Merge branch 'master' of https://framagit.org/marc/startracker

arduino/jjrobots.ino

@@ -0,0 +1,221 @@
+// STARTRACKER MOTOR CONTROL: STEPPER MOTOR CONTROL FOR JJROBOTS POV DISPLAY
+// This code is designed for JJROBOTS arDusplay Stepper Motor Control board
+// Author: JJROBOTS.COM (Jose Julio & Juan Pedro)
+// Licence: GNU GPL
+// Stepper : NEMA17
+// Driver : A4988 or DRV8825
+// Microstepping : configured to 1/16
+// Arduino board: Pro micro (leonardo equivalent)
+
+// STEPPER DRIVER CONNECTED TO:
+// ENABLE pin: D10   (PB6)
+// DIR pin:  D9      (PB5) 
+// STEP pin: D8      (PB4)
+// Button1 : START/STOP  D4
+// Button2 : DEC   D5
+// Button3 : CHANGE ROTATION DIRECTION (go back to original position)  D6
+
+//DO NO TAKE PHOTOS WITH AN EXPOSITION LONGER THAN 5 MINUTES. THE DRIFT WOULD BE NOTICEABLE.
+
+//Theory behind this CODE
+//-----------------------------------------
+// 360º (rotation of the Earth every 1436min)
+// *Using a M8 rod coming up 1.25mm every complete rotation
+
+#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
+
+
+//other info needed:
+//ratio between the large gear and the small one=0.2549
+
+//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
+
+#define RPS (STEP/(60*0.2549))/COMINGUPSPEED //rotational velocity of the large gear
+
+
+#define ZERO_SPEED 65535
+#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;
+
+static const unsigned int btn1_pin = 4;
+static const unsigned int btn2_pin = 11;
+static const unsigned int btn3_pin = 6;
+
+static const unsigned int serial_speed = 115200;
+
+// BIT functions
+#define CLR(x,y) (x&=(~(1<<y)))
+#define SET(x,y) (x|=(1<<y))
+
+//uint16_t rpm;
+float rpm;
+uint16_t period;
+uint16_t userCommand=0;
+
+static bool motor_enable;
+
+// TIMER 1: STEP INTERRUPT
+ISR(TIMER1_COMPA_vect)
+{
+  if (motor_enable)
+    {
+      SET(PORTB, step_pin);
+      delayMicroseconds(2);
+      CLR(PORTB, step_pin);
+    }
+}
+
+void setRpm()
+{
+  float temp;
+  if (rpm == 0)
+    {
+      ICR1 = ZERO_SPEED;
+      digitalWrite(enable_pin, HIGH);  // Disable motor
+    }
+  else
+    {
+      digitalWrite(enable_pin, LOW);  // Enable motor
+      /*   if (rpm<8)
+	   rpm = 8;*/
+      if (rpm>MAX_RPM)
+	rpm = MAX_RPM;
+      temp = (rpm/60.0)*STEPS_PER_REV;
+      temp = 2000000 / temp;          //  2000000 = (16000000/8) timer1 16Mhz with 1/8 preescaler
+      if (period<600000)
+	period=60000;
+      period = temp;
+      while (TCNT1 < 30);   // Wait until a pulse to motor has finished
+      //cli();
+      ICR1 = period; //+ userCommand;
+      if (TCNT1 > ICR1)     // Handle when we need to reset the timer
+	TCNT1=0;
+      //sei();
+    }
+}
+
+void setup()
+{
+ 
+  // 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
+  
+  // 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);
+
+  digitalWrite(led_pin, HIGH);
+  delay(200);    // Initial delay
+  digitalWrite(led_pin, LOW);
+
+  motor_enable = false;
+  
+  // PWM SETUP
+  // Fast PWM mode => TOP:ICR1
+  TCCR1A =(1<<WGM11);           
+  //  TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS10);   //No Prescaler, Fast PWM
+  TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11);   // Prescaler 1:8, Fast PWM
+  ICR1 = ZERO_SPEED;
+  TIMSK1 = (1<<OCIE1A);  // Enable Timer interrupt
+  
+  rpm = 0;
+  
+  while (digitalRead(4)==HIGH);    // Wait until START button is pressed
+  motor_enable = true;
+  delay(250);
+  while (digitalRead(4)==LOW);
+}
+
+void loop()
+{ 
+  if (digitalRead(btn1_pin)==LOW)   // START/STOP Button pressed?
+    {
+      rpm = 0;
+      userCommand=0;
+      setRpm();
+
+      motor_enable = !motor_enable;
+
+      /* if (motor_enable) */
+      /*   motor_enable = false; */
+      /* else */
+      /*   motor_enable = true; */
+
+      while (digitalRead(btn1_pin)==LOW);   // Wait until botton release
+    }
+    
+  if (digitalRead(btn3_pin)==LOW)   //  Button 3 pressed?
+    {
+      Serial.println("Coming back");
+	
+      digitalWrite(btn3_pin, HIGH);    // Motor direction
+
+      rpm=50; 
+      setRpm();
+	
+      if (motor_enable == 1)
+	motor_enable = 0;
+      else
+	motor_enable = 1;
+         
+      while (digitalRead(btn3_pin)==LOW);   // Wait until botton release
+    }
+    
+    
+  if (motor_enable)
+    {
+      rpm++;
+      digitalWrite(led_pin, HIGH);
+    }
+  else
+    {
+      rpm = 0;
+      digitalWrite(led_pin, LOW);
+    }
+  Serial.print("RPM:");
+  Serial.print(rpm);
+  Serial.print(" ");
+  Serial.println(period+userCommand);
+  setRpm();
+  Serial.print("100xRPS large gear:");
+  Serial.print(RPS/0.2549);
+  Serial.print(" ");
+  Serial.print("STEP:");
+  Serial.print(STEP);
+  Serial.print(" ");
+  delay(10);
+  
+  if (digitalRead(btn2_pin)==LOW)   // Decrease button
+    {
+      digitalWrite(led_pin, LOW);
+      userCommand--;
+      while (digitalRead(btn2_pin)==LOW);  // Wait until released
+    }
+  if (digitalRead(btn3_pin)==LOW)   // Increase button
+    {
+      digitalWrite(led_pin, LOW);
+      userCommand++;
+      while (digitalRead(btn3_pin)==LOW);  // Wait until released
+    }
+}