Merge branch 'main' of ssh://gitea.cs.ru.is:2222/helgie22/ESP_Project3_H26 into Isak_part2
This commit is contained in:
+8
-3
@@ -1,6 +1,11 @@
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.pio
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venv
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*.py
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__pycache__
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||||
*.csv
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||||
scripts
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*.typ
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*.typ
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*.pdf
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# Vélarsértækar skrár sem PlatformIO býr til sjálft
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||||
.vscode/c_cpp_properties.json
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||||
.vscode/launch.json
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||||
compile_commands.json
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Vendored
-56
@@ -1,56 +0,0 @@
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// PLEASE DO NOT MODIFY IT AND USE "platformio.ini":
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Vendored
-44
@@ -1,44 +0,0 @@
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"loadMode": "manual"
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@@ -1,200 +0,0 @@
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[
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{
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||||
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/CDC.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 -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/CDC.cpp",
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"directory": "/Users/dadi/embedded/proj1",
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"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/IPAddress.cpp",
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"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/WInterrupts.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/WInterrupts.c",
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||||
"directory": "/Users/dadi/embedded/proj1",
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"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WMath.cpp",
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||||
"output": ".pio/build/nanoatmega328new/FrameworkArduino/WMath.cpp.o"
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"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/WString.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 -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/WString.cpp",
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"directory": "/Users/dadi/embedded/proj1",
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"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WString.cpp",
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"output": ".pio/build/nanoatmega328new/FrameworkArduino/WString.cpp.o"
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|
||||
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/abi.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 -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/abi.cpp",
|
||||
"directory": "/Users/dadi/embedded/proj1",
|
||||
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/abi.cpp",
|
||||
"output": ".pio/build/nanoatmega328new/FrameworkArduino/abi.cpp.o"
|
||||
},
|
||||
{
|
||||
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/hooks.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/hooks.c",
|
||||
"directory": "/Users/dadi/embedded/proj1",
|
||||
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/hooks.c",
|
||||
"output": ".pio/build/nanoatmega328new/FrameworkArduino/hooks.c.o"
|
||||
},
|
||||
{
|
||||
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/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 -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/main.cpp",
|
||||
"directory": "/Users/dadi/embedded/proj1",
|
||||
"file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/main.cpp",
|
||||
"output": ".pio/build/nanoatmega328new/FrameworkArduino/main.cpp.o"
|
||||
},
|
||||
{
|
||||
"command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/new.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 -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/new.cpp",
|
||||
"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"
|
||||
}
|
||||
]
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -18,8 +21,7 @@ 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
|
||||
|
||||
state Stopped
|
||||
Stopped : Entry / Stop motor
|
||||
@@ -28,7 +30,7 @@ state Stopped
|
||||
|
||||
|
||||
|
||||
Initialization --> Operational : initialization complete
|
||||
Initialization --> Operational : initialization\n complete
|
||||
Operational --> Initialization : reset
|
||||
Operational --> Stopped : fault detected
|
||||
|
||||
|
||||
@@ -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;
|
||||
|
||||
|
||||
@@ -4,6 +4,7 @@
|
||||
#include "rotary_encoder_driver.h"
|
||||
#include "motor_driver.h"
|
||||
#include "p_controller.h"
|
||||
#include "digital_out.h"
|
||||
|
||||
class State;
|
||||
|
||||
@@ -11,6 +12,10 @@ class State;
|
||||
class MotorController
|
||||
{
|
||||
private:
|
||||
static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
|
||||
static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
|
||||
static const uint8_t LED_PIN = 5; // PB5 = D13 = LED_BUILTIN
|
||||
|
||||
State* current_state;
|
||||
|
||||
State* initialization_state;
|
||||
@@ -21,6 +26,8 @@ private:
|
||||
MotorDriver& motor;
|
||||
P_controller& controller;
|
||||
|
||||
Digital_out led;
|
||||
|
||||
double reference_rpm;
|
||||
|
||||
|
||||
@@ -45,7 +52,7 @@ public:
|
||||
|
||||
void command(char c);
|
||||
|
||||
void transition_to(State* new_state);
|
||||
void transition_to(State& new_state);
|
||||
|
||||
|
||||
void to_initialization();
|
||||
@@ -62,6 +69,10 @@ public:
|
||||
void stop_motor();
|
||||
|
||||
void reset_speed_measurement();
|
||||
|
||||
void led_on();
|
||||
|
||||
void led_off();
|
||||
};
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
@@ -4,37 +4,36 @@
|
||||
#include <stdint.h>
|
||||
|
||||
#include "digital_in.h"
|
||||
//#include "digital_out.h"
|
||||
#include "timer_usec.h"
|
||||
|
||||
class RotaryEncoderDriver {
|
||||
static const uint8_t HIST_LEN = 4; // 4 x 4 ms = 16 ms gluggi fyrir rpm-utreikning
|
||||
public:
|
||||
static constexpr uint16_t SAMPLE_PERIOD_US = 4000; // Ts = 4 ms
|
||||
static constexpr float COUNTS_PER_REV = 1050.0f;
|
||||
|
||||
volatile uint8_t cycle;
|
||||
volatile int16_t count;
|
||||
volatile int16_t prev_count;
|
||||
private:
|
||||
static const uint8_t HIST_LEN = 4; // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
|
||||
|
||||
volatile int32_t count;
|
||||
volatile int16_t delta;
|
||||
volatile bool speed_ready;
|
||||
|
||||
volatile int16_t history[HIST_LEN];
|
||||
volatile int32_t history[HIST_LEN];
|
||||
volatile uint8_t hist_idx;
|
||||
|
||||
//Digital_out led;
|
||||
|
||||
Digital_in eA;
|
||||
Digital_in eB;
|
||||
|
||||
Timer_usec timer;
|
||||
|
||||
public:
|
||||
volatile int16_t delta;
|
||||
|
||||
RotaryEncoderDriver();
|
||||
|
||||
void begin();
|
||||
|
||||
void update();
|
||||
|
||||
int position();
|
||||
int32_t position();
|
||||
|
||||
void update_delta();
|
||||
|
||||
|
||||
+1
-1
@@ -6,7 +6,7 @@ class MotorController;
|
||||
class State
|
||||
{
|
||||
protected:
|
||||
MotorController* context;
|
||||
MotorController* context = nullptr;
|
||||
|
||||
public:
|
||||
virtual ~State()
|
||||
|
||||
@@ -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)
|
||||
@@ -9,19 +9,23 @@ void InitializationState::enter()
|
||||
Serial.println();
|
||||
Serial.println("State: Initialization");
|
||||
|
||||
digitalWrite(LED_BUILTIN, LOW);
|
||||
context->led_off();
|
||||
|
||||
context->stop_motor();
|
||||
|
||||
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");
|
||||
}
|
||||
|
||||
+17
-13
@@ -16,14 +16,9 @@ RotaryEncoderDriver encoder;
|
||||
|
||||
MotorDriver motor;
|
||||
|
||||
P_controller controller(12.5);
|
||||
const double KP = 12.5;
|
||||
|
||||
|
||||
MotorController motor_controller(
|
||||
encoder,
|
||||
motor,
|
||||
controller
|
||||
);
|
||||
P_controller controller(KP);
|
||||
|
||||
|
||||
InitializationState initialization_state;
|
||||
@@ -32,6 +27,16 @@ OperationalState operational_state;
|
||||
|
||||
StoppedState stopped_state;
|
||||
|
||||
// Stöðurnar verða að vera skilgreindar á undan motor_controller
|
||||
MotorController motor_controller(
|
||||
encoder,
|
||||
motor,
|
||||
controller,
|
||||
initialization_state,
|
||||
operational_state
|
||||
);
|
||||
|
||||
|
||||
int main()
|
||||
{
|
||||
init();
|
||||
@@ -39,11 +44,6 @@ int main()
|
||||
Serial.begin(115200);
|
||||
|
||||
|
||||
pinMode(LED_BUILTIN, OUTPUT);
|
||||
|
||||
digitalWrite(LED_BUILTIN, LOW);
|
||||
|
||||
|
||||
cli();
|
||||
|
||||
encoder.begin();
|
||||
@@ -81,4 +81,8 @@ int main()
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
// int main(){
|
||||
// return 0;
|
||||
// }
|
||||
@@ -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;
|
||||
}
|
||||
*/
|
||||
@@ -7,7 +7,9 @@
|
||||
MotorController::MotorController(
|
||||
RotaryEncoderDriver& encoder,
|
||||
MotorDriver& motor,
|
||||
P_controller& controller
|
||||
P_controller& controller,
|
||||
State& initialization,
|
||||
State& operational
|
||||
)
|
||||
: current_state(nullptr),
|
||||
initialization_state(nullptr),
|
||||
@@ -16,7 +18,8 @@ MotorController::MotorController(
|
||||
encoder(encoder),
|
||||
motor(motor),
|
||||
controller(controller),
|
||||
reference_rpm(30.0)
|
||||
led(LED_PIN),
|
||||
reference_rpm(DEFAULT_REFERENCE_RPM)
|
||||
{
|
||||
}
|
||||
|
||||
@@ -30,25 +33,28 @@ void MotorController::set_states(
|
||||
initialization_state = initialization;
|
||||
operational_state = operational;
|
||||
stopped_state = stopped;
|
||||
//initialization_state.set_context(this);
|
||||
//operational_state.set_context(this);
|
||||
}
|
||||
|
||||
|
||||
void MotorController::begin()
|
||||
{
|
||||
led.init();
|
||||
led.set_lo();
|
||||
|
||||
transition_to(initialization_state);
|
||||
}
|
||||
|
||||
|
||||
void MotorController::transition_to(State* new_state)
|
||||
void MotorController::transition_to(State& new_state)
|
||||
{
|
||||
if (current_state != nullptr)
|
||||
{
|
||||
current_state->exit();
|
||||
}
|
||||
|
||||
current_state = new_state;
|
||||
|
||||
current_state->set_context(this);
|
||||
current_state = &new_state;
|
||||
|
||||
current_state->enter();
|
||||
}
|
||||
@@ -94,7 +100,7 @@ void MotorController::run_speed_controller()
|
||||
controller.update(reference_rpm, actual);
|
||||
|
||||
double pwm =
|
||||
pwm_percent * 2.55;
|
||||
pwm_percent * PWM_PER_PERCENT;
|
||||
|
||||
motor.set(pwm);
|
||||
}
|
||||
@@ -120,4 +126,15 @@ void MotorController::to_stopped()
|
||||
bool MotorController::fault_active()
|
||||
{
|
||||
return motor.fault_active();
|
||||
}
|
||||
}
|
||||
|
||||
//void MotorController::led_on()
|
||||
//{
|
||||
// led.set_hi();
|
||||
//}
|
||||
|
||||
|
||||
//void MotorController::led_off()
|
||||
//{
|
||||
// led.set_lo();
|
||||
//}
|
||||
|
||||
+50
-42
@@ -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()
|
||||
{
|
||||
}
|
||||
@@ -30,57 +61,32 @@ 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)
|
||||
@@ -97,26 +103,28 @@ void MotorDriver::set(double pwm)
|
||||
}
|
||||
|
||||
|
||||
if (pwm > 0)
|
||||
uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
|
||||
|
||||
if (duty == 0)
|
||||
{
|
||||
stop();
|
||||
}
|
||||
else if (pwm > 0)
|
||||
{
|
||||
// Forward
|
||||
OCR2A = 0;
|
||||
OCR2B = (uint8_t)pwm;
|
||||
}
|
||||
else if (pwm < 0)
|
||||
{
|
||||
// Reverse
|
||||
OCR2B = 0;
|
||||
OCR2A = (uint8_t)(-pwm);
|
||||
ain2_off();
|
||||
ain1_pwm(duty);
|
||||
}
|
||||
else
|
||||
{
|
||||
stop();
|
||||
// Reverse
|
||||
ain1_off();
|
||||
ain2_pwm(duty);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool MotorDriver::fault_active()
|
||||
{
|
||||
return !(PIND & (1 << PIND4));
|
||||
return !(PIND & (1 << PIND4));p
|
||||
}
|
||||
|
||||
@@ -8,7 +8,7 @@ void OperationalState::enter()
|
||||
{
|
||||
Serial.println("State: Operational");
|
||||
|
||||
digitalWrite(LED_BUILTIN, HIGH);
|
||||
context->led_on();
|
||||
}
|
||||
|
||||
// Part 1
|
||||
@@ -50,5 +50,5 @@ void OperationalState::exit()
|
||||
{
|
||||
context->stop_motor();
|
||||
|
||||
digitalWrite(LED_BUILTIN, LOW);
|
||||
context->led_off();
|
||||
}
|
||||
@@ -1,80 +1,70 @@
|
||||
#include "rotary_encoder_driver.h"
|
||||
#include <avr/interrupt.h>
|
||||
|
||||
RotaryEncoderDriver* driver = nullptr;
|
||||
static RotaryEncoderDriver* driver = nullptr;
|
||||
|
||||
RotaryEncoderDriver::RotaryEncoderDriver()
|
||||
: cycle(0)
|
||||
, count(0)
|
||||
, prev_count(0)
|
||||
: count(0)
|
||||
, delta(0)
|
||||
, speed_ready(false)
|
||||
, hist_idx(0)
|
||||
, eA(2)
|
||||
, eB(5)
|
||||
, delta(0)
|
||||
{
|
||||
for (uint8_t i = 0; i < HIST_LEN; i++)
|
||||
for (uint8_t i = 0; i < HIST_LEN; i++)
|
||||
{
|
||||
history[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void RotaryEncoderDriver::begin()
|
||||
void RotaryEncoderDriver::begin()
|
||||
{
|
||||
driver = this;
|
||||
|
||||
//led.init();
|
||||
eA.init();
|
||||
eB.init();
|
||||
|
||||
EICRA |= (1<<ISC01) | (1<<ISC00);
|
||||
EIMSK |= (1<<INT0);
|
||||
|
||||
timer.init(4000);
|
||||
timer.init(SAMPLE_PERIOD_US);
|
||||
}
|
||||
|
||||
void RotaryEncoderDriver::update()
|
||||
void RotaryEncoderDriver::update()
|
||||
{
|
||||
count += eB.is_hi() ? 1 : -1;
|
||||
//led.set_hi();
|
||||
}
|
||||
|
||||
int RotaryEncoderDriver::position()
|
||||
int32_t RotaryEncoderDriver::position()
|
||||
{
|
||||
|
||||
uint8_t oldSREG = SREG;
|
||||
|
||||
cli();
|
||||
|
||||
int16_t local_count = count;
|
||||
int32_t local_count = count;
|
||||
|
||||
SREG = oldSREG;
|
||||
|
||||
//led.set_lo();
|
||||
|
||||
return local_count;
|
||||
}
|
||||
}
|
||||
|
||||
void RotaryEncoderDriver::update_delta()
|
||||
void RotaryEncoderDriver::update_delta()
|
||||
{
|
||||
|
||||
int16_t oldest = history[hist_idx];
|
||||
int32_t oldest = history[hist_idx];
|
||||
|
||||
history[hist_idx] = count;
|
||||
|
||||
hist_idx = (hist_idx + 1) % HIST_LEN;
|
||||
|
||||
delta = count - oldest; // breyting yfir HIST_LEN * Ts (16 ms) glugga
|
||||
|
||||
prev_count = count;
|
||||
delta = (int16_t)(count - oldest); // breyting yfir HIST_LEN * Ts (16 ms) glugga
|
||||
|
||||
speed_ready = true;
|
||||
|
||||
//led.set_lo();
|
||||
}
|
||||
|
||||
float RotaryEncoderDriver::count_per_sec()
|
||||
float RotaryEncoderDriver::count_per_sec()
|
||||
{
|
||||
|
||||
uint8_t oldSREG = SREG;
|
||||
@@ -85,14 +75,12 @@ float RotaryEncoderDriver::count_per_sec()
|
||||
|
||||
SREG = oldSREG;
|
||||
|
||||
return local_delta / (HIST_LEN * 0.004f);
|
||||
return local_delta / (HIST_LEN * SAMPLE_PERIOD_US * 1e-6f);
|
||||
}
|
||||
|
||||
|
||||
float RotaryEncoderDriver::rpm()
|
||||
{
|
||||
const float COUNTS_PER_REV = 1050.0f;
|
||||
|
||||
return count_per_sec() * 60.0f / COUNTS_PER_REV;
|
||||
}
|
||||
|
||||
@@ -121,12 +109,10 @@ void RotaryEncoderDriver::reset_speed_measurement()
|
||||
|
||||
cli();
|
||||
|
||||
cycle = 0;
|
||||
prev_count = count;
|
||||
delta = 0;
|
||||
speed_ready = false;
|
||||
|
||||
for (uint8_t i = 0; i < HIST_LEN; i++)
|
||||
for (uint8_t i = 0; i < HIST_LEN; i++)
|
||||
{
|
||||
history[i] = count;
|
||||
}
|
||||
@@ -136,13 +122,11 @@ void RotaryEncoderDriver::reset_speed_measurement()
|
||||
SREG = oldSREG;
|
||||
}
|
||||
|
||||
ISR(INT0_vect)
|
||||
ISR(INT0_vect)
|
||||
{
|
||||
driver->update();
|
||||
}
|
||||
ISR(TIMER1_COMPA_vect)
|
||||
ISR(TIMER1_COMPA_vect)
|
||||
{
|
||||
driver->update_delta();
|
||||
driver->update_delta();
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -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();
|
||||
}
|
||||
|
||||
*/
|
||||
@@ -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);
|
||||
}
|
||||
}
|
||||
*/
|
||||
Reference in New Issue
Block a user