Merge remote-tracking branch 'refs/remotes/origin/master'

Conflicts:
	Hello

Hello

@@ -0,0 +1,14 @@
+
+            a@@@@a    
+        a@@@@@@@@@@@@a        
+      a@@@@@@by@@@@@@@@a        
+    a@@@@@S@C@E@S@W@@@@@@a        
+    @@@@@@@@@@@@@@@@@@@@@@            
+     `@@@@@@`\\//'@@@@@@'           
+          ,,/ || \,,
+         /(-\ || /.)m                   
+    ,---' /`-'||`-'\ `----,                 
+  /( )__))   ||   ((,==( )\
+_ /_//___\\ __|| ___\\ __\\ ___
+    ``    `` /MM\   ''   ''
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Modification_du_corps/README

@@ -0,0 +1 @@
+Comming soon ...

Moteur DC/ServoStrap/OLD/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.1SS_ENA2/ServoStrap_Port_manipulation_LD293D-1.1SS_ENA2.ino

@@ -86,7 +86,9 @@ void setup() {
   pinModeFast(encoder0PinA, INPUT); 
   pinModeFast(encoder0PinB, INPUT);  
   
-  pinModeFast(DirectionPin, OUTPUT); 
+   pinModeFast(MotorIN1, OUTPUT); 
+  pinModeFast(MotorIN2, OUTPUT); 
+  //pinModeFast(DirectionPin, OUTPUT); 
   //pinMode(SpeedPin, OUTPUT);
   
   //ramps 1.4 motor control
@@ -154,12 +156,12 @@ void docalc() {
    if( motorspeed >= 255) motorspeed=255;
    
     if(ms > 0){
- 	  digitalWriteFast ( MotorIN1 ,LOW );
+ 	  digitalWrite ( MotorIN1 , LOW );
 	  analogWrite ( MotorIN2,  motorspeed );
     }
     if(ms < 0){
- 	  digitalWriteFast ( MotorIN1 ,HIGH );
-	  analogWrite ( MotorIN2,  255-motorspeed );
+ 	  digitalWrite ( MotorIN1 , HIGH );
+	  analogWrite ( MotorIN2,  255 - motorspeed );
       ms = -1 * ms;
     }
   }  
@@ -195,4 +197,4 @@ void countStep(){
                                   //here will be (PINB&B0000001) to not use shift in the stable version
             if (dir) target1++;
             else target1--;
-}
+}

Moteur DC/ServoStrap/OLD/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D_1_0_pde.ino

@@ -0,0 +1,204 @@
+#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 SpeedPin     6 //(I6)
+#define DirectionPin 15 //PC1; (A1)
+
+//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){
+      PORTC |=B00000010;  //digitalWriteFast2 ( DirectionPin ,HIGH );    write PC1 HIGH (A1)
+    }
+    if(ms < 0){
+      PORTC &=(B11111101);    //digitalWriteFast2 ( DirectionPin , LOW );  write PC1 LOW (A1)
+      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 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--;
+}

Moteur DC/ServoStrap/OLD/ServoStrap_Port_manipulation_LD293D/digitalWriteFast.h

@@ -0,0 +1,165 @@
+#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

Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_0/ServoStrapPortManipulationLD293D_1_0.ino

@@ -0,0 +1,201 @@
+#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               7 //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(MotorIN1, OUTPUT); 
+  pinModeFast(MotorIN2, OUTPUT); 
+  //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){
+ 	  digitalWrite ( MotorIN1 , LOW );
+	  analogWrite ( MotorIN2,  motorspeed );
+    }
+    if(ms < 0){
+ 	  digitalWrite ( 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=digitalRead(DIR_PIN)==LOW;
+  //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--;
+}

Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_1/ServoStrapPortManipulationLD293D_1_1.ino

@@ -0,0 +1,229 @@
+#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 X_MIN               4 //(4)
+
+volatile long encoder0Pos = 0;
+
+long target = 0;
+long target1 = 0;
+int StartRoutine=0;
+//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors)
+//PID controller constants
+float KP = 2.25 ; //position multiplier (gain) 2.25
+float KI = 0.25; // Intergral multiplier (gain) .25
+float KD = 1.0; // 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(X_MIN, INPUT); 
+ 
+  
+   pinModeFast(MotorIN1, OUTPUT); 
+  pinModeFast(MotorIN2, OUTPUT); 
+  
+  //ramps 1.4 motor control
+    pinModeFast(STEP_PIN, INPUT);
+    pinModeFast(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);
+}
+  Fstart(); 
+  if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time
+  
+   if (X_MIN == LOW) Serial.print("LOW");
+            else Serial.print("HIGH");
+  Serial.print(',');  
+  Serial.print(encoder0Pos);
+  Serial.print(',');
+  Serial.println(target1);
+  previousTarget=millis();
+  }
+     
+  target = target1;
+  docalc();
+}
+
+void Fstart(){
+
+    if (StartRoutine == 0)
+    {
+      	  digitalWrite ( MotorIN1 , LOW );
+	  analogWrite ( MotorIN2,  200 );
+          delay(2000);
+           digitalWrite ( MotorIN2 , LOW );
+          analogWrite ( MotorIN1,  255 );
+          delay(200);
+          digitalWrite ( MotorIN1, LOW );
+	  analogWrite ( MotorIN2,  255 );
+          delay(180);
+           digitalWrite ( MotorIN2, LOW );
+          analogWrite ( MotorIN1,  255 );
+          delay(100);
+          digitalWrite ( MotorIN1, LOW );
+	  analogWrite ( MotorIN2,  255 );
+          delay(90);
+          digitalWrite ( MotorIN2, LOW );
+          analogWrite ( MotorIN1,  255 );
+          delay(100);
+          digitalWrite ( MotorIN1, LOW );
+	  analogWrite ( MotorIN2,  200 );
+          delay(2000);
+
+
+      StartRoutine = 1;
+      encoder0Pos=0;
+    }
+
+}
+
+void docalc() {
+  
+  if (millis() - previousMillis > interval) 
+  {
+    previousMillis = millis();
+    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 motorspeed = 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(motorspeed > 0){
+          if( motorspeed >= 255) motorspeed=255;
+ 	  digitalWrite ( MotorIN1 , LOW );
+	  analogWrite ( MotorIN2,  motorspeed );
+    }
+    if(motorspeed < 0){
+          motorspeed = -1 * motorspeed;
+          if( motorspeed >= 255) motorspeed=255;
+ 	  digitalWrite ( MotorIN2 , LOW );
+ 	  analogWrite ( MotorIN1,  motorspeed );
+ 	  //digitalWrite ( MotorIN1 , HIGH );
+	  //analogWrite ( MotorIN2,  255 - motorspeed );
+    }
+  }  
+}
+
+void doEncoderMotor0(){
+  //if (((PIND&B0000100)>>2) == HIGH) {   // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PD2 (I2)
+  if(digitalRead(encoder0PinA)==HIGH){
+  
+    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=digitalRead(DIR_PIN)==HIGH;
+  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--;
+}

Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_2/ServoStrapPortManipulationLD293D_1_2.ino

@@ -0,0 +1,230 @@
+#include <digitalWriteFast.h>
+
+/*
+Fortement inspiré du projet :
+https://github.com/danithebest91/ServoStrap
+   
+   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
+   
+   Utilisation de la librairies digitalWriteFast qui permet d'utiliser la manipulation de port pour accélérer les lectures écritures de certaine entree/sortie :
+   
+   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
+   
+   Petit rappel sur la puce arduino :
+   https://www.arduino.cc/en/Hacking/PinMapping
+   https://www.arduino.cc/en/Hacking/PinMapping168
+*/ 
+
+// --------------- INPUT ---------------------------------------------------
+
+// Les ports de l'encoder sont 2 pour bénéficier de l'interuption sur A et 8 pour utiliser le PortManipulation. Attention sur le port manipulation à ne pas utiliser les pin 9 à 13 !
+#define encoder0PinA  2 // PD2 (INT0)
+#define encoder0PinB  8  // PB0; (I8)
+
+// Utilisation de 5 et 6 pour la commande moteur via le driver L293D. Le enable est connecté au vcc et le pwm est envoyé directement dans les input.
+#define MotorIN1     5 //(I5) IN1
+#define MotorIN2     6 //(I6) IN2
+
+// Recuperation des step de la carte avec interuption sur le port 3 et PortManipulation sur le port A0. Attention sur le port manipulation à ne pas utiliser les pin A1 à A5 !
+#define STEP_PIN              3  //PD3 (INT1) (I3)
+#define DIR_PIN               14 //PC0; (A0)
+
+// Récupération du fin de course x_min pour l'initialisation du moteur
+#define X_MIN               4 //(4)
+
+// ------------------------------------------------------------------------
+
+// ------------- CONSTANTE DU PID -------------
+
+float KP = 5 ; //Porportionnel
+float KI = 0.1; // Intergrale
+float KD = 2.0; // derive
+
+// ------------- CONSTANTE DU PID -------------
+
+// Initialisation de la position encoder. Attention celle-ci est incrémenté via un CHANGE sur l'interuption 0. Le nombre de pas de la roue codeuse est donc double !
+volatile long encoder0Pos = 0;
+
+long target = 0;
+long target1 = 0;
+int lastError = 0;
+int sumError = 0;
+int StartRoutine=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(X_MIN, INPUT); 
+ 
+  
+   pinModeFast(MotorIN1, OUTPUT); 
+  pinModeFast(MotorIN2, OUTPUT); 
+  
+// Initailisation recuperation commande carte
+    pinModeFast(STEP_PIN, INPUT);
+    pinModeFast(DIR_PIN, INPUT);
+
+// INTERUPTION
+	
+  attachInterrupt(0, doEncoderMotor0, CHANGE);  // encoder pin on interrupt 0 - pin 2
+  attachInterrupt(1, countStep, RISING);  //on pin 3
+
+// INTERUPTION
+  
+  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);
+}
+  Fstart(); 
+  if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time
+  
+//   if (X_MIN == LOW) Serial.print("LOW");
+//            else Serial.print("HIGH");
+//  Serial.print(',');  
+  Serial.print(encoder0Pos);
+  Serial.print(',');
+  Serial.println(target1);
+  previousTarget=millis();
+  }
+     
+  target = target1;
+  docalc();
+}
+
+void Fstart(){
+//Fonction start joue une seul fois
+// Devellopement de l'autotune en cours a intergrer au demarrage du moteur ainsi que le homing
+    if (StartRoutine == 0)
+    {
+      	  digitalWrite ( MotorIN1 , LOW );
+	  analogWrite ( MotorIN2,  200 );
+          delay(2000);
+           digitalWrite ( MotorIN2 , LOW );
+          analogWrite ( MotorIN1,  255 );
+          delay(200);
+          digitalWrite ( MotorIN1, LOW );
+	  analogWrite ( MotorIN2,  255 );
+          delay(180);
+           digitalWrite ( MotorIN2, LOW );
+          analogWrite ( MotorIN1,  255 );
+          delay(100);
+          digitalWrite ( MotorIN1, LOW );
+	  analogWrite ( MotorIN2,  255 );
+          delay(90);
+          digitalWrite ( MotorIN2, LOW );
+          analogWrite ( MotorIN1,  255 );
+          delay(100);
+          digitalWrite ( MotorIN1, LOW );
+	  analogWrite ( MotorIN2,  200 );
+          delay(2000);
+
+
+      StartRoutine = 1;
+      encoder0Pos=0;
+    }
+
+}
+
+void docalc() {
+  
+  if (millis() - previousMillis > interval) 
+  {
+    previousMillis = millis();
+    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 motorspeed = 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(motorspeed > 0){
+          if( motorspeed >= 255) motorspeed=255;
+ 	  digitalWrite ( MotorIN1 , LOW );
+	  analogWrite ( MotorIN2,  motorspeed );
+    }
+    if(motorspeed < 0){
+          motorspeed = -1 * motorspeed;
+          if( motorspeed >= 255) motorspeed=255;
+ 	  digitalWrite ( MotorIN2 , LOW );
+ 	  analogWrite ( MotorIN1,  motorspeed );
+ 	  //digitalWrite ( MotorIN1 , HIGH );
+	  //analogWrite ( MotorIN2,  255 - motorspeed );
+    }
+  }  
+}
+
+void doEncoderMotor0(){
+  //if (((PIND&B0000100)>>2) == HIGH) {   // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PD2 (I2)
+  if(digitalRead(encoder0PinA)==HIGH){
+  
+    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=digitalRead(DIR_PIN)==HIGH;
+  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--;
+}