@ -24,6 +24,8 @@
# define COMINGUPSPEED 1.25 //milimeters that the rod comes up every complete rotation (360º). In a M8 rod/bolt is usually 1.25 mm. In a M6, only 1.00mm
# include <DRV8825.h>
//other info needed:
//ratio between the large gear and the small one=0.2549
@ -31,7 +33,6 @@
//MEASURE THIS VALUE AS GOOD AS YOU CAN AND SET THE LENGHT BELOW
# define LENGTH 228 //distance from the centre of the hinge to the centre of the hole for the rod in milimiters
// Calculus here:
# define STEP ((2*3.14159) / 1436)*LENGTH //rotational velocity of the small gear
@ -42,18 +43,56 @@
# define STEPS_PER_REV 3200 // 200 steps motor with 1/16 microstepping
# define MAX_RPM (RPS*60.0)
static const unsigned int led_pin = 7 ;
static const unsigned int step_pin = 8 ;
static const unsigned int dir_pin = 9 ;
static const unsigned int enable_pin = 10 ;
// Science here !
static const unsigned int nr_teeth_small = 13 ;
static const unsigned int nr_teeth_big = 51 ;
static unsigned int loop_count = 0 ;
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 ) ;
static const unsigned int btn1_pin = 4 ;
static const unsigned int btn2_pin = 11 ;
static const unsigned int btn2_pin = 5 ;
static const unsigned int btn3_pin = 6 ;
static const unsigned long serial_speed = 115200UL ;
# ifndef DEBUG
# define DEBUG (1)
# endif
# define ENABLE_LED_BLINK (0)
# define USE_ACTIVE_WAIT (1)
static const int use_active_wait = USE_ACTIVE_WAIT ;
static const long active_threshold = 10 ;
static struct {
unsigned long period ;
unsigned long deadline ;
long remain ;
unsigned int expired ;
} active_timer ;
static unsigned long global_period = 100 ;
static const int fake_start = 1 ;
@ -85,7 +124,7 @@ static enum control_state_e {
RUN = 1 ,
} control_state ;
# if ! USE_ACTIVE_WAIT
ISR ( TIMER1_COMPA_vect ) {
// THIS AUTOMATA MUST NOT CHANGE STATE.
// Let control automata take care of state change
@ -103,35 +142,109 @@ ISR(TIMER1_COMPA_vect) {
break ;
}
}
# endif /* USE_ACTIVE_WAIT */
static void step_motor ( void ) {
//SET(PORTB, step_pin);
# if DEBUG == 1
Serial . println ( " step in " ) ;
# endif
stepper . rotate ( 360 ) ;
/* digitalWrite(step_pin, HIGH); */
/* delayMicroseconds(2); */
/* digitalWrite(step_pin, LOW); */
# if DEBUG == 1
Serial . println ( " step out " ) ;
# endif
}
static void blink_led ( void ) {
# if DEBUG == 2
Serial . println ( " blink " ) ;
# endif
digitalWrite ( led_pin , HIGH ) ;
delay ( 10 ) ; // Initial delay
digitalWrite ( led_pin , LOW ) ;
}
void start_timer ( int freq ) {
// compute frequency
// configure timer
// enable timer interrupt
void start_timer ( int period ) {
# if DEBUG
Serial . println ( " start timer " ) ;
# endif
noInterrupts ( ) ; // disable all interrupts
if ( use_active_wait ) {
active_timer . period = active_timer . remain = period ;
active_timer . deadline = millis ( ) + period ;
} else {
// compute frequency
// configure timer
// enable timer interrupt
noInterrupts ( ) ; // disable all interrupts
TCCR1A = 0 ;
TCCR1B = 0 ;
TCNT1 = 0 ;
TCCR1A = 0 ;
TCCR1B = 0 ;
TCNT1 = 0 ;
OCR1A = ( 16000000 / 256 ) ; // 62500 ~ 1Hz
TCCR1B | = ( 1 < < WGM12 ) ; // CTC mode
TCCR1B | = ( 1 < < CS12 ) ; // 256 prescaler
TIMSK1 | = ( 1 < < OCIE1A ) ; // enable timer compare interrupt
OCR1A = ( 16000000 / 256 ) ; // 62500 ~ 1Hz
TCCR1B | = ( 1 < < WGM12 ) ; // CTC mode
TCCR1B | = ( 1 < < CS12 ) ; // 256 prescaler
TIMSK1 | = ( 1 < < OCIE1A ) ; // enable timer compare interrupt
interrupts ( ) ; // enable all interrupts
}
# if DEBUG == 2
Serial . print ( " Start Timer: " ) ;
Serial . println ( active_timer . remain ) ;
# endif
interrupts ( ) ; // enable all interrupts
}
void stop_timer ( void ) {
if ( use_active_wait ) {
active_timer . deadline = active_timer . remain = 0 ;
}
//disable timer interrupt
// disable timer
}
void handle_active_timer ( void ) {
# if DEBUG == 2
Serial . print ( " Timer: " ) ;
Serial . println ( active_timer . remain ) ;
# endif
if ( active_timer . deadline ) {
active_timer . remain = active_timer . deadline - millis ( ) ;
}
if ( active_timer . remain < = active_threshold ) {
active_timer . remain = active_timer . period ;
active_timer . deadline = millis ( ) + active_timer . period ;
active_timer . expired + + ;
loop_count + + ;
# if DEBUG
Serial . println ( " Timer expired " ) ;
Serial . println ( active_timer . expired ) ;
Serial . println ( active_timer . remain ) ;
Serial . println ( loop_count ) ;
# endif
}
}
static void emit_motor_step ( void ) {
SET ( PORTB , step_pin ) ;
delayMicroseconds ( 2 ) ;
CLR ( PORTB , step_pin ) ;
}
void control_automata ( void ) {
# if DEBUG == 2
Serial . println ( " Automata step... " ) ;
@ -142,14 +255,22 @@ void control_automata(void) {
if ( fake_start | | digitalRead ( btn1_pin ) = = LOW ) { // START/STOP Button pressed
if ( ! fake_start ) while ( digitalRead ( btn1_pin ) = = HIGH ) ; // START/STOP released
control_state = RUN ;
start_timer ( ) ;
start_timer ( global_period ) ;
}
break ;
case RUN :
if ( digitalRead ( btn1_pin ) = = LOW ) { // START/STOP Button pressed
while ( digitalRead ( btn1_pin ) = = HIGH ) ; // START/STOP released
stop_timer ( ) ;
control_state = IDLE ;
} else if ( active_timer . expired ) {
active_timer . expired - - ;
//emit_motor_step();
step_motor ( ) ;
# if ENABLE_LED_BLINK
blink_led ( ) ;
# endif
}
break ;
@ -192,29 +313,42 @@ void control_automata(void) {
/* } */
void setup ( ) {
// debug output
Serial . begin ( serial_speed ) ;
# if DEBUG
Serial . println ( " Serial setup " ) ;
# endif
stepper . enable ( ) ;
// Set target motor RPM to 1RPM
stepper . setRPM ( 200 ) ;
// Set full speed mode (microstepping also works for smoother hand movement
stepper . setMicrostep ( 1 ) ;
control_state = IDLE ;
// Setup PIN as GPIO output
pinMode ( led_pin , OUTPUT ) ; // LED pin
pinMode ( step_pin , OUTPUT ) ; // STEP pin
pinMode ( dir_pin , OUTPUT ) ; // DIR pin
pinMode ( enable_pin , OUTPUT ) ; // ENABLE pin
/* pinMode(step_pin, OUTPUT); // STEP pin */
/* pinMode(dir_pin, OUTPUT); // DIR pin */
// pinMode(enable_pin, OUTPUT); // ENABLE pin
/* digitalWrite(dir_pin, HIGH); // Motor direction */
/* digitalWrite(step_pin, HIGH); */
/* while(1); */
// Button input with pullups enable
pinMode ( btn1_pin , INPUT_PULLUP ) ;
pinMode ( btn2_pin , INPUT_PULLUP ) ;
pinMode ( btn3_pin , INPUT_PULLUP ) ;
// Initial setup for motor driver
digitalWrite ( enable_pin , HIGH ) ; // Disable motor
digitalWrite ( dir_pin , HIGH ) ; // Motor direction
// debug output
Serial . begin ( serial_speed ) ;
# if DEBUG
Serial . println ( " Serial setup " ) ;
# endif
// digitalWrite(enable_pin, HIGH); // Disable motor
/* digitalWrite(dir_pin, HIGH); // Motor direction */
digitalWrite ( led_pin , HIGH ) ;
delay ( 200 ) ; // Initial delay
@ -239,6 +373,8 @@ void setup() {
}
void loop ( void ) {
if ( use_active_wait )
handle_active_timer ( ) ;
control_automata ( ) ;
