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8.4 KiB

// 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)
#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;
static const unsigned int long_press_threshold_ms = 1000;
// 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)
#endif
//other info needed:
//ratio between the large gear and the small one=0.2549
// Science here !
static const float nr_teeth_small = 11.0;
static const float nr_teeth_big = 53.0;
static const float axis_hinge_dist_mm = 200;
// Use immediate value. Using symbolic values leads to incorrect value.
static const float earth_rot_speed_rad_msec = 7.272205e-8; //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 = 2;
static const unsigned int nr_steps = 200 * microstepping_div;
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;
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_msec);
DUMP(axis_hinge_dist_mm);
DUMP(nr_teeth_big);
DUMP(nr_teeth_small);
DUMP(bolt_thread_mm);
DUMP(PI);
}
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_msec * s->elapsed_time_millis /* ellapsed_in_sec */) * axis_hinge_dist_mm * 2 * PI * nr_teeth_big / (bolt_thread_mm * nr_teeth_small);
#if DEBUG
debug_long(s);
Serial.print("Angle final: ");
Serial.println(r);
#endif
return r;
}
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 void set_stepper_rotation(rot_state_t *s, float angle){
const unsigned int needed_steps = get_step_number(s, angle);
stepper.move(needed_steps);
s->stepper_gear_rot_rad += needed_steps * stepper_gear_rad_per_step;
}
static unsigned int loop_count = 0;
static const unsigned int btn1_pin = 4;
static const unsigned int btn2_pin = 5;
static const unsigned int btn3_pin = 6;
static const unsigned long serial_speed = 115200UL;
#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 = 500;
static const int fake_start = 1;
// BIT functions
#define CLR(x,y) (x&=(~(1<<y)))
#define SET(x,y) (x|=(1<<y))
static enum control_state_e {
IDLE = 0,
RUN = 1,
RESET_POSITION = 2,
} control_state;
#if ! USE_ACTIVE_WAIT
ISR(TIMER1_COMPA_vect) {
// THIS AUTOMATA MUST NOT CHANGE STATE.
// Let control automata take care of state change
#if DEBUG
Serial.println("in ISR");
#endif
switch(control_state) {
case IDLE:
// spurious timer IT, ignore
break;
case RUN:
// emit STEP
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 period) {
#if DEBUG
Serial.println("start timer");
#endif
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;
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
}
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...");
#endif
switch(control_state){
case IDLE:
if (fake_start || digitalRead(btn1_pin)==LOW) { // START/STOP Button pressed
int long_press = 0;
if (!fake_start) {
unsigned long start_press = millis();
while (digitalRead(btn1_pin)==HIGH) {
if (!long_press || (millis() - start_press >= long_press_threshold_ms)) {
long_press = 1;
}
}
}
if (long_press){
control_state = RESET_POSITION;
} else {
control_state = RUN;
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();
rot_state.elapsed_time_millis += active_timer.period;
const float expected_rot = get_expected_stepper_rot(&rot_state);
set_stepper_rotation(&rot_state, expected_rot);
#if ENABLE_LED_BLINK
blink_led();
#endif
}
break;
case RESET_POSITION:
while(digitalRead(end_stop_pin) == LOW){
stepper.move(-1);
}
break;
}
#if DEBUG == 2
Serial.println("End of Automata step...");
#endif
}
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
// 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(led_pin, HIGH);
delay(200); // Initial delay
digitalWrite(led_pin, LOW);
}
void loop(void) {
if (use_active_wait)
handle_active_timer();
control_automata();
}