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Initialization bíður 2 s, mótor stöðvast alveg, hreinsun

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- InitializationState: 2 s bið með millis() án þess að blokka, Boot-up sent í exit()
- MotorDriver: PWM-pinnar aftengdir frá Timer2 þegar þeir eiga að vera LOW
  (OCR=0 í Fast PWM gaf samt stuttan púls)
- Eytt útkommentuðum skrám: main_P2, temporary_main, rotary_encoder_driver_unused
- .gitignore: plot-skriftan fer í git, vélarsértækar PlatformIO-skrár út
This commit is contained in:
helgie22
2026-09-30 11:49:51 +00:00
parent 7ca9c51268
commit c46539a57b
14 changed files with 177 additions and 559 deletions
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.gitignore
+7 -2
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@@ -1,6 +1,11 @@
.pio
venv
*.py
__pycache__
*.csv
scripts
*.typ
*.pdf
# Vélarsértækar skrár sem PlatformIO býr til sjálft
.vscode/c_cpp_properties.json
.vscode/launch.json
compile_commands.json
.vscode/c_cpp_properties.json
Vendored
-56
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@@ -1,56 +0,0 @@
//
// !!! WARNING !!! AUTO-GENERATED FILE!
// PLEASE DO NOT MODIFY IT AND USE "platformio.ini":
// https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags
//
{
"configurations": [
{
"name": "PlatformIO",
"includePath": [
"C:/Users/isakt/Embedded/ESP_Project3_H26/include",
"C:/Users/isakt/Embedded/ESP_Project3_H26/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/cores/arduino",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/HID/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
""
],
"browse": {
"limitSymbolsToIncludedHeaders": true,
"path": [
"C:/Users/isakt/Embedded/ESP_Project3_H26/include",
"C:/Users/isakt/Embedded/ESP_Project3_H26/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/cores/arduino",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/HID/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
"C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
""
]
},
"defines": [
"PLATFORMIO=60200",
"ARDUINO_AVR_NANO",
"F_CPU=16000000L",
"ARDUINO_ARCH_AVR",
"ARDUINO=10808",
"__AVR_ATmega328P__",
""
],
"cStandard": "gnu11",
"cppStandard": "gnu++11",
"compilerPath": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin/avr-gcc.exe",
"compilerArgs": [
"-mmcu=atmega328p",
""
]
}
],
"version": 4
}
.vscode/launch.json
Vendored
-44
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@@ -1,44 +0,0 @@
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
//
// PlatformIO Debugging Solution
//
// Documentation: https://docs.platformio.org/en/latest/plus/debugging.html
// Configuration: https://docs.platformio.org/en/latest/projectconf/sections/env/options/debug/index.html
{
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"configurations": [
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"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
"executable": "C:/Users/isakt/Embedded/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
"projectEnvName": "nanoatmega328new",
"toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin",
"internalConsoleOptions": "openOnSessionStart",
"preLaunchTask": {
"type": "PlatformIO",
"task": "Pre-Debug"
}
},
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (skip Pre-Debug)",
"executable": "C:/Users/isakt/Embedded/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
"projectEnvName": "nanoatmega328new",
"toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin",
"internalConsoleOptions": "openOnSessionStart"
},
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (without uploading)",
"executable": "C:/Users/isakt/Embedded/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
"projectEnvName": "nanoatmega328new",
"toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin",
"internalConsoleOptions": "openOnSessionStart",
"loadMode": "manual"
}
]
}
compile_commands.json
-200
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@@ -1,200 +0,0 @@
[
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"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial1.cpp",
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{
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"directory": "/Users/dadi/embedded/proj1",
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/IPAddress.cpp",
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"directory": "/Users/dadi/embedded/proj1",
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/new.cpp",
"output": ".pio/build/nanoatmega328new/FrameworkArduino/new.cpp.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring.c",
"directory": "/Users/dadi/embedded/proj1",
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring.c",
"output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring.c.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_analog.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_analog.c",
"directory": "/Users/dadi/embedded/proj1",
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_analog.c",
"output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_analog.c.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_digital.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_digital.c",
"directory": "/Users/dadi/embedded/proj1",
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_digital.c",
"output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_digital.c.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -mmcu=atmega328p -x assembler-with-cpp -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs -c -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.S.o /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.S",
"directory": "/Users/dadi/embedded/proj1",
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.S",
"output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.S.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.c",
"directory": "/Users/dadi/embedded/proj1",
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.c",
"output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.c.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_shift.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_shift.c",
"directory": "/Users/dadi/embedded/proj1",
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_shift.c",
"output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_shift.c.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/digital_in.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/digital_in.cpp",
"directory": "/Users/dadi/embedded/proj1",
"file": "src/digital_in.cpp",
"output": ".pio/build/nanoatmega328new/src/digital_in.cpp.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/digital_out.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/digital_out.cpp",
"directory": "/Users/dadi/embedded/proj1",
"file": "src/digital_out.cpp",
"output": ".pio/build/nanoatmega328new/src/digital_out.cpp.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/main.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/main.cpp",
"directory": "/Users/dadi/embedded/proj1",
"file": "src/main.cpp",
"output": ".pio/build/nanoatmega328new/src/main.cpp.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/part1_first_working_main.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/part1_first_working_main.cpp",
"directory": "/Users/dadi/embedded/proj1",
"file": "src/part1_first_working_main.cpp",
"output": ".pio/build/nanoatmega328new/src/part1_first_working_main.cpp.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/part1part2.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/part1part2.cpp",
"directory": "/Users/dadi/embedded/proj1",
"file": "src/part1part2.cpp",
"output": ".pio/build/nanoatmega328new/src/part1part2.cpp.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/part3part1.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/part3part1.cpp",
"directory": "/Users/dadi/embedded/proj1",
"file": "src/part3part1.cpp",
"output": ".pio/build/nanoatmega328new/src/part3part1.cpp.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/rotary_encoder_driver.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/rotary_encoder_driver.cpp",
"directory": "/Users/dadi/embedded/proj1",
"file": "src/rotary_encoder_driver.cpp",
"output": ".pio/build/nanoatmega328new/src/rotary_encoder_driver.cpp.o"
},
{
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/timer_usec.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/timer_usec.cpp",
"directory": "/Users/dadi/embedded/proj1",
"file": "src/timer_usec.cpp",
"output": ".pio/build/nanoatmega328new/src/timer_usec.cpp.o"
}
]
docs/diagrams/src/motor_state.wsd
+6 -4
View File
@@ -1,5 +1,7 @@
@startuml
' skinparam linetype ortho
' skinparam nodesep 100
skinparam ranksep 80
skinparam state {
BackgroundColor LightBlue
@@ -11,6 +13,7 @@ state Initialization
Initialization : Entry / Stop motor
Initialization : Do / Initialize internal parameters
Initialization : Do / Reset speed measurement
Initialization : Do / Wait 2 seconds
Initialization : Exit / Send Boot-up message
@@ -18,11 +21,10 @@ state Initialization
state Operational
Operational : Entry / LED on
Operational : Do / Run speed controller
Operational : Exit / Stop motor
Operational : Exit / LED off
Operational : Exit / Stop motor and LED off
Initialization --> Operational : initialization complete
Initialization --> Operational : initialization\n complete
Operational --> Initialization : reset
@enduml
include/initialization_state.h
+5
View File
@@ -6,6 +6,11 @@
class InitializationState : public State
{
private:
static const unsigned long WAIT_MS = 2000;
unsigned long enter_time_ms = 0;
public:
void enter() override;
scripts/plot_step_response.py
+91
View File
@@ -0,0 +1,91 @@
#!/usr/bin/env python3
"""
Teiknar step response-plott ur CSV-gognum sem Arduino-verkefnid prentar ut
(dalkar: time_ms, ref_rpm, actual_rpm, pwm_requested, pwm_actual).
pwm_requested = Kp * error * 2.55, oklippt (getur farid langt yfir +-255)
pwm_actual = sama gildi en klippt vid +-255, þ.e. þad sem raunverulega
var sent a motor.set() / vélbúnaðinn
Notkun:
python plot_step_response.py [inntak.csv] [uttak.png] [titill]
Sjalfgefid: data/step_response.csv -> data/step_response.png
"""
import sys
import csv
import matplotlib.pyplot as plt
def load_csv(path):
cols = {"time_ms": [], "ref_rpm": [], "actual_rpm": [],
"pwm_requested": [], "pwm_actual": []}
with open(path, newline="") as f:
reader = csv.DictReader(f)
for row in reader:
try:
for key in cols:
cols[key].append(float(row[key]))
except (ValueError, KeyError):
# sleppir linum sem eru ekki gild data (t.d. rusl fyrir/eftir)
for key in cols:
if len(cols[key]) > len(cols["time_ms"]):
cols[key].pop()
continue
return cols
def plot(cols, out_path, title_suffix=""):
time_s = [t / 1000.0 for t in cols["time_ms"]]
ref_rpm = cols["ref_rpm"]
actual_rpm = cols["actual_rpm"]
pwm_requested = cols["pwm_requested"]
pwm_actual = cols["pwm_actual"]
fig, ax1 = plt.subplots(figsize=(10, 5))
ax1.plot(time_s, ref_rpm, label="Reference (ref_rpm)", color="#666666",
linestyle="--", linewidth=1.5)
ax1.plot(time_s, actual_rpm, label="Measured (actual_rpm)", color="#1f77b4",
linewidth=1.8)
ax1.set_xlabel("Time [s]")
ax1.set_ylabel("Angular velocity [RPM]")
ax1.grid(True, alpha=0.3)
ax2 = ax1.twinx()
ax2.plot(time_s, pwm_requested, label="PWM requested (unclamped)",
color="#d62728", linewidth=1.0, alpha=0.5, linestyle=":")
ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
color="#d62728", linewidth=1.4)
ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
ax2.axhline(-255, color="#d62728", linewidth=0.6, alpha=0.3)
ax2.set_ylabel("PWM [-255, 255]")
# Merkjum stokkpunktinn (fyrsta stadin thar sem ref hoppar fra 0)
step_idx = next((i for i, r in enumerate(ref_rpm) if r > 0), None)
if step_idx is not None:
ax1.axvline(time_s[step_idx], color="black", linewidth=0.8,
linestyle=":")
ax1.text(time_s[step_idx], max(actual_rpm) * 1.02, " step",
fontsize=9, va="bottom")
lines1, labels1 = ax1.get_legend_handles_labels()
lines2, labels2 = ax2.get_legend_handles_labels()
ax1.legend(lines1 + lines2, labels1 + labels2, loc="lower right",
fontsize=8)
title = "Double step response: RPM and PWM over time"
if title_suffix:
title += f" ({title_suffix})"
fig.suptitle(title)
fig.tight_layout()
fig.savefig(out_path, dpi=150)
print(f"Vistad: {out_path}")
if __name__ == "__main__":
in_path = sys.argv[1] if len(sys.argv) > 1 else "data/twostep.csv"
out_path = sys.argv[2] if len(sys.argv) > 2 else "data/twostep.png"
title_suffix = sys.argv[3] if len(sys.argv) > 3 else ""
data = load_csv(in_path)
plot(data, out_path, title_suffix)
src/initialization_state.cpp
+7 -2
View File
@@ -15,13 +15,17 @@ void InitializationState::enter()
context->reset_speed_measurement();
Serial.println("Boot-up");
enter_time_ms = millis();
}
void InitializationState::update()
{
context->to_operational();
// Non-blocking bið svo aðallykkjan haldi áfram að keyra
if (millis() - enter_time_ms >= WAIT_MS)
{
context->to_operational();
}
}
@@ -32,4 +36,5 @@ void InitializationState::command(char c)
void InitializationState::exit()
{
Serial.println("Boot-up");
}
src/main.cpp
+4
View File
@@ -79,3 +79,7 @@ int main()
return 0;
}
// int main(){
// return 0;
// }
src/main_P2.cpp
-88
View File
@@ -1,88 +0,0 @@
/* #include <avr/io.h>
#include <util/delay.h>
#include <Arduino.h>
#include "rotary_encoder_driver.h"
#include "motor_driver.h"
#include "p_controller.h"
RotaryEncoderDriver encoder;
MotorDriver motor;
P_controller controller(12.5);
const double REF_RPM1 = 30.0;
const double REF_RPM2 = 50.0;
const uint16_t STEP1_AT_SAMPLE = 50;
const uint16_t STEP2_AT_SAMPLE = 500;
const uint16_t STOP_AT_SAMPLE = 1000;
int main() {
init();
Serial.begin(115200);
cli();
encoder.begin();
motor.begin();
sei();
// Mótor stopp og smá bið svo kerfið sé í kyrrstöðu áður en mælingin hefst
motor.stop();
_delay_ms(2000);
Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual");
Serial.println("0.0,0.0,0.0,0.0,0.0");
encoder.reset_speed_measurement();
uint16_t sample = 0;
double ref = 0.0;
while (true) {
if (encoder.new_speed_available()) {
sample++;
float time_ms = sample * 4.0f;
// Step-inntak: viðmiðið hoppar úr 0 í REF_RPM á STEP_AT_SAMPLE
if (sample == STEP1_AT_SAMPLE) {
ref = REF_RPM1;
}
if (sample == STEP2_AT_SAMPLE) {
ref = REF_RPM2;
}
double actual = encoder.rpm();
double pwm_percent = controller.update(ref, actual);
double pwm_requested = pwm_percent * 2.55;
double pwm_actual = pwm_requested;
if (pwm_actual > 255.0) pwm_actual = 255.0;
if (pwm_actual < -255.0) pwm_actual = -255.0;
motor.set(pwm_actual);
Serial.print(time_ms, 1);
Serial.print(",");
Serial.print(ref, 1);
Serial.print(",");
Serial.print(actual, 2);
Serial.print(",");
Serial.print(pwm_requested, 1);
Serial.print(",");
Serial.println(pwm_actual, 1);
if (sample >= STOP_AT_SAMPLE) {
motor.stop();
while (true) {
}
}
}
}
return 0;
}
*/
src/motor_controller.cpp
+1 -1
View File
@@ -15,7 +15,7 @@ MotorController::MotorController(
encoder(encoder),
motor(motor),
controller(controller),
reference_rpm(30.0)
reference_rpm(40.0)
{
}
src/motor_driver.cpp
+52 -44
View File
@@ -3,6 +3,37 @@
#include <avr/io.h>
// Í Fast PWM gefur OCR = 0 samt einn stuttan púls í hverri lotu.
// Til að pinni sé alveg LOW er hann aftengdur frá timernum (COM-bitar)
// og keyrður LOW gegnum PORT-registerið.
static void ain1_off() // D3 = PD3 = OC2B
{
TCCR2A &= ~(1 << COM2B1);
PORTD &= ~(1 << PORTD3);
OCR2B = 0;
}
static void ain2_off() // D11 = PB3 = OC2A
{
TCCR2A &= ~(1 << COM2A1);
PORTB &= ~(1 << PORTB3);
OCR2A = 0;
}
static void ain1_pwm(uint8_t duty)
{
OCR2B = duty;
TCCR2A |= (1 << COM2B1);
}
static void ain2_pwm(uint8_t duty)
{
OCR2A = duty;
TCCR2A |= (1 << COM2A1);
}
MotorDriver::MotorDriver()
{
}
@@ -24,57 +55,32 @@ void MotorDriver::begin()
TCCR2A |= (1 << WGM20);
TCCR2A |= (1 << WGM21);
// Non-inverting PWM on OC2A and OC2B
TCCR2A |= (1 << COM2A1);
TCCR2A |= (1 << COM2B1);
// Timer2 prescaler = 32
TCCR2B |= (1 << CS21);
TCCR2B |= (1 << CS20);
OCR2A = 0;
OCR2B = 0;
//stop();
// PWM-úttök eru tengd í set() eftir þörfum
stop();
}
void MotorDriver::forward()
{
// AIN1 / D3 = HIGH
// AIN2 / D11 = LOW
//PORTD |= (1 << PORTD3);
//PORTB &= ~(1 << PORTB3);
OCR2A = 0;
OCR2B = 255;
set(255.0);
}
void MotorDriver::reverse()
{
// AIN1 / D3 = LOW
// AIN2 / D11 = HIGH
//PORTD &= ~(1 << PORTD3);
//PORTB |= (1 << PORTB3);
OCR2B = 0;
OCR2A = 255;
set(-255.0);
}
void MotorDriver::stop()
{
// Both LOW
//PORTD &= ~(1 << PORTD3);
//PORTB &= ~(1 << PORTB3);
OCR2A = 0;
OCR2B = 0;
ain1_off();
ain2_off();
}
void MotorDriver::set(double pwm)
@@ -91,20 +97,22 @@ void MotorDriver::set(double pwm)
}
if (pwm > 0)
{
// Forward
OCR2A = 0;
OCR2B = (uint8_t)pwm;
}
else if (pwm < 0)
{
// Reverse
OCR2B = 0;
OCR2A = (uint8_t)(-pwm);
}
else
uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
if (duty == 0)
{
stop();
}
else if (pwm > 0)
{
// Forward
ain2_off();
ain1_pwm(duty);
}
else
{
// Reverse
ain1_off();
ain2_pwm(duty);
}
}
src/rotary_encoder_driver_unused.cpp
-61
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@@ -1,61 +0,0 @@
/* #include "rotary_encoder_driver.h"
#include <avr/interrupt.h>
RotaryEncoderDriver* driver = nullptr;
RotaryEncoderDriver::RotaryEncoderDriver()
: cycle(0)
, count(0)
, prev_count(0)
, led(5)
, eA(2)
, eB(5) {}
void RotaryEncoderDriver::begin() {
driver = this;
led.init();
eA.init();
eB.init();
EICRA |= (1<<ISC01) | (1<<ISC00);
EIMSK |= (1<<INT0);
timer.init(100);
}
void RotaryEncoderDriver::update() {
count += eB.is_hi() ? 1 : -1;
led.set_hi();
}
int RotaryEncoderDriver::position() {
led.set_lo();
return count;
}
void RotaryEncoderDriver::update_delta() {
if (++cycle == 0) {
delta = count - prev_count;
prev_count = count;
}
led.set_lo();
}
float RotaryEncoderDriver::count_per_sec() {
return delta / (256.0f * 0.0001f);
}
float RotaryEncoderDriver::rpm() {
return (count_per_sec() * 60) / 1050.0;
}
ISR(INT0_vect) {
driver->update();
}
ISR(TIMER1_COMPA_vect) {
driver->update_delta();
}
*/
src/temporary_main.cpp
-53
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@@ -1,53 +0,0 @@
/* Óvirkt núna, "alvöru" main() er í main.cpp. Þessi skrá var notuð í undirbúning/prófun
#include <Arduino.h>
#include "p_controller.h"
P_controller controller(2.0);
int main()
{
init();
Serial.begin(115200);
double result = controller.update(100.0, 70.0);
Serial.print("PWM = ");
Serial.println(result);
while (true)
{
}
return 0;
}
#include <Arduino.h>
#include <util/delay.h>
#include "motor_driver.h"
MotorDriver motor;
int main()
{
init();
motor.begin();
while (true)
{
motor.set(60);
_delay_ms(3000);
motor.set(120);
_delay_ms(3000);
motor.set(240);
_delay_ms(3000);
}
}
*/