Revert "Création de la branche Modification du corps"

This reverts commit dd6382a758.

Modification_du_corps/README

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

Moteur DC/ServoStrap/ServoStrapPortManipulationLD293D_1_1/ServoStrapPortManipulationLD293D_1_1.ino

@@ -1,229 +0,0 @@
-#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

@@ -1,230 +0,0 @@
-#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--;
-}