Préparation à la découpe du support plateau Z

Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.0/ServoStrap_Port_manipulation_LD293D-1.0.pde

@@ -1,203 +1,203 @@
-#include <digitalWriteFast.h>
+#include <digitalWriteFast.h>
-//this is to use DWF library, it will increase the speed of digitalRead/Write command
+//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.
+//used in the interrupt function doEncoderMotor0, but may be used everywhere.
-/*
+/*
-https://github.com/danithebest91/ServoStrap
+https://github.com/danithebest91/ServoStrap
- i have made this code for the LMD18245 motor controller, 
+ i have made this code for the LMD18245 motor controller, 
-  i have merged the pid code of  Josh Kopel 
+  i have merged the pid code of  Josh Kopel 
-    whith the code of makerbot servo-controller board,
+    whith the code of makerbot servo-controller board,
-  you can use this code on the some board changing some values.
+  you can use this code on the some board changing some values.
-  Daniele Poddighe
+  Daniele Poddighe
-   external ardware require a quadrature encoder, timing slit strip and a dc motor,
+   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)
+   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,
+   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
+   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.
+   the schematic and PCB layout on eagle.
-   
+   
-   
+   
-   read a rotary encoder with interrupts
+   read a rotary encoder with interrupts
-   Encoder hooked up with common to GROUND,
+   Encoder hooked up with common to GROUND,
-   encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below)
+   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 
+   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
+   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
+   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 :
+   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
+   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: 
+   (the ATmega8 and ATmega168) have three ports: 
-    B (digital pin 8 to 13)
+    B (digital pin 8 to 13)
-    C (analog input pins)
+    C (analog input pins)
-    D (digital pins 0 to 7)
+    D (digital pins 0 to 7)
-   https://www.arduino.cc/en/Reference/PortManipulation
+   https://www.arduino.cc/en/Reference/PortManipulation
-   
+   
-   https://www.arduino.cc/en/Hacking/PinMapping
+   https://www.arduino.cc/en/Hacking/PinMapping
-   https://www.arduino.cc/en/Hacking/PinMapping168
+   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 encoder0PinA  2 // PD2 (INT0) You can't modify port mapping here because this code use Port manipulation (I2)
-#define encoder0PinB  8  // PB0; (I8)
+#define encoder0PinB  8  // PB0; (I8)
-
+
-#define SpeedPin     6 (I6)
+#define SpeedPin     6 (I6)
-#define DirectionPin 15 //PC1; (A1)
+#define DirectionPin 15 //PC1; (A1)
-
+
-//from ramps 1.4 stepper driver
+//from ramps 1.4 stepper driver
-#define STEP_PIN              3  //PD3 (INT1) (I3)
+#define STEP_PIN              3  //PD3 (INT1) (I3)
-#define DIR_PIN               14 //PC0; (A0)
+#define DIR_PIN               14 //PC0; (A0)
-//#define ENABLE_PIN            13 //PB5; for now is USELESS (I13)
+//#define ENABLE_PIN            13 //PB5; for now is USELESS (I13)
-
+
-//to use current motor as speed control, the LMD18245 has 4 bit cuttent output
+//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  M0 9   //assign 4 bit from PORTB register to current control -> Bxx0000x (x mean any)
-//#define  M1 10  // PB1; PB2; PB3; PB4
+//#define  M1 10  // PB1; PB2; PB3; PB4
-//#define  M2 11
+//#define  M2 11
-//#define  M3 12
+//#define  M3 12
-
+
-
+
-volatile long encoder0Pos = 0;
+volatile long encoder0Pos = 0;
-
+
-long target = 0;
+long target = 0;
-long target1 = 0;
+long target1 = 0;
-int amp=212;
+int amp=212;
-//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
+//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
-//PID controller constants
+//PID controller constants
-float KP = 6.0 ; //position multiplier (gain) 2.25
+float KP = 6.0 ; //position multiplier (gain) 2.25
-float KI = 0.1; // Intergral multiplier (gain) .25
+float KI = 0.1; // Intergral multiplier (gain) .25
-float KD = 1.3; // derivative multiplier (gain) 1.0
+float KD = 1.3; // derivative multiplier (gain) 1.0
-
+
-int lastError = 0;
+int lastError = 0;
-int sumError = 0;
+int sumError = 0;
-
+
-//Integral term min/max (random value and not yet tested/verified)
+//Integral term min/max (random value and not yet tested/verified)
-int iMax = 100;
+int iMax = 100;
-int iMin = 0;
+int iMin = 0;
-
+
-long previousTarget = 0;
+long previousTarget = 0;
-long previousMillis = 0;        // will store last time LED was updated
+long previousMillis = 0;        // will store last time LED was updated
-long interval = 5;           // interval at which to blink (milliseconds)
+long interval = 5;           // interval at which to blink (milliseconds)
-
+
-//for motor control ramps 1.4
+//for motor control ramps 1.4
-bool newStep = false;
+bool newStep = false;
-bool oldStep = false;
+bool oldStep = false;
-bool dir = false;
+bool dir = false;
-
+
-void setup() { 
+void setup() { 
-  pinModeFast(2, INPUT);
+  pinModeFast(2, INPUT);
-  pinModeFast(encoder0PinA, INPUT); 
+  pinModeFast(encoder0PinA, INPUT); 
-  pinModeFast(encoder0PinB, INPUT);  
+  pinModeFast(encoder0PinB, INPUT);  
-  
+  
-  pinModeFast(DirectionPin, OUTPUT); 
+  pinModeFast(DirectionPin, OUTPUT); 
-  //pinMode(SpeedPin, OUTPUT);
+  //pinMode(SpeedPin, OUTPUT);
-  
+  
-  //ramps 1.4 motor control
+  //ramps 1.4 motor control
-    pinModeFast(STEP_PIN, INPUT);
+    pinModeFast(STEP_PIN, INPUT);
-    pinModeFast(DIR_PIN, INPUT);
+    pinModeFast(DIR_PIN, INPUT);
-    //pinModeFast(M0,OUTPUT);
+    //pinModeFast(M0,OUTPUT);
-    //pinModeFast(M1,OUTPUT);
+    //pinModeFast(M1,OUTPUT);
-    //pinModeFast(M2,OUTPUT);
+    //pinModeFast(M2,OUTPUT);
-    //pinModeFast(M3,OUTPUT);
+    //pinModeFast(M3,OUTPUT);
-
+
-  attachInterrupt(0, doEncoderMotor0, CHANGE);  // encoder pin on interrupt 0 - pin 2
+  attachInterrupt(0, doEncoderMotor0, CHANGE);  // encoder pin on interrupt 0 - pin 2
-  attachInterrupt(1, countStep, RISING);  //on pin 3
+  attachInterrupt(1, countStep, RISING);  //on pin 3
-  
+  
-  Serial.begin (115200);
+  Serial.begin (115200);
-  Serial.println("start");                // a personal quirk
+  Serial.println("start");                // a personal quirk
-
+
-} 
+} 
-
+
-void loop(){
+void loop(){
-  
+  
-  while (Serial.available() > 0) {
+  while (Serial.available() > 0) {
-    KP = Serial.parseFloat();
+    KP = Serial.parseFloat();
-    KD = Serial.parseFloat();
+    KD = Serial.parseFloat();
-    KI = Serial.parseFloat();
+    KI = Serial.parseFloat();
-    
+    
-    
+    
-    Serial.println(KP);
+    Serial.println(KP);
-    Serial.println(KD);
+    Serial.println(KD);
-    Serial.println(KI);
+    Serial.println(KI);
-}
+}
-  
+  
-  if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time
+  if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time
-  Serial.print(encoder0Pos);
+  Serial.print(encoder0Pos);
-  Serial.print(',');
+  Serial.print(',');
-  Serial.println(target1);
+  Serial.println(target1);
-  previousTarget=millis();
+  previousTarget=millis();
-  }
+  }
-        
+        
-  target = target1;
+  target = target1;
-  docalc();
+  docalc();
-}
+}
-
+
-void docalc() {
+void docalc() {
-  
+  
-  if (millis() - previousMillis > interval) 
+  if (millis() - previousMillis > interval) 
-  {
+  {
-    previousMillis = millis();   // remember the last time we blinked the LED
+    previousMillis = millis();   // remember the last time we blinked the LED
-    
+    
-    long error = encoder0Pos - target ; // find the error term of current position - target    
+    long error = encoder0Pos - target ; // find the error term of current position - target    
-    
+    
-    //generalized PID formula
+    //generalized PID formula
-    //correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
+    //correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
-    long ms = KP * error + KD * (error - lastError) +KI * (sumError);
+    long ms = KP * error + KD * (error - lastError) +KI * (sumError);
-       
+       
-    lastError = error;    
+    lastError = error;    
-    sumError += error;
+    sumError += error;
-    
+    
-    //scale the sum for the integral term
+    //scale the sum for the integral term
-    if(sumError > iMax) {
+    if(sumError > iMax) {
-      sumError = iMax;
+      sumError = iMax;
-    } else if(sumError < iMin){
+    } else if(sumError < iMin){
-      sumError = iMin;
+      sumError = iMin;
-    }
+    }
-    
+    
-    if(ms > 0){
+    if(ms > 0){
-      PORTC |=B00000010;  //digitalWriteFast2 ( DirectionPin ,HIGH );    write PC1 HIGH (A1)
+      PORTC |=B00000010;  //digitalWriteFast2 ( DirectionPin ,HIGH );    write PC1 HIGH (A1)
-    }
+    }
-    if(ms < 0){
+    if(ms < 0){
-      PORTC &=(B11111101);    //digitalWriteFast2 ( DirectionPin , LOW );  write PC1 LOW (A1)
+      PORTC &=(B11111101);    //digitalWriteFast2 ( DirectionPin , LOW );  write PC1 LOW (A1)
-      ms = -1 * ms;
+      ms = -1 * ms;
-    }
+    }
-
+
-    int motorspeed = map(ms,0,amp,0,255);
+    int motorspeed = map(ms,0,amp,0,255);
-   if( motorspeed >= 255) motorspeed=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*; 
+   //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, (255 - motorSpeed) );
-    analogWrite ( SpeedPin,  motorspeed );
+    analogWrite ( SpeedPin,  motorspeed );
-    //Serial.print ( ms );
+    //Serial.print ( ms );
-    //Serial.print ( ',' );
+    //Serial.print ( ',' );
-    //Serial.println ( motorspeed );
+    //Serial.println ( motorspeed );
-  }  
+  }  
-}
+}
-
+
-void doEncoderMotor0(){
+void doEncoderMotor0(){
-  if (((PIND&B0000100)>>2) == HIGH) {   // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PD2 (I2)
+  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)
+    if ((PINB&B0000001) == LOW) {  // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0 (I8)
-                                             // encoder is turning
+                                             // encoder is turning
-      encoder0Pos-- ;         // CCW
+      encoder0Pos-- ;         // CCW
-    } 
+    } 
-    else {
+    else {
-      encoder0Pos++ ;         // CW
+      encoder0Pos++ ;         // CW
-    }
+    }
-  }
+  }
-  else                                        // found a high-to-low on channel A
+  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)
+    if ((PINB&B0000001) == LOW) {   // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0 (I8)
-                                              // encoder is turning  
+                                              // encoder is turning  
-      encoder0Pos++ ;          // CW
+      encoder0Pos++ ;          // CW
-    } 
+    } 
-    else {
+    else {
-      encoder0Pos-- ;          // CCW
+      encoder0Pos-- ;          // CCW
-    }
+    }
-
+
-  }
+  }
- 
+ 
-}
+}
-
+
-void countStep(){
+void countStep(){
-  dir = (PINC&B0000001);  // dir=digitalRead(dir_pin) read PC0, 14 digital; 
+  dir = (PINC&B0000001);  // dir=digitalRead(dir_pin) read PC0, 14 digital; 
-                                  //here will be (PINB&B0000001) to not use shift in the stable version
+                                  //here will be (PINB&B0000001) to not use shift in the stable version
-            if (dir) target1++;
+            if (dir) target1++;
-            else target1--;
+            else target1--;
 }