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Modification du code pour fonctionner avec avec le driver L293D.

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2 versions sont créé, une avec l'utilisation du ENABLE et une sans.
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xctd692 9 years ago
parent 5e5d8a9ae7
commit 5e7c66f454
2 changed files with 400 additions and 0 deletions
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202
Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.1AVEC_ENA.h
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#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.
/*
https://github.com/danithebest91/ServoStrap
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
This code use Port manipulation :
Port registers allow for lower-level and faster manipulation of the i/o pins of the microcontroller on an Arduino board. The chips used on the Arduino board
(the ATmega8 and ATmega168) have three ports:
B (digital pin 8 to 13)
C (analog input pins)
D (digital pins 0 to 7)
https://www.arduino.cc/en/Reference/PortManipulation
https://www.arduino.cc/en/Hacking/PinMapping
https://www.arduino.cc/en/Hacking/PinMapping168
*/
#define encoder0PinA 2 // PD2 (INT0) You can't modify port mapping here because this code use Port manipulation (I2)
#define encoder0PinB 8 // PB0; (I8)
#define MotorIN1 5 //(I5) IN1
#define MotorIN2 6 //(I6) IN2
#define MotorENA 9 //(I9) ENA
//from ramps 1.4 stepper driver
#define STEP_PIN 3 //PD3 (INT1) (I3)
#define DIR_PIN 14 //PC0; (A0)
//#define ENABLE_PIN 13 //PB5; for now is USELESS (I13)
//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){
digitalWriteFast ( MotorIN1 ,LOW );
digitalWriteFast ( MotorIN2 ,HIGH );
}
if(ms < 0){
digitalWriteFast ( MotorIN2 ,LOW );
digitalWriteFast ( MotorIN1 ,HIGH );
ms = -1 * ms;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
analogWrite ( MotorENA, motorspeed );
}
}
void doEncoderMotor0(){
if (((PIND&B0000100)>>2) == HIGH) { // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PD2 (I2)
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0 (I8)
// 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 (I8)
// 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--;
}

198
Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.1SS_ENA.h
Unescape View File

@ -0,0 +1,198 @@
#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.
/*
https://github.com/danithebest91/ServoStrap
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
This code use Port manipulation :
Port registers allow for lower-level and faster manipulation of the i/o pins of the microcontroller on an Arduino board. The chips used on the Arduino board
(the ATmega8 and ATmega168) have three ports:
B (digital pin 8 to 13)
C (analog input pins)
D (digital pins 0 to 7)
https://www.arduino.cc/en/Reference/PortManipulation
https://www.arduino.cc/en/Hacking/PinMapping
https://www.arduino.cc/en/Hacking/PinMapping168
*/
#define encoder0PinA 2 // PD2 (INT0) You can't modify port mapping here because this code use Port manipulation (I2)
#define encoder0PinB 8 // PB0; (I8)
#define MotorIN1 5 //(I5) IN1
#define MotorIN2 6 //(I6) IN2
//from ramps 1.4 stepper driver
#define STEP_PIN 3 //PD3 (INT1) (I3)
#define DIR_PIN 14 //PC0; (A0)
//#define ENABLE_PIN 13 //PB5; for now is USELESS (I13)
//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;
}
int motorspeed = map(ms,0,amp,0,255);
if( motorspeed >= 255) motorspeed=255;
if(ms > 0){
digitalWriteFast ( MotorIN1 ,LOW );
analogWrite ( MotorIN2, motorspeed );
}
if(ms < 0){
digitalWriteFast ( MotorIN2 ,LOW );
analogWrite ( MotorIN1, motorspeed );
ms = -1 * ms;
}
}
}
void doEncoderMotor0(){
if (((PIND&B0000100)>>2) == HIGH) { // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PD2 (I2)
if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0 (I8)
// 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 (I8)
// 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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