Multiple changes in stepper_motor_controller.

*Change the RATIO for v3 rotator
*Add definitions for max speed, max accelaration, baudrate, default home state
*Change the Homing function
*End stops pin is not float when the end stop is not connected
*Add a check if an argument is number in cmd_proc
merge-requests/29/head
Agis Zisimatos 2015-08-03 17:11:55 +03:00
parent fe4163b6cb
commit 9aeb80df55
1 changed files with 95 additions and 87 deletions

View File

@ -3,29 +3,38 @@
#include <math.h>
#include <AccelStepper.h>
#define DIR_AZ 18 //PIN for Azimuth Direction
#define STEP_AZ 10 //PIN for Azimuth Steps
#define DIR_EL 6 //PIN for Elevation Direction
#define STEP_EL 7 //PIN for Elevation Steps
#define DIR_AZ 18 /*PIN for Azimuth Direction*/
#define STEP_AZ 10 /*PIN for Azimuth Steps*/
#define DIR_EL 6 /*PIN for Elevation Direction*/
#define STEP_EL 7 /*PIN for Elevation Steps*/
#define MS1 9 //PIN for step size
#define EN 8 //PIN for Enable or Disable Stepper Motors
#define MS1 9 /*PIN for step size*/
#define EN 8 /*PIN for Enable or Disable Stepper Motors*/
#define SPR 200 //Step Per Revolution
#define RATIO 60 //Gear ratio
#define T_DELAY 60000 //Time to disable the motors in millisecond
#define SPR 200 /*Step Per Revolution*/
#define RATIO 54 /*Gear ratio*/
#define T_DELAY 60000 /*Time to disable the motors in millisecond*/
#define HOME_AZ 4 //Homing switch for Azimuth
#define HOME_EL 5 //Homing switch for Elevation
/*The MAX_ANGLE depends of ANGLE_SCANNING_MULT and maybe misbehave for large values*/
#define ANGLE_SCANNING_MULT 180 //Angle scanning multiplier
#define MAX_AZ_ANGLE 360 //Maximum Angle of Azimuth for homing scanning
#define MAX_EL_ANGLE 360 //Maximum Angle of Elevation for homing scanning
#define HOME_AZ 4 /*Homing switch for Azimuth*/
#define HOME_EL 5 /*Homing switch for Elevation*/
#define HOME_DELAY 6000 //Time for homing Decceleration in millisecond
#define MAX_AZ_ANGLE 365 /*Maximum Angle of Azimuth for homing scanning*/
#define MAX_EL_ANGLE 365 /*Maximum Angle of Elevation for homing scanning*/
#define MAX_SPEED 100
#define MAX_ACCELERATION 50
#define MIN_PULSE_WIDTH 20 /*in microsecond*/
#define DEFAULT_HOME_STATE HIGH /*Change to LOW according to Home sensor*/
#define HOME_DELAY 6000 /*Time for homing Decceleration in millisecond*/
#define BufferSize 256
#define BaudRate 19200
/*Global Variables*/
unsigned long t_DIS = 0; //time to disable the Motors
unsigned long t_DIS = 0; /*time to disable the Motors*/
/*Define a stepper and the pins it will use*/
AccelStepper AZstepper(1, STEP_AZ, DIR_AZ);
AccelStepper ELstepper(1, STEP_EL, DIR_EL);
@ -33,26 +42,27 @@ AccelStepper ELstepper(1, STEP_EL, DIR_EL);
void setup()
{
/*Change these to suit your stepper if you want*/
AZstepper.setMaxSpeed(150);
AZstepper.setAcceleration(50);
AZstepper.setMaxSpeed(MAX_SPEED);
AZstepper.setAcceleration(MAX_ACCELERATION);
/*Change these to suit your stepper if you want*/
ELstepper.setMaxSpeed(150);
ELstepper.setAcceleration(50);
ELstepper.setMaxSpeed(MAX_SPEED);
ELstepper.setAcceleration(MAX_ACCELERATION);
/*Set minimum pulse width*/
AZstepper.setMinPulseWidth(MIN_PULSE_WIDTH);
ELstepper.setMinPulseWidth(MIN_PULSE_WIDTH);
/*Enable Motors*/
pinMode(EN, OUTPUT);
digitalWrite(EN, LOW);
/*Step size*/
pinMode(MS1, OUTPUT);
digitalWrite(MS1, LOW); //Full step
digitalWrite(MS1, LOW); /*Full step*/
/*Homing switch*/
pinMode(HOME_AZ, INPUT);
pinMode(HOME_EL, INPUT);
pinMode(HOME_AZ, INPUT_PULLUP);
pinMode(HOME_EL, INPUT_PULLUP);
/*Serial Communication*/
Serial.begin(19200);
Serial.begin(BaudRate);
/*Initial Homing*/
Homing(deg2step(-ANGLE_SCANNING_MULT), deg2step(-ANGLE_SCANNING_MULT));
Homing(deg2step(-MAX_AZ_ANGLE), deg2step(-MAX_EL_ANGLE));
}
void loop()
@ -66,9 +76,7 @@ void loop()
/*Disable Motors*/
if (AZstep == AZstepper.currentPosition() && ELstep == ELstepper.currentPosition() && millis()-t_DIS > T_DELAY)
{
digitalWrite(EN, HIGH);
}
/*Enable Motors*/
else
digitalWrite(EN, LOW);
@ -82,10 +90,8 @@ void loop()
/*Homing Function*/
void Homing(int AZsteps, int ELsteps)
{
int value_Home_AZ = HIGH;
int value_Home_EL = HIGH;
int n_AZ = 1; //Times that AZ angle has changed
int n_EL = 1; //Times that EL angle has changed
int value_Home_AZ = DEFAULT_HOME_STATE;
int value_Home_EL = DEFAULT_HOME_STATE;
boolean isHome_AZ = false;
boolean isHome_EL = false;
@ -96,41 +102,28 @@ void Homing(int AZsteps, int ELsteps)
{
value_Home_AZ = digitalRead(HOME_AZ);
value_Home_EL = digitalRead(HOME_EL);
/* Change to LOW according to Home sensor */
if (value_Home_AZ == HIGH)
/*Change to LOW according to Home sensor*/
if (value_Home_AZ == DEFAULT_HOME_STATE)
{
AZstepper.moveTo(AZstepper.currentPosition());
isHome_AZ = true;
}
/* Change to LOW according to Home sensor */
if (value_Home_EL == HIGH)
/*Change to LOW according to Home sensor*/
if (value_Home_EL == DEFAULT_HOME_STATE)
{
ELstepper.moveTo(ELstepper.currentPosition());
isHome_EL = true;
}
if (AZstepper.distanceToGo() == 0 && !isHome_AZ)
{
n_AZ++;
AZsteps = deg2step(pow(-1,n_AZ)*n_AZ*ANGLE_SCANNING_MULT);
if (abs(n_AZ*ANGLE_SCANNING_MULT) > MAX_AZ_ANGLE)
{
error(0);
break;
}
AZstepper.moveTo(AZsteps);
}
if (ELstepper.distanceToGo() == 0 && !isHome_EL)
{
n_EL++;
ELsteps = deg2step(pow(-1,n_EL)*n_EL*ANGLE_SCANNING_MULT);
if (abs(n_EL*ANGLE_SCANNING_MULT) > MAX_EL_ANGLE)
{
error(1);
break;
}
ELstepper.moveTo(ELsteps);
error(0);
break;
}
if (ELstepper.distanceToGo() == 0 && !isHome_EL)
{
error(1);
break;
}
AZstepper.run();
ELstepper.run();
}
@ -150,14 +143,14 @@ void Homing(int AZsteps, int ELsteps)
void cmd_proc(int &stepAz, int &stepEl)
{
/*Serial*/
char buffer[256];
char buffer[BufferSize];
char incomingByte;
char *p=buffer;
char *str;
static int counter=0;
char *Data = buffer;
char *rawData;
static int BufferCnt = 0;
char data[100];
double angleAz,angleEl;
double angleAz, angleEl;
/*Read from serial*/
while (Serial.available() > 0)
@ -166,7 +159,7 @@ void cmd_proc(int &stepAz, int &stepEl)
/* XXX: Get position using custom and test code */
if (incomingByte == '!')
{
/* Get position */
/*Get position*/
Serial.print("TM");
Serial.print(1);
Serial.print(" ");
@ -179,13 +172,12 @@ void cmd_proc(int &stepAz, int &stepEl)
/*new data*/
else if (incomingByte == '\n')
{
p = buffer;
buffer[counter] = 0;
buffer[BufferCnt] = 0;
if (buffer[0] == 'A' && buffer[1] == 'Z')
{
if (buffer[2] == ' ' && buffer[3] == 'E' && buffer[4] == 'L')
{
/* Get position */
/*Get position*/
Serial.print("AZ");
Serial.print(step2deg(AZstepper.currentPosition()), 1);
Serial.print(" ");
@ -196,27 +188,32 @@ void cmd_proc(int &stepAz, int &stepEl)
else
{
/*Get the absolute value of angle*/
str = strtok_r(p, " " , &p);
strncpy(data, str+2, 10);
angleAz = atof(data);
/*Calculate the steps*/
stepAz = deg2step(angleAz);
/*Get the absolute value of angle*/
str = strtok_r(p, " " , &p);
if (str[0] == 'E' && str[1] == 'L')
rawData = strtok_r(Data, " " , &Data);
strncpy(data, rawData+2, 10);
if (isNumber(data))
{
strncpy(data, str+2, 10);
angleEl = atof(data);
angleAz = atof(data);
/*Calculate the steps*/
stepEl = deg2step(angleEl);
stepAz = deg2step(angleAz);
}
/*Get the absolute value of angle*/
rawData = strtok_r(Data, " " , &Data);
if (rawData[0] == 'E' && rawData[1] == 'L')
{
strncpy(data, rawData+2, 10);
if (isNumber(data))
{
angleEl = atof(data);
/*Calculate the steps*/
stepEl = deg2step(angleEl);
}
}
}
}
/* Stop Moving */
/*Stop Moving*/
else if (buffer[0] == 'S' && buffer[1] == 'A' && buffer[2] == ' ' && buffer[3] == 'S' && buffer[4] == 'E')
{
/* Get position */
/*Get position*/
Serial.print("AZ");
Serial.print(step2deg(AZstepper.currentPosition()), 1);
Serial.print(" ");
@ -225,29 +222,29 @@ void cmd_proc(int &stepAz, int &stepEl)
stepAz = AZstepper.currentPosition();
stepEl = ELstepper.currentPosition();
}
/* Reset the rotator */
/*Reset the rotator*/
else if (buffer[0] == 'R' && buffer[1] == 'E' && buffer[2] == 'S' && buffer[3] == 'E' && buffer[4] == 'T')
{
/* Get position */
/*Get position*/
Serial.print("AZ");
Serial.print(step2deg(AZstepper.currentPosition()), 1);
Serial.print(" ");
Serial.print("EL");
Serial.println(step2deg(ELstepper.currentPosition()), 1);
/*Move the steppers to initial position*/
Homing(0,0);
Homing(deg2step(-MAX_AZ_ANGLE), deg2step(-MAX_EL_ANGLE));
/*Zero the steps*/
stepAz = 0;
stepEl = 0;
}
counter = 0;
BufferCnt = 0;
/*Reset the disable motor time*/
t_DIS = 0;
}
/*Fill the buffer with incoming data*/
else {
buffer[counter] = incomingByte;
counter++;
buffer[BufferCnt] = incomingByte;
BufferCnt++;
}
}
}
@ -301,3 +298,14 @@ double step2deg(int Step)
{
return(360.00*Step/(SPR*RATIO));
}
/*Check if is argument in number*/
boolean isNumber(char *input)
{
for (int i = 0; input[i] != '\0'; i++)
{
if (isalpha(input[i]))
return false;
}
return true;
}