diff --git a/Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.1SS_ENA2.h b/Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.1SS_ENA2.h new file mode 100644 index 0000000..fba4f22 --- /dev/null +++ b/Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.1SS_ENA2.h @@ -0,0 +1,198 @@ +#include +//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 ( MotorIN1 ,HIGH ); + analogWrite ( MotorIN2, 255-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--; +} \ No newline at end of file