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more precise movements

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This commit is contained in:
Stepan Usatiuk
2020-03-20 14:28:53 +03:00
parent 29db5fa278
commit 15c63a3d8f
2 changed files with 25 additions and 31 deletions
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4
Firmware/MotorControl/include/Config.h
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@@ -6,6 +6,8 @@ constexpr unsigned int stsUpdDelay{10};
constexpr float defRPM{2}, defEggLength{60}, defEggDia{45}, xLimit{85}; constexpr float defRPM{2}, defEggLength{60}, defEggDia{45}, xLimit{85};
constexpr float defYDegPerMM{360 / (PI * defEggDia)}, constexpr float defYDegPerMM{360 / (PI * defEggDia)},
defXDegPerMM{xLimit / defEggLength}; defXDegPerMM{xLimit / defEggLength};
constexpr int adjustDelay{100};
constexpr int timer2Div {8};
constexpr int ticksPerSecond{F_CPU / (timer2Div * 255)};
#endif #endif

52
Firmware/MotorControl/src/main.cpp
View File

@@ -12,7 +12,9 @@ int curRPM = defRPM;
bool needAdjust; bool needAdjust;
int calculateDelay(float rpm, int stepsPerRevolution) { int calculateDelay(float rpm, int stepsPerRevolution) {
return ((float)1000 * (float)60) / (rpm * (float)stepsPerRevolution); //Delay between steps in a timer routine
// Delay = (ticks/sec)/(rpm/60 * steps/rev)
return ((float)ticksPerSecond * (float)60) / (rpm * (float)stepsPerRevolution);
} }
void adjustRPM() { void adjustRPM() {
@@ -116,7 +118,7 @@ void execCommand(Command cmd) {
void setup() { void setup() {
Serial.begin(9600); Serial.begin(9600);
servoStepper.setPos(xLimit); servoStepper.setPos(xLimit);
pen.init(); pen.init();
Wire.begin(8); Wire.begin(8);
Wire.onReceive(receiveEvent); Wire.onReceive(receiveEvent);
@@ -127,37 +129,18 @@ void setup() {
pinMode(A0, OUTPUT); pinMode(A0, OUTPUT);
digitalWrite(A0, true); digitalWrite(A0, true);
OCR2A = 250; OCR2A = 250;
TCCR2A |= (1 << WGM20) | (1 << CS22); TCCR2A |= (1 << WGM20) | (1 << CS21);
TIMSK2 |= (1 << OCIE2A); TIMSK2 |= (1 << OCIE2A);
wdt_enable(WDTO_8S);} wdt_enable(WDTO_8S);
volatile unsigned int tick = 0;
volatile bool armed = false;
/*
We use our own timer for more precise timings
And it ticks only when armed, to ensure
that steppersRoutine() doesn't skip a single tick
*/
ISR(TIMER2_COMPA_vect) {
if (armed) {
tick++;
armed = false;
}
} }
volatile unsigned int tick = 0;
void steppersRoutine() { void steppersRoutine() {
if (!armed) { if (tick % eggStepperDelay == 0) {
if (tick % adjustDelay == 0) { eggStepper.doStep();
adjustRPM(); }
} if (tick % servoStepperDelay == 0) {
if (tick % eggStepperDelay == 0) { servoStepper.doStep();
eggStepper.doStep();
}
if (tick % servoStepperDelay == 0) {
servoStepper.doStep();
}
armed = true;
} }
if (eggStepper.getRemainingSteps() == 0 && if (eggStepper.getRemainingSteps() == 0 &&
servoStepper.getRemainingSteps() == 0) { servoStepper.getRemainingSteps() == 0) {
@@ -165,9 +148,18 @@ void steppersRoutine() {
} }
} }
/*
We use our own timer for more precise timings
And it ticks only when armed, to ensure
that steppersRoutine() doesn't skip a single tick
*/
ISR(TIMER2_COMPA_vect) {
tick++;
steppersRoutine();
}
void loop() { void loop() {
if (newCommand) { if (newCommand) {
execCommand(command); execCommand(command);
} }
steppersRoutine();
} }