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rework float computation 

looks like the arduino float is not a good fit for this one: results are
diverging after few seconds. Fallback to some hardcoded numerical
values.

known problem: timer does not tick periodically
master
Marc Poulhiès 5 years ago
parent
a423bb2267
commit
037bfdb820
2 changed files with 72 additions and 86 deletions
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  1. 53
      arduino/nema_test.c
  2. 105
      arduino/startracker.ino

53
arduino/nema_test.c
View File

@ -1,53 +0,0 @@
// testing a stepper motor with a Pololu A4988 driver board or equivalent
// on an Uno the onboard led will flash with each step
// this version uses delay() to manage timing
byte directionPin = 2;
byte stepPin = 3;
int numberOfSteps = 100;
byte ledPin = 13;
int pulseWidthMicros = 20; // microseconds
int millisbetweenSteps = 250; // milliseconds - or try 1000 for slower steps
void setup() {
Serial.begin(115200);
Serial.println("Starting StepperTest");
digitalWrite(ledPin, LOW);
delay(2000);
pinMode(directionPin, OUTPUT);
pinMode(stepPin, OUTPUT);
pinMode(ledPin, OUTPUT);
digitalWrite(directionPin, HIGH);
for(int n = 0; n < numberOfSteps; n++) {
digitalWrite(stepPin, HIGH);
delayMicroseconds(pulseWidthMicros); // this line is probably unnecessary
digitalWrite(stepPin, LOW);
delay(millisbetweenSteps);
digitalWrite(ledPin, !digitalRead(ledPin));
}
delay(3000);
digitalWrite(directionPin, LOW);
for(int n = 0; n < numberOfSteps; n++) {
digitalWrite(stepPin, HIGH);
// delayMicroseconds(pulseWidthMicros); // probably not needed
digitalWrite(stepPin, LOW);
delay(millisbetweenSteps);
digitalWrite(ledPin, !digitalRead(ledPin));
}
}
void loop() {
}

105
arduino/startracker.ino
View File

@ -26,6 +26,22 @@
#include <DRV8825.h>
static const unsigned int led_pin = 13;
static const unsigned int step_pin = 3;
static const unsigned int dir_pin = 2;
static const unsigned int m0_pin = 5;
static const unsigned int m1_pin = 6;
static const unsigned int m2_pin = 7;
static const unsigned int enable_pin = led_pin;
// using a 200-step motor (most common)
// pins used are DIR, STEP, MS1, MS2, MS3 in that order
//A4988 stepper(200, 8, 9, 10, 11, 12);
DRV8825 stepper(200, dir_pin, step_pin,
enable_pin,
m0_pin, m1_pin, m2_pin);
#ifndef DEBUG
#define DEBUG (1)
@ -49,57 +65,80 @@
// Science here !
static const double nr_teeth_small = 13.0;
static const double nr_teeth_big = 51.0;
static const double axis_hinge_dist_mm = 200;
static const float nr_teeth_small = 11.0;
static const float nr_teeth_big = 53.0;
static const float axis_hinge_dist_mm = 200;
static const double earth_rot_speed_rad_sec = 2*PI / (1440*60);
static const double bolt_thread_mm = 1.25;
// Use immediate value. Using symbolic values leads to incorrect value.
static const float earth_rot_speed_rad_sec = 7.272205e-5; //2*PI / (1440*60);
static const float bolt_thread_mm = 1.25;
//static const float coef = 2*PI*axis_hinge_dist_mm * nr_teeth_big / (bolt_thread_mm * nr_teeth_small);
static const unsigned int microstepping_div = 16;
static const unsigned int microstepping_div = 2;
static const unsigned int nr_steps = 200 * microstepping_div;
static const double stepper_gear_rad_per_step = (2*PI) / nr_steps;
static const float stepper_gear_rad_per_step = (2*PI) / nr_steps;
// this needs to be reset
static struct rot_state_t {
unsigned long elapsed_time_millis;
double stepper_gear_rot_rad = 0;
float stepper_gear_rot_rad = 0;
} rot_state;
#define DUMP(v) do { \
Serial.print(#v " "); \
Serial.println(v, 10); \
} while(0)
static void debug_long(rot_state_t *s){
const unsigned long ellapsed_in_sec = s->elapsed_time_millis/1000;
DUMP(ellapsed_in_sec);
DUMP(earth_rot_speed_rad_sec);
DUMP(axis_hinge_dist_mm);
DUMP(nr_teeth_big);
DUMP(nr_teeth_small);
DUMP(bolt_thread_mm);
DUMP(PI);
}
static double get_expected_stepper_rot(rot_state_t *s) {
const double r = tan(earth_rot_speed_rad_sec * (s->elapsed_time_millis/1000)) * axis_hinge_dist_mm * 2 * PI * nr_teeth_big / (bolt_thread_mm * nr_teeth_small);
static float get_expected_stepper_rot(rot_state_t *s) {
const unsigned long ellapsed_in_sec = s->elapsed_time_millis/1000;
const float r = tan(earth_rot_speed_rad_sec * ellapsed_in_sec) * axis_hinge_dist_mm * 2 * PI * nr_teeth_big / (bolt_thread_mm * nr_teeth_small);
#if DEBUG
Serial.print("Ellapsed :");
Serial.print(s->elapsed_time_millis);
Serial.print(", ");
Serial.print("Expected rotation:");
debug_long(s);
Serial.print("Angle final: ");
Serial.println(r);
#endif
return r;
}
static unsigned int loop_count = 0;
static const unsigned int led_pin = 13;
static unsigned int get_step_number(rot_state_t *s, float expected_rotation) {
const float angle_diff = expected_rotation - s->stepper_gear_rot_rad;
const float fsteps = angle_diff / stepper_gear_rad_per_step;
const int steps = floor(fsteps);
#if DEBUG
Serial.print("diff :");
Serial.print(angle_diff, 6);
Serial.print(" needed steps : ");
Serial.print(steps);
Serial.print(" with fsteps: ");
Serial.println(fsteps);
#endif
return steps;
}
static const unsigned int step_pin = 3;
static const unsigned int dir_pin = 2;
static const unsigned int m0_pin = 5;
static const unsigned int m1_pin = 6;
static const unsigned int m2_pin = 7;
static void set_stepper_rotation(rot_state_t *s, float angle){
const unsigned int needed_steps = get_step_number(s, angle);
stepper.move(needed_steps);
static const unsigned int enable_pin = led_pin;
s->stepper_gear_rot_rad = needed_steps * stepper_gear_rad_per_step;
}
// using a 200-step motor (most common)
// pins used are DIR, STEP, MS1, MS2, MS3 in that order
//A4988 stepper(200, 8, 9, 10, 11, 12);
DRV8825 stepper(200, dir_pin, step_pin,
enable_pin,
m0_pin, m1_pin, m2_pin);
static unsigned int loop_count = 0;
static const unsigned int btn1_pin = 4;
static const unsigned int btn2_pin = 5;
@ -120,8 +159,7 @@ static struct {
unsigned int expired;
} active_timer;
static unsigned long global_period = 100;
static unsigned long global_period = 1000;
static const int fake_start = 1;
@ -298,8 +336,9 @@ void control_automata(void) {
// emit_motor_step();
// step_motor();
rot_state.elapsed_time_millis += active_timer.period;
get_expected_stepper_rot(&rot_state);
const float expected_rot = get_expected_stepper_rot(&rot_state);
set_stepper_rotation(&rot_state, expected_rot);
#if ENABLE_LED_BLINK
blink_led();
#endif

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