This commit is contained in:
Lucien Renaud 2022-05-24 11:19:39 +02:00
parent 1bcd56e5f5
commit 050e673c39
5 changed files with 113 additions and 38 deletions

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src/joystickXY.cppok Normal file
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#include <Arduino.h>
#include <SimpleFOC.h>
MagneticSensorAnalog sensor = MagneticSensorAnalog(A0, 183, 512);
BLDCMotor motorX = BLDCMotor(4);
BLDCDriver3PWM driverX = BLDCDriver3PWM(3, 5, 6);
BLDCMotor motorY = BLDCMotor(4);
BLDCDriver3PWM driverY = BLDCDriver3PWM(7, 8, 9);
float targetX = 0.0;
float targetY = 0.0;
float target = 6.3;
void setup()
{
sensor.init();
// motorY.linkSensor(&sensor);
// X MOTR STUFF
driverX.voltage_power_supply = 5.0;
driverX.init();
motorX.linkDriver(&driverX);
motorX.foc_modulation = FOCModulationType::SpaceVectorPWM;
motorX.controller = MotionControlType::angle_openloop;
motorX.voltage_limit = 0.6;
// motorX.PID_velocity.P = 0.001f;
// motorX.PID_velocity.I = 20;
// motorX.PID_velocity.D = 0;
// motorX.LPF_velocity.Tf = 0.01f;
// motorX.P_angle.P = 20;
motorX.velocity_limit = 10;
// *************** Y MOTOR STUFF ******************
driverY.voltage_power_supply = 5.0;
driverY.init();
motorY.linkDriver(&driverY);
motorY.foc_modulation = FOCModulationType::SinePWM;
motorY.controller = MotionControlType::angle_openloop;
motorY.voltage_limit = 0.6;
// motorY.PID_velocity.P = 0.001f;
// motorY.PID_velocity.I = 0;
// motorY.PID_velocity.D = 0;
// motorY.LPF_velocity.Tf = 0.01f;
// motorY.P_angle.P = 0.1;
motorY.velocity_limit = 10;
Serial.begin(115200);
_delay(100);
Serial.println("INIT");
// initialize motor
motorX.init();
motorX.initFOC();
motorY.init();
motorY.initFOC();
Serial.println(F("Motor ready."));
_delay(1000);
// Serial.println(sensor.getPreciseAngle());
}
void serialLoop()
{
static String received_chars;
while (Serial.available())
{
char inChar = (char)Serial.read();
received_chars += inChar;
if (inChar == '\n')
{
target = received_chars.toFloat();
Serial.print("Target = ");
Serial.print(target);
received_chars = "";
}
}
}
float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
{
return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
}
void loop()
{
sensor.update();
serialLoop();
int senseX = analogRead(A2);
int senseY = analogRead(A3);
targetX = mapfloat(senseX, 0.0, 1024.0, -0.6, 1.2);
targetY = mapfloat(senseY, 0.0, 1024.0, -0.5, 2.2);
Serial.print("senseX=");
Serial.print(senseX);
Serial.print("\t mappedX=");
Serial.print(targetX);
Serial.print("\t senseY=");
Serial.print(senseY);
Serial.print("\t mappedY=");
Serial.println(targetY);
motorX.move(targetX);
motorX.loopFOC();
motorY.move(targetY);
motorY.loopFOC();
}

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// Test file
#include <Arduino.h>
const int analogInPin = A2; // Analog input pin that the potentiometer is attached to
//const int analogOutPin = 9; // Analog output pin that the LED is attached to
int sensorValue = 0; // value read from the pot
int maxValue = 200;
int minValue = 200;
void setup() {
// initialize serial communications at 9600 bps:
Serial.begin(115200);
}
void loop() {
// read the analog in value:
sensorValue = analogRead(analogInPin);
if(sensorValue > maxValue)
{
maxValue = sensorValue;
}
else if(sensorValue < minValue)
{
minValue = sensorValue;
}
Serial.print("sensor = ");
Serial.print(sensorValue);
Serial.print("\t min=");
Serial.print(minValue);
Serial.print("\tmax=");
Serial.println(maxValue);
delay(2);
}