent f71e36dfda
commit 3b2c0b8751
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180
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/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on serial interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes,
but i will leave this function with eeprom storage
*/
#include <digitalWriteFast.h> //this is to use DWF library, it will increase the speed of digitalRead/Write command
//used in the interrupt function doEncoderMotor0, but may be used everywhere.
#define encoder0PinA 2
#define encoder0PinB 4
#define SpeedPin 9
#define DirectionPin 8
//from ramps 1.4 stepper driver
#define STEP_PIN 3
#define DIR_PIN 12
#define ENABLE_PIN 13
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinMode(encoder0PinA, INPUT);
pinMode(encoder0PinB, INPUT);
pinMode(DirectionPin, OUTPUT);
pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinMode(STEP_PIN, INPUT);
pinMode(DIR_PIN, INPUT);
attachInterrupt(0, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(1, countStep, RISING); //on pin 3
Serial.begin (115200);
Serial.println("start"); // a personal quirk
}
void loop(){
while (Serial.available() > 0) {
KP = Serial.parseFloat();
KD = Serial.parseFloat();
KI = Serial.parseFloat();
Serial.println(KP);
Serial.println(KD);
Serial.println(KI);
}
/*if(millis() - previousTarget > 500){ //enable this code only for test purposes
Serial.print(encoder0Pos);
Serial.print(',');
Serial.println(target1);
previousTarget=millis();
}*/
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
digitalWrite ( DirectionPin ,HIGH );
}
if(ms < 0){
digitalWrite ( DirectionPin , LOW );
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//Serial.print ( ms );
//Serial.print ( ',' );
//Serial.println ( motorspeed );
}
}
void doEncoderMotor0(){
if (digitalReadFast2(encoder0PinA) == HIGH) { // found a low-to-high on channel A
if (digitalReadFast2(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos - 1; // CCW
}
else {
encoder0Pos = encoder0Pos + 1; // CW
}
}
else // found a high-to-low on channel A
{
if (digitalReadFast2(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
}
void countStep(){
dir = digitalRead(DIR_PIN);
if (dir) target1++;
else target1--;
}

191
Moteur DC/ServoStrap/Arduino_stepper_motor_emulator_v1.0.1_direct_port_manipulation/Arduino_stepper_motor_emulator_v1.0.1_direct_port_manipulation.pde Normal file
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#include <digitalWriteFast.h>
/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on serial interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage
*/
#define encoder0PinA 2 // PD2;
#define encoder0PinB 8 // PB0;
#define SpeedPin 6
#define DirectionPin 15 //PC1;
//from ramps 1.4 stepper driver
#define STEP_PIN 3 //PD3;
#define DIR_PIN 14 //PC0;
//#define ENABLE_PIN 13 //PB5; for now is USELESS
//to use current motor as speed control, the LMD18245 has 4 bit cuttent output
//#define M0 9 //assign 4 bit from PORTB register to current control -> Bxx0000x (x mean any)
//#define M1 10 // PB1; PB2; PB3; PB4
//#define M2 11
//#define M3 12
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinModeFast(2, INPUT);
pinModeFast(encoder0PinA, INPUT);
pinModeFast(encoder0PinB, INPUT);
pinModeFast(DirectionPin, OUTPUT);
//pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinModeFast(STEP_PIN, INPUT);
pinModeFast(DIR_PIN, INPUT);
//pinModeFast(M0,OUTPUT);
//pinModeFast(M1,OUTPUT);
//pinModeFast(M2,OUTPUT);
//pinModeFast(M3,OUTPUT);
attachInterrupt(0, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(1, countStep, RISING); //on pin 3
Serial.begin (115200);
Serial.println("start"); // a personal quirk
}
void loop(){
while (Serial.available() > 0) {
KP = Serial.parseFloat();
KD = Serial.parseFloat();
KI = Serial.parseFloat();
Serial.println(KP);
Serial.println(KD);
Serial.println(KI);
}
if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time
Serial.print(encoder0Pos);
Serial.print(',');
Serial.println(target1);
previousTarget=millis();
}
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
PORTC |=B00000010; //digitalWriteFast2 ( DirectionPin ,HIGH ); write PC1 HIGH
}
if(ms < 0){
PORTC &=(B11111101); //digitalWriteFast2 ( DirectionPin , LOW ); write PC1 LOW
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//PORTB |=(motorspeed<<1); // is a sort of: digitalwrite(M0 M1 M2 M3, 0 0 0 0 to 1 1 1 1); it set directly PORTB to B**M3M2M1M0*;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//Serial.print ( ms );
//Serial.print ( ',' );
//Serial.println ( motorspeed );
}
}
void doEncoderMotor0(){
if (((PIND&B0000100)>>2) == HIGH) { // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PB0
// because PD0is used for serial, i will change in the stable version TO USE PD2
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0
// encoder is turning
encoder0Pos-- ; // CCW
}
else {
encoder0Pos++ ; // CW
}
}
else // found a high-to-low on channel A
{
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0
// encoder is turning
encoder0Pos++ ; // CW
}
else {
encoder0Pos-- ; // CCW
}
}
}
void countStep(){
dir = (PINC&B0000001); // dir=digitalRead(dir_pin) read PC0, 14 digital;
//here will be (PINB&B0000001) to not use shift in the stable version
if (dir) target1++;
else target1--;
}

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Moteur DC/ServoStrap/Arduino_stepper_motor_emulator_v1.0.1_direct_port_manipulation/STM32_olimexino_stepper_motor_emulator Normal file
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/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on SerialUSB interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage
*/
#define encoder0PinA 2
#define encoder0PinB 4
#define SpeedPin 9
#define DirectionPin 8
//from ramps 1.4 stepper driver
#define STEP_PIN 3
#define DIR_PIN 12
#define ENABLE_PIN 13
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinMode(encoder0PinA, INPUT);
pinMode(encoder0PinB, INPUT);
pinMode(DirectionPin, OUTPUT);
pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinMode(STEP_PIN, INPUT);
pinMode(DIR_PIN, INPUT);
attachInterrupt(2, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(3, countStep, RISING); //on pin 3
SerialUSB.println("start"); // a personal quirk
}
void loop(){
while (SerialUSB.available() > 0) {
KP = SerialUSB.read();
KD = SerialUSB.read();
KI = SerialUSB.read();
SerialUSB.println(KP);
SerialUSB.println(KD);
SerialUSB.println(KI);
}
if(millis() - previousTarget > 500){ //enable this code only for test purposes
SerialUSB.print(encoder0Pos);
SerialUSB.print(',');
SerialUSB.println(target1);
previousTarget=millis();
}
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
digitalWrite ( DirectionPin ,HIGH );
}
if(ms < 0){
digitalWrite ( DirectionPin , LOW );
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//SerialUSB.print ( ms );
//SerialUSB.print ( ',' );
//SerialUSB.println ( motorspeed );
}
}
void doEncoderMotor0(){
if (digitalRead(encoder0PinA) == HIGH) { // found a low-to-high on channel A
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos - 1; // CCW
}
else {
encoder0Pos = encoder0Pos + 1; // CW
}
}
else // found a high-to-low on channel A
{
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
}
void countStep(){
dir = digitalRead(DIR_PIN);
if (dir) target1++;
else target1--;
}

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#######################################
# Syntax Coloring Map For DigitalWriteFast
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
DigitalWriteFast KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
digitalWriteFast KEYWORD2
digitalWriteFast2 KEYWORD2
pinModeFast KEYWORD2
pinModeFast2 KEYWORD2
digitalReadFast KEYWORD2
digitalReadFast2 KEYWORD2

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#include <digitalWriteFast.h>
/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on serial interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage
*/
#define encoder0PinA 7 // PD2;
#define encoder0PinB 8 // PB0;
#define SpeedPin 10
#define DirectionPin 9 //PC1;
//from ramps 1.4 stepper driver
#define STEP_PIN 3 //PD3;
#define DIR_PIN 5 //PC0;
//#define ENABLE_PIN 13 //PB5; for now is USELESS
//to use current motor as speed control, the LMD18245 has 4 bit cuttent output
//#define M0 9 //assign 4 bit from PORTB register to current control -> Bxx0000x (x mean any)
//#define M1 10 // PB1; PB2; PB3; PB4
//#define M2 11
//#define M3 12
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinModeFast(2, INPUT);
pinModeFast(encoder0PinA, INPUT);
pinModeFast(encoder0PinB, INPUT);
pinModeFast(DirectionPin, OUTPUT);
//pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinModeFast(STEP_PIN, INPUT);
pinModeFast(DIR_PIN, INPUT);
//pinModeFast(M0,OUTPUT);
//pinModeFast(M1,OUTPUT);
//pinModeFast(M2,OUTPUT);
//pinModeFast(M3,OUTPUT);
attachInterrupt(0, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(1, countStep, RISING); //on pin 3
Serial.begin (115200);
Serial.println("start"); // a personal quirk
}
void loop(){
while (Serial.available() > 0) {
KP = Serial.parseFloat();
KD = Serial.parseFloat();
KI = Serial.parseFloat();
Serial.println(KP);
Serial.println(KD);
Serial.println(KI);
}
if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time
Serial.print(encoder0Pos);
Serial.print(',');
Serial.println(target1);
previousTarget=millis();
}
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
PORTC |=B00000010; //digitalWriteFast2 ( DirectionPin ,HIGH ); write PC1 HIGH
}
if(ms < 0){
PORTC &=(B11111101); //digitalWriteFast2 ( DirectionPin , LOW ); write PC1 LOW
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//PORTB |=(motorspeed<<1); // is a sort of: digitalwrite(M0 M1 M2 M3, 0 0 0 0 to 1 1 1 1); it set directly PORTB to B**M3M2M1M0*;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//Serial.print ( ms );
//Serial.print ( ',' );
//Serial.println ( motorspeed );
}
}
void doEncoderMotor0(){
if (((PIND&B0000100)>>2) == HIGH) { // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PB0
// because PD0is used for serial, i will change in the stable version TO USE PD2
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0
// encoder is turning
encoder0Pos-- ; // CCW
}
else {
encoder0Pos++ ; // CW
}
}
else // found a high-to-low on channel A
{
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0
// encoder is turning
encoder0Pos++ ; // CW
}
else {
encoder0Pos-- ; // CCW
}
}
}
void countStep(){
dir = (PINC&B0000001); // dir=digitalRead(dir_pin) read PC0, 14 digital;
//here will be (PINB&B0000001) to not use shift in the stable version
if (dir) target1++;
else target1--;
}

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#if !defined(digitalPinToPortReg)
#if !defined(__AVR_ATmega1280__)
// Standard Arduino Pins
#define digitalPinToPortReg(P) \
(((P) >= 0 && (P) <= 7) ? &PORTD : (((P) >= 8 && (P) <= 13) ? &PORTB : &PORTC))
#define digitalPinToDDRReg(P) \
(((P) >= 0 && (P) <= 7) ? &DDRD : (((P) >= 8 && (P) <= 13) ? &DDRB : &DDRC))
#define digitalPinToPINReg(P) \
(((P) >= 0 && (P) <= 7) ? &PIND : (((P) >= 8 && (P) <= 13) ? &PINB : &PINC))
#define digitalPinToBit(P) \
(((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 13) ? (P) - 8 : (P) - 14))
#if defined(__AVR_ATmega8__)
// 3 PWM
#define digitalPinToTimer(P) \
(((P) == 9 || (P) == 10) ? &TCCR1A : (((P) == 11) ? &TCCR2 : 0))
#define digitalPinToTimerBit(P) \
(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : COM21))
#else
// 6 PWM
#define digitalPinToTimer(P) \
(((P) == 6 || (P) == 5) ? &TCCR0A : \
(((P) == 9 || (P) == 10) ? &TCCR1A : \
(((P) == 11 || (P) == 3) ? &TCCR2A : 0)))
#define digitalPinToTimerBit(P) \
(((P) == 6) ? COM0A1 : (((P) == 5) ? COM0B1 : \
(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : \
(((P) == 11) ? COM2A1 : COM2B1)))))
#endif
#else
// Arduino Mega Pins
#define digitalPinToPortReg(P) \
(((P) >= 22 && (P) <= 29) ? &PORTA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PORTB : \
(((P) >= 30 && (P) <= 37) ? &PORTC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PORTD : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PORTE : \
(((P) >= 54 && (P) <= 61) ? &PORTF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PORTG : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PORTH : \
(((P) == 14 || (P) == 15) ? &PORTJ : \
(((P) >= 62 && (P) <= 69) ? &PORTK : &PORTL))))))))))
#define digitalPinToDDRReg(P) \
(((P) >= 22 && (P) <= 29) ? &DDRA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &DDRB : \
(((P) >= 30 && (P) <= 37) ? &DDRC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &DDRD : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &DDRE : \
(((P) >= 54 && (P) <= 61) ? &DDRF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &DDRG : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &DDRH : \
(((P) == 14 || (P) == 15) ? &DDRJ : \
(((P) >= 62 && (P) <= 69) ? &DDRK : &DDRL))))))))))
#define digitalPinToPINReg(P) \
(((P) >= 22 && (P) <= 29) ? &PINA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PINB : \
(((P) >= 30 && (P) <= 37) ? &PINC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PIND : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PINE : \
(((P) >= 54 && (P) <= 61) ? &PINF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PING : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PINH : \
(((P) == 14 || (P) == 15) ? &PINJ : \
(((P) >= 62 && (P) <= 69) ? &PINK : &PINL))))))))))
#define digitalPinToBit(P) \
(((P) >= 7 && (P) <= 9) ? (P) - 3 : \
(((P) >= 10 && (P) <= 13) ? (P) - 6 : \
(((P) >= 22 && (P) <= 29) ? (P) - 22 : \
(((P) >= 30 && (P) <= 37) ? 37 - (P) : \
(((P) >= 39 && (P) <= 41) ? 41 - (P) : \
(((P) >= 42 && (P) <= 49) ? 49 - (P) : \
(((P) >= 50 && (P) <= 53) ? 53 - (P) : \
(((P) >= 54 && (P) <= 61) ? (P) - 54 : \
(((P) >= 62 && (P) <= 69) ? (P) - 62 : \
(((P) == 0 || (P) == 15 || (P) == 17 || (P) == 21) ? 0 : \
(((P) == 1 || (P) == 14 || (P) == 16 || (P) == 20) ? 1 : \
(((P) == 19) ? 2 : \
(((P) == 5 || (P) == 6 || (P) == 18) ? 3 : \
(((P) == 2) ? 4 : \
(((P) == 3 || (P) == 4) ? 5 : 7)))))))))))))))
// 15 PWM
#define digitalPinToTimer(P) \
(((P) == 13 || (P) == 4) ? &TCCR0A : \
(((P) == 11 || (P) == 12) ? &TCCR1A : \
(((P) == 10 || (P) == 9) ? &TCCR2A : \
(((P) == 5 || (P) == 2 || (P) == 3) ? &TCCR3A : \
(((P) == 6 || (P) == 7 || (P) == 8) ? &TCCR4A : \
(((P) == 46 || (P) == 45 || (P) == 44) ? &TCCR5A : 0))))))
#define digitalPinToTimerBit(P) \
(((P) == 13) ? COM0A1 : (((P) == 4) ? COM0B1 : \
(((P) == 11) ? COM1A1 : (((P) == 12) ? COM1B1 : \
(((P) == 10) ? COM2A1 : (((P) == 9) ? COM2B1 : \
(((P) == 5) ? COM3A1 : (((P) == 2) ? COM3B1 : (((P) == 3) ? COM3C1 : \
(((P) == 6) ? COM4A1 : (((P) == 7) ? COM4B1 : (((P) == 8) ? COM4C1 : \
(((P) == 46) ? COM5A1 : (((P) == 45) ? COM5B1 : COM5C1))))))))))))))
#endif
#endif
#if !defined(digitalWriteFast)
#define digitalWriteFast(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
if (digitalPinToTimer(P)) \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)); \
bitWrite(*digitalPinToPortReg(P), digitalPinToBit(P), (V)); \
} else { \
digitalWrite((P), (V)); \
}
#endif
#if !defined(pinModeFast)
#define pinModeFast(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
bitWrite(*digitalPinToDDRReg(P), digitalPinToBit(P), (V)); \
} else { \
pinMode((P), (V)); \
}
#endif
#if !defined(digitalReadFast)
#define digitalReadFast(P) ( (int) __digitalReadFast__((P)) )
#define __digitalReadFast__(P ) \
(__builtin_constant_p(P) ) ? ( \
digitalPinToTimer(P) ? ( \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)) , \
bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) : \
bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) : \
digitalRead((P))
#endif
#if !defined(digitalWriteFast2)
#define digitalWriteFast2(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
bitWrite(*digitalPinToPortReg(P), digitalPinToBit(P), (V)); \
} else { \
digitalWrite((P), (V)); \
}
#endif
#if !defined(pinModeFast2)
#define pinModeFast2(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
if (digitalPinToTimer(P)) \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)); \
bitWrite(*digitalPinToDDRReg(P), digitalPinToBit(P), (V)); \
} else { \
pinMode((P), (V)); \
}
#endif
#if !defined(digitalReadFast2)
#define digitalReadFast2(P) ( (int) __digitalReadFast2__((P)) )
#define __digitalReadFast2__(P ) \
(__builtin_constant_p(P) ) ? ( \
( bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) ) : \
digitalRead((P))
#endif

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GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc., <http://fsf.org/>
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
License is intended to guarantee your freedom to share and change free
software--to make sure the software is free for all its users. This
General Public License applies to most of the Free Software
Foundation's software and to any other program whose authors commit to
using it. (Some other Free Software Foundation software is covered by
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your programs, too.
When we speak of free software, we are referring to freedom, not
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To protect your rights, we need to make restrictions that forbid
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We protect your rights with two steps: (1) copyright the software, and
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The precise terms and conditions for copying, distribution and
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GNU GENERAL PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
0. This License applies to any program or other work which contains
a notice placed by the copyright holder saying it may be distributed
under the terms of this General Public License. The "Program", below,
refers to any such program or work, and a "work based on the Program"
means either the Program or any derivative work under copyright law:
that is to say, a work containing the Program or a portion of it,
either verbatim or with modifications and/or translated into another
language. (Hereinafter, translation is included without limitation in
the term "modification".) Each licensee is addressed as "you".
Activities other than copying, distribution and modification are not
covered by this License; they are outside its scope. The act of
running the Program is not restricted, and the output from the Program
is covered only if its contents constitute a work based on the
Program (independent of having been made by running the Program).
Whether that is true depends on what the Program does.
1. You may copy and distribute verbatim copies of the Program's
source code as you receive it, in any medium, provided that you
conspicuously and appropriately publish on each copy an appropriate
copyright notice and disclaimer of warranty; keep intact all the
notices that refer to this License and to the absence of any warranty;
and give any other recipients of the Program a copy of this License
along with the Program.
You may charge a fee for the physical act of transferring a copy, and
you may at your option offer warranty protection in exchange for a fee.
2. You may modify your copy or copies of the Program or any portion
of it, thus forming a work based on the Program, and copy and
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announcement including an appropriate copyright notice and a
notice that there is no warranty (or else, saying that you provide
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does not normally print such an announcement, your work based on
the Program is not required to print an announcement.)
These requirements apply to the modified work as a whole. If
identifiable sections of that work are not derived from the Program,
and can be reasonably considered independent and separate works in
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entire whole, and thus to each and every part regardless of who wrote it.
Thus, it is not the intent of this section to claim rights or contest
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In addition, mere aggregation of another work not based on the Program
with the Program (or with a work based on the Program) on a volume of
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3. You may copy and distribute the Program (or a work based on it,
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a) Accompany it with the complete corresponding machine-readable
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compelled to copy the source along with the object code.
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except as expressly provided under this License. Any attempt
otherwise to copy, modify, sublicense or distribute the Program is
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implemented by public license practices. Many people have made
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This section is intended to make thoroughly clear what is believed to
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certain countries either by patents or by copyrighted interfaces, the
original copyright holder who places the Program under this License
may add an explicit geographical distribution limitation excluding
those countries, so that distribution is permitted only in or among
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NO WARRANTY
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
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END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
{description}
Copyright (C) {year} {fullname}
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this
when it starts in an interactive mode:
Gnomovision version 69, Copyright (C) year name of author
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, the commands you use may
be called something other than `show w' and `show c'; they could even be
mouse-clicks or menu items--whatever suits your program.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the program, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
{signature of Ty Coon}, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may
consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License.

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ServoStrap
==========
servo-controlled reprap 3D printer:
this code take as input stepper information from a standard 3D printer motherboard
and use it to control a servo-motor with active position tracker.
i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle to make an integrated board aesy to add to ramps 1.4 or other printer motherboard
improvements:
1)moore faster movements on x-y axys, it mean less time to wait to print a part
2)less noise from the motors, it will be silent
3)the couple of the motor not decrease with the speed (like in a stepper motor)
4)active position tracking, no more step losses,
almost all prints will end in perfect condition because if something stop
the head it will return to the print position
5)less price to build a printer, almost all electronic woste (like 2D printers)
have inside dc motors with all needed to control it
6)resolution increased by fine setting PID costants and using angular encoder, doesn't matter if is slit disk or magnetic
7)potentially endstops are not needed because the timing strip have special code at the begin/end
that can be interpreted as endstop
To use the code you need first to put the two files called digitalWriteFast.h and Keywords.txt in a folder inside arduino/libraries
here the youtube link of the test with this code: http://goo.gl/gAia5y

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/* i have made this code for the LMD18245 motor controller,
i have merged the pid code of Josh Kopel
whith the code of makerbot servo-controller board,
you can use this code on the some board changing some values.
Daniele Poddighe
external ardware require a quadrature encoder, timing slit strip and a dc motor,
all you can find inside an old printer, i have took it from canon and hp printers(psc1510)
for motor controll you can choose different type of H-bridge, i have used LMD18245,
you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing
the schematic and PCB layout on eagle.
read a rotary encoder with interrupts
Encoder hooked up with common to GROUND,
encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
it doesn't matter which encoder pin you use for A or B
is possible to change PID costants by sending on SerialUSB interfaces the values separated by ',' in this order: KP,KD,KI
example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage
*/
#define encoder0PinA 2
#define encoder0PinB 4
#define SpeedPin 9
#define DirectionPin 8
//from ramps 1.4 stepper driver
#define STEP_PIN 3
#define DIR_PIN 12
#define ENABLE_PIN 13
volatile long encoder0Pos = 0;
long target = 0;
long target1 = 0;
int amp=212;
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
//PID controller constants
float KP = 6.0 ; //position multiplier (gain) 2.25
float KI = 0.1; // Intergral multiplier (gain) .25
float KD = 1.3; // derivative multiplier (gain) 1.0
int lastError = 0;
int sumError = 0;
//Integral term min/max (random value and not yet tested/verified)
int iMax = 100;
int iMin = 0;
long previousTarget = 0;
long previousMillis = 0; // will store last time LED was updated
long interval = 5; // interval at which to blink (milliseconds)
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
void setup() {
pinMode(encoder0PinA, INPUT);
pinMode(encoder0PinB, INPUT);
pinMode(DirectionPin, OUTPUT);
pinMode(SpeedPin, OUTPUT);
//ramps 1.4 motor control
pinMode(STEP_PIN, INPUT);
pinMode(DIR_PIN, INPUT);
attachInterrupt(2, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2
attachInterrupt(3, countStep, RISING); //on pin 3
SerialUSB.println("start"); // a personal quirk
}
void loop(){
while (SerialUSB.available() > 0) {
KP = SerialUSB.read();
KD = SerialUSB.read();
KI = SerialUSB.read();
SerialUSB.println(KP);
SerialUSB.println(KD);
SerialUSB.println(KI);
}
if(millis() - previousTarget > 500){ //enable this code only for test purposes
SerialUSB.print(encoder0Pos);
SerialUSB.print(',');
SerialUSB.println(target1);
previousTarget=millis();
}
target = target1;
docalc();
}
void docalc() {
if (millis() - previousMillis > interval)
{
previousMillis = millis(); // remember the last time we blinked the LED
long error = encoder0Pos - target ; // find the error term of current position - target
//generalized PID formula
//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
long ms = KP * error + KD * (error - lastError) +KI * (sumError);
lastError = error;
sumError += error;
//scale the sum for the integral term
if(sumError > iMax) {
sumError = iMax;
} else if(sumError < iMin){
sumError = iMin;
}
if(ms > 0){
digitalWrite ( DirectionPin ,HIGH );
}
if(ms < 0){
digitalWrite ( DirectionPin , LOW );
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
//analogWrite ( SpeedPin, (255 - motorSpeed) );
analogWrite ( SpeedPin, motorspeed );
//SerialUSB.print ( ms );
//SerialUSB.print ( ',' );
//SerialUSB.println ( motorspeed );
}
}
void doEncoderMotor0(){
if (digitalRead(encoder0PinA) == HIGH) { // found a low-to-high on channel A
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos - 1; // CCW
}
else {
encoder0Pos = encoder0Pos + 1; // CW
}
}
else // found a high-to-low on channel A
{
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
}
void countStep(){
dir = digitalRead(DIR_PIN);
if (dir) target1++;
else target1--;
}

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#if !defined(digitalPinToPortReg)
#if !defined(__AVR_ATmega1280__)
// Standard Arduino Pins
#define digitalPinToPortReg(P) \
(((P) >= 0 && (P) <= 7) ? &PORTD : (((P) >= 8 && (P) <= 13) ? &PORTB : &PORTC))
#define digitalPinToDDRReg(P) \
(((P) >= 0 && (P) <= 7) ? &DDRD : (((P) >= 8 && (P) <= 13) ? &DDRB : &DDRC))
#define digitalPinToPINReg(P) \
(((P) >= 0 && (P) <= 7) ? &PIND : (((P) >= 8 && (P) <= 13) ? &PINB : &PINC))
#define digitalPinToBit(P) \
(((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 13) ? (P) - 8 : (P) - 14))
#if defined(__AVR_ATmega8__)
// 3 PWM
#define digitalPinToTimer(P) \
(((P) == 9 || (P) == 10) ? &TCCR1A : (((P) == 11) ? &TCCR2 : 0))
#define digitalPinToTimerBit(P) \
(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : COM21))
#else
// 6 PWM
#define digitalPinToTimer(P) \
(((P) == 6 || (P) == 5) ? &TCCR0A : \
(((P) == 9 || (P) == 10) ? &TCCR1A : \
(((P) == 11 || (P) == 3) ? &TCCR2A : 0)))
#define digitalPinToTimerBit(P) \
(((P) == 6) ? COM0A1 : (((P) == 5) ? COM0B1 : \
(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : \
(((P) == 11) ? COM2A1 : COM2B1)))))
#endif
#else
// Arduino Mega Pins
#define digitalPinToPortReg(P) \
(((P) >= 22 && (P) <= 29) ? &PORTA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PORTB : \
(((P) >= 30 && (P) <= 37) ? &PORTC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PORTD : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PORTE : \
(((P) >= 54 && (P) <= 61) ? &PORTF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PORTG : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PORTH : \
(((P) == 14 || (P) == 15) ? &PORTJ : \
(((P) >= 62 && (P) <= 69) ? &PORTK : &PORTL))))))))))
#define digitalPinToDDRReg(P) \
(((P) >= 22 && (P) <= 29) ? &DDRA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &DDRB : \
(((P) >= 30 && (P) <= 37) ? &DDRC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &DDRD : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &DDRE : \
(((P) >= 54 && (P) <= 61) ? &DDRF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &DDRG : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &DDRH : \
(((P) == 14 || (P) == 15) ? &DDRJ : \
(((P) >= 62 && (P) <= 69) ? &DDRK : &DDRL))))))))))
#define digitalPinToPINReg(P) \
(((P) >= 22 && (P) <= 29) ? &PINA : \
((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PINB : \
(((P) >= 30 && (P) <= 37) ? &PINC : \
((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PIND : \
((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PINE : \
(((P) >= 54 && (P) <= 61) ? &PINF : \
((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PING : \
((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PINH : \
(((P) == 14 || (P) == 15) ? &PINJ : \
(((P) >= 62 && (P) <= 69) ? &PINK : &PINL))))))))))
#define digitalPinToBit(P) \
(((P) >= 7 && (P) <= 9) ? (P) - 3 : \
(((P) >= 10 && (P) <= 13) ? (P) - 6 : \
(((P) >= 22 && (P) <= 29) ? (P) - 22 : \
(((P) >= 30 && (P) <= 37) ? 37 - (P) : \
(((P) >= 39 && (P) <= 41) ? 41 - (P) : \
(((P) >= 42 && (P) <= 49) ? 49 - (P) : \
(((P) >= 50 && (P) <= 53) ? 53 - (P) : \
(((P) >= 54 && (P) <= 61) ? (P) - 54 : \
(((P) >= 62 && (P) <= 69) ? (P) - 62 : \
(((P) == 0 || (P) == 15 || (P) == 17 || (P) == 21) ? 0 : \
(((P) == 1 || (P) == 14 || (P) == 16 || (P) == 20) ? 1 : \
(((P) == 19) ? 2 : \
(((P) == 5 || (P) == 6 || (P) == 18) ? 3 : \
(((P) == 2) ? 4 : \
(((P) == 3 || (P) == 4) ? 5 : 7)))))))))))))))
// 15 PWM
#define digitalPinToTimer(P) \
(((P) == 13 || (P) == 4) ? &TCCR0A : \
(((P) == 11 || (P) == 12) ? &TCCR1A : \
(((P) == 10 || (P) == 9) ? &TCCR2A : \
(((P) == 5 || (P) == 2 || (P) == 3) ? &TCCR3A : \
(((P) == 6 || (P) == 7 || (P) == 8) ? &TCCR4A : \
(((P) == 46 || (P) == 45 || (P) == 44) ? &TCCR5A : 0))))))
#define digitalPinToTimerBit(P) \
(((P) == 13) ? COM0A1 : (((P) == 4) ? COM0B1 : \
(((P) == 11) ? COM1A1 : (((P) == 12) ? COM1B1 : \
(((P) == 10) ? COM2A1 : (((P) == 9) ? COM2B1 : \
(((P) == 5) ? COM3A1 : (((P) == 2) ? COM3B1 : (((P) == 3) ? COM3C1 : \
(((P) == 6) ? COM4A1 : (((P) == 7) ? COM4B1 : (((P) == 8) ? COM4C1 : \
(((P) == 46) ? COM5A1 : (((P) == 45) ? COM5B1 : COM5C1))))))))))))))
#endif
#endif
#if !defined(digitalWriteFast)
#define digitalWriteFast(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
if (digitalPinToTimer(P)) \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)); \
bitWrite(*digitalPinToPortReg(P), digitalPinToBit(P), (V)); \
} else { \
digitalWrite((P), (V)); \
}
#endif
#if !defined(pinModeFast)
#define pinModeFast(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
bitWrite(*digitalPinToDDRReg(P), digitalPinToBit(P), (V)); \
} else { \
pinMode((P), (V)); \
}
#endif
#if !defined(digitalReadFast)
#define digitalReadFast(P) ( (int) __digitalReadFast__((P)) )
#define __digitalReadFast__(P ) \
(__builtin_constant_p(P) ) ? ( \
digitalPinToTimer(P) ? ( \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)) , \
bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) : \
bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) : \
digitalRead((P))
#endif
#if !defined(digitalWriteFast2)
#define digitalWriteFast2(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
bitWrite(*digitalPinToPortReg(P), digitalPinToBit(P), (V)); \
} else { \
digitalWrite((P), (V)); \
}
#endif
#if !defined(pinModeFast2)
#define pinModeFast2(P, V) \
if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
if (digitalPinToTimer(P)) \
bitClear(*digitalPinToTimer(P), digitalPinToTimerBit(P)); \
bitWrite(*digitalPinToDDRReg(P), digitalPinToBit(P), (V)); \
} else { \
pinMode((P), (V)); \
}
#endif
#if !defined(digitalReadFast2)
#define digitalReadFast2(P) ( (int) __digitalReadFast2__((P)) )
#define __digitalReadFast2__(P ) \
(__builtin_constant_p(P) ) ? ( \
( bitRead(*digitalPinToPINReg(P), digitalPinToBit(P))) ) : \
digitalRead((P))
#endif

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#######################################
# Syntax Coloring Map For DigitalWriteFast
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
DigitalWriteFast KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
digitalWriteFast KEYWORD2
digitalWriteFast2 KEYWORD2
pinModeFast KEYWORD2
pinModeFast2 KEYWORD2
digitalReadFast KEYWORD2
digitalReadFast2 KEYWORD2