Updates in DC motor controller.
Unwrap the position sensor. Updates in pid controller. Works for AZ axis.merge-requests/29/head
Agis Zisimatos
parent
d05aea1372
commit
fba3d03674
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@ -1,206 +1,139 @@
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#define IO1 5
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#define PWM1 6
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#define SENPIN 3
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/* H-bridge defines */
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#define PWM1M1 5
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#define PWM2M1 6
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/* Limits for control signal */
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#define outMax 255
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#define outMin 0
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/* Encoder defines */
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#define SELECT_PIN 7
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#define CLOCK_PIN 8
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#define DATA_PIN 9
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/* Ratio of worm gear */
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#define RATIO 30
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#define outMax 255
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#define outMin 0
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#define MAX_AZ_ANGLE 365 /*Maximum Angle of Azimuth for homing scanning*/
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#define MAX_EL_ANGLE 365 /*Maximum Angle of Elevation for homing scanning*/
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#define HOME_AZ 2 /*Homing switch for Azimuth*/
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#define HOME_EL 1 /*Homing switch for Elevation*/
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#define DEFAULT_HOME_STATE HIGH /*Change to LOW according to Home sensor*/
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#define T_DELAY 60000 /*Time to disable the motors in millisecond*/
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#define EN 8 /*PIN for Enable or Disable Stepper Motors*/
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/* Maximum Angle for homing scanning */
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#define MAX_AZ_ANGLE 370
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/* Homing switch */
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#define HOME_AZ 2
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/* Change to LOW according to Home sensor */
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#define DEFAULT_HOME_STATE HIGH
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/* Time to disable the motors in millisecond */
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#define T_DELAY 60000
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/* PIN for Enable or Disable Stepper Motors */
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#define EN 4
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/* Serial configuration */
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#define BufferSize 256
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#define BaudRate 19200
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/*Global Variables*/
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unsigned long t_DIS = 0; /*time to disable the Motors*/
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/* angle offset */
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double az_angle_offset = 0;
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void setup()
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{
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pinMode(OUTPUT, IO1);
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pinMode(OUTPUT, PWM1);
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pinMode(INPUT, SENPIN);
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{
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/* H-bridge */
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pinMode(OUTPUT, PWM1M1);
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pinMode(OUTPUT, PWM2M1);
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/* Encoder */
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pinMode(DATA_PIN, INPUT);
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pinMode(CLOCK_PIN, OUTPUT);
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pinMode(SELECT_PIN, OUTPUT);
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digitalWrite(CLOCK_PIN, HIGH);
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digitalWrite(SELECT_PIN, HIGH);
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/*Homing switch*/
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/* Homing switch */
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pinMode(HOME_AZ, INPUT_PULLUP);
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pinMode(HOME_EL, INPUT_PULLUP);
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/*Serial Communication*/
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/* Serial Communication */
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Serial.begin(BaudRate);
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/*Initial Homing*/
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//Homing(-MAX_AZ_ANGLE, -MAX_EL_ANGLE);
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/*Enable Motors*/
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/* Initial Homing */
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Homing(-MAX_AZ_ANGLE, true);
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/* Enable Motors */
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pinMode(EN, OUTPUT);
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digitalWrite(EN, LOW);
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digitalWrite(EN, HIGH);
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}
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void loop()
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{
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/*Define the steps*/
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static double AZangle = 10;
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static double ELangle = 10;
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/*Time Check*/
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if (t_DIS == 0)
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t_DIS = millis();
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static double AZangle = 0;
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/*Disable Motors*/
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if ( AZangle == ((float)readPosition() / 1024.0) * 360 && ELangle == ((float)readPosition() / 1024.0) * 360 && millis()-t_DIS > T_DELAY)
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digitalWrite(EN, HIGH);
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/*Enable Motors*/
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else
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digitalWrite(EN, LOW);
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/*Read the steps from serial*/
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cmd_proc(AZangle, ELangle);
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/*Move the Azimuth & Elevation Motor*/
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dc_move(AZangle, ELangle);
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/* Read commands from serial */
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cmd_proc(AZangle);
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/* Move Motor */
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dc_move(AZangle);
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}
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void dc_move(double az_angle, double el_angle)
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{
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static double u = 0;
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static double angle = 0;
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static double error = 0;
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static double Iterm = 0;
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static double Pterm = 0;
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double Kp = 1800; // 6000
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double Ki = 1; //1
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double dt = 0.001;
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angle = ((float)readPosition() / 1024.0) * 360;
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error = az_angle - angle;
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//Serial.println(error);
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Pterm = Kp*error;
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Iterm += (Ki*error)*dt;
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if(Iterm > outMax) Iterm= outMax;
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else if(Iterm < outMin) Iterm= outMin;
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u = map(Pterm+Iterm, -10000, 10000, outMin, outMax);
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if (u > 0)
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{
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analogWrite(IO1, u);
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analogWrite(PWM1, 0);
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}
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else if (u < 0)
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{
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analogWrite(IO1, 0);
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analogWrite(PWM1, u);
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}
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}
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/*EasyComm 2 Protocol & Calculate the steps*/
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void cmd_proc(double &angleAz, double &angleEl)
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/* EasyComm 2 Protocol */
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void cmd_proc(double &angleAz)
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{
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/*Serial*/
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/* Serial */
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char buffer[BufferSize];
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char incomingByte;
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char *Data = buffer;
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char *rawData;
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static int BufferCnt = 0;
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char data[100];
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/*Read from serial*/
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/* Read from serial */
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while (Serial.available() > 0)
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{
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incomingByte = Serial.read();
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/* XXX: Get position using custom and test code */
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if (incomingByte == '!')
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{
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/*Get position*/
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Serial.print("TM");
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Serial.print(1);
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Serial.print(" ");
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Serial.print("AZ");
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Serial.print(10*((float)readPosition() / 1024.0) * 360, 1);
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Serial.print(" ");
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Serial.print("EL");
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Serial.println(10*((float)readPosition() / 1024.0) * 360, 1);
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}
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/*new data*/
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else if (incomingByte == '\n')
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/* New data */
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if (incomingByte == '\n')
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{
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buffer[BufferCnt] = 0;
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if (buffer[0] == 'A' && buffer[1] == 'Z')
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{
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if (buffer[2] == ' ' && buffer[3] == 'E' && buffer[4] == 'L')
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{
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/*Get position*/
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/* Get position */
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Serial.print("AZ");
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Serial.print(((float)readPosition() / 1024.0) * 360, 1);
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Serial.print(getposition(), 1);
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Serial.print(" ");
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Serial.print("EL");
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Serial.print(((float)readPosition() / 1024.0) * 360, 1);
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Serial.println(" ");
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Serial.println(0, 1);
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Serial.println(az_angle_offset);
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}
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else
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{
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/*Get the absolute value of angle*/
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/* Get the absolute value of angle */
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rawData = strtok_r(Data, " " , &Data);
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strncpy(data, rawData+2, 10);
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if (isNumber(data))
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angleAz = atof(data);
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/*Get the absolute value of angle*/
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/* Get the absolute value of angle */
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rawData = strtok_r(Data, " " , &Data);
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if (rawData[0] == 'E' && rawData[1] == 'L')
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{
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strncpy(data, rawData+2, 10);
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if (isNumber(data))
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angleEl = atof(data);
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;
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}
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}
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}
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/*Stop Moving*/
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/* Stop Moving */
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else if (buffer[0] == 'S' && buffer[1] == 'A' && buffer[2] == ' ' && buffer[3] == 'S' && buffer[4] == 'E')
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{
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/*Get position*/
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angleAz = getposition();
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/* Get position */
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Serial.print("AZ");
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Serial.print(((float)readPosition() / 1024.0) * 360, 1);
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Serial.print(getposition(), 1);
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Serial.print(" ");
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Serial.print("EL");
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Serial.println(((float)readPosition() / 1024.0) * 360, 1);
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angleAz = ((float)readPosition() / 1024.0) * 360;
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angleEl = ((float)readPosition() / 1024.0) * 360;
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Serial.println(0, 1);
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}
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/*Reset the rotator*/
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/* Reset the rotator */
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else if (buffer[0] == 'R' && buffer[1] == 'E' && buffer[2] == 'S' && buffer[3] == 'E' && buffer[4] == 'T')
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{
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/*Get position*/
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/* Get position */
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Serial.print("AZ");
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Serial.print(((float)readPosition() / 1024.0) * 360, 1);
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Serial.print(getposition(), 1);
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Serial.print(" ");
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Serial.print("EL");
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Serial.println(((float)readPosition() / 1024.0) * 360, 1);
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/*Move the steppers to initial position*/
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Homing(-MAX_AZ_ANGLE, -MAX_EL_ANGLE);
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/*Zero the steps*/
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Serial.println(0, 1);
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/* Move to initial position */
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Homing(-MAX_AZ_ANGLE, false);
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angleAz = 0;
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angleEl = 0;
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}
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}
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BufferCnt = 0;
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/*Reset the disable motor time*/
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t_DIS = 0;
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}
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/*Fill the buffer with incoming data*/
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/* Fill the buffer with incoming data */
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else {
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buffer[BufferCnt] = incomingByte;
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BufferCnt++;
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@ -208,72 +141,106 @@ void cmd_proc(double &angleAz, double &angleEl)
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}
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}
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/*Homing Function*/
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void Homing(double AZangle, double ELangle)
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/* Homing Function */
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void Homing(double AZangle, bool Init)
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{
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int value_Home_AZ = DEFAULT_HOME_STATE;
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int value_Home_EL = DEFAULT_HOME_STATE;
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boolean isHome_AZ = false;
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boolean isHome_EL = false;
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while(isHome_AZ == false )// || isHome_EL == false)
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{
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dc_move(AZangle, ELangle);
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double az_zero_angle = getposition();
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while(isHome_AZ == false )
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{
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dc_move(AZangle);
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value_Home_AZ = digitalRead(HOME_AZ);
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value_Home_EL = digitalRead(HOME_EL);
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/*Change to LOW according to Home sensor*/
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/* Change to LOW according to Home sensor */
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if (value_Home_AZ == DEFAULT_HOME_STATE)
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{
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isHome_AZ = true;
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}
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/*Change to LOW according to Home sensor*/
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if (value_Home_EL == DEFAULT_HOME_STATE)
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{
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isHome_EL = true;
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if (Init)
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az_angle_offset = getposition();
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}
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if (((float)readPosition() / 1024.0) * 360 == 0 && !isHome_AZ)
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if (abs(getposition() - az_zero_angle) > MAX_AZ_ANGLE && !isHome_AZ)
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{
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error(0);
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break;
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}
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if (((float)readPosition() / 1024.0) * 360 == 0 && !isHome_EL)
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{
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error(1);
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/* set error */
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break;
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}
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}
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}
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/*Error Handling*/
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void error(int num_error)
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void dc_move(double set_point_az)
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{
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switch (num_error)
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static double u = 0;
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static double angle_az = 0;
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static double prev_angle_az = 0;
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static double error = 0;
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static double Iterm = 0;
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static double Pterm = 0;
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static double Dterm = 0;
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double Kp = 2000;
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double Ki = 1;
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double Kd = 0;
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double dt = 0.001;
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angle_az = getposition();
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error = set_point_az - angle_az;
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Pterm = Kp*error;
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Iterm += Ki*error*dt;
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if(Iterm > outMax) Iterm= outMax;
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else if(Iterm < outMin) Iterm= outMin;
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Dterm = Kd*(angle_az - prev_angle_az)/dt;
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prev_angle_az = angle_az;
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u = Pterm+Iterm+Dterm;
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if (u >= 0)
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{
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/*Azimuth error*/
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case (0):
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while(1)
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{
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Serial.println("AL001");
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delay(100);
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}
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/*Elevation error*/
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case (1):
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while(1)
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{
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Serial.println("AL002");
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delay(100);
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}
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default:
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while(1)
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{
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Serial.println("AL000");
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delay(100);
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}
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if (u > outMax)
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u = outMax;
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analogWrite(PWM1M1, u);
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analogWrite(PWM2M1, 0);
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}
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else
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{
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u = -u;
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if ( u > outMax)
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u = outMax;
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analogWrite(PWM1M1, 0);
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analogWrite(PWM2M1, u);
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}
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}
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/*Check if is argument in number*/
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/* get position from encoder */
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double getposition()
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{
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double encoder_pos;
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double delta_pos;
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double real_pos;
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static double prev_pos = 0;
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int raw_pos;
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static int n = 0;
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raw_pos = readPosition();
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if (raw_pos >= 0)
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{
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encoder_pos = ((float)raw_pos / 1024.0) * 360.0;
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delta_pos = prev_pos - encoder_pos;
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if (delta_pos > 180)
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n++;
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else if (delta_pos < -180)
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n--;
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real_pos = ((encoder_pos + 360*n)/RATIO) - az_angle_offset;
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prev_pos = encoder_pos;
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}
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else
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; /* set error */
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return real_pos;
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}
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/* check if is argument in number */
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boolean isNumber(char *input)
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{
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for (int i = 0; input[i] != '\0'; i++)
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@ -284,45 +251,47 @@ boolean isNumber(char *input)
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return true;
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}
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//read the current angular position
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/* Code from http://reprap.org/wiki/Magnetic_Rotary_Encoder_1.0 */
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/* read the current angular position */
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int readPosition()
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{
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unsigned int position = 0;
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//shift in our data
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/* shift in our data */
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digitalWrite(SELECT_PIN, LOW);
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delayMicroseconds(0.5);
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byte d1 = shiftIn(DATA_PIN, CLOCK_PIN);
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byte d2 = shiftIn(DATA_PIN, CLOCK_PIN);
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digitalWrite(SELECT_PIN, HIGH);
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//get our position variable
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/* get our position variable */
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position = d1;
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position = position << 8;
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position |= d2;
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position = position >> 6;
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//check the offset compensation flag: 1 == started up
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/* check the offset compensation flag: 1 == started up */
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if (!(d2 & B00100000))
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position = -1;
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//check the cordic overflow flag: 1 = error
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/* check the cordic overflow flag: 1 = error */
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if (d2 & B00010000)
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position = -2;
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//check the linearity alarm: 1 = error
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/* check the linearity alarm: 1 = error */
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if (d2 & B00001000)
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position = -3;
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//check the magnet range: 11 = error
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/* check the magnet range: 11 = error */
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if ((d2 & B00000110) == B00000110)
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position = -4;
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return position;
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}
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//read in a byte of data from the digital input of the board.
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/* read in a byte of data from the digital input of the board. */
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byte shiftIn(byte data_pin, byte clock_pin)
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{
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byte data = 0;
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@ -339,6 +308,7 @@ byte shiftIn(byte data_pin, byte clock_pin)
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data |= (bit << i);
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}
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return data;
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}
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