164 lines
3 KiB
Arduino
164 lines
3 KiB
Arduino
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#include <Arduino.h> /* Just in case of using the vscode ide for arduino programming, not needed if using the commom arduino ide */
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#include <RotaryEncoder.h> // Library to use the rotary encoder KY-040
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#include <IRremote.hpp> // Library to receive IR signals
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#define PPR 29 // Constant for the rotary encoder angle
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#define RPWM 5
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#define LPWM 6
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/*
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Pins connected to aduino
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IBT-2 pin 1 (RPWM) to Arduino pin 5(PWM)
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IBT-2 pin 2 (LPWM) to Arduino pin 6(PWM)
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IBT-2 pins 3 (R_EN), 4 (L_EN), 7 (VCC) to Arduino 5V
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IBT-2 pin 8 (GND) to Arduino's GND
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IBT-2 pins 5 (R_IS) and 6 (L_IS) not connected
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*/
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// rotary encoder pins
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const int pin1 = 2;
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const int pin2 = 3;
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RotaryEncoder encoder(pin1, pin2, RotaryEncoder::LatchMode::TWO03);
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// potentiometer pin (velocity control)
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const int pot = A0;
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float vel = 30;
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// angle variables
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float tgtangle = 30;
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float angle = 0;
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// IR receiver parameters
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const int IR = 9;
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IRrecv IrReceiv(IR);
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decode_results result;
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// ON/OFF codes
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const int codeON = 0xAA1; // on
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const int codeOFF = 0xAA6; // off
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// function in use to move the sculpture 30 degrees / -30 degrees
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void moveTo(float now, float target)
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{
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//vel = (analogRead(pot) / 4); // velocity set by the potentiometer
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if (target > 0)
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{
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if (now <= target)
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{
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analogWrite(LPWM, 0);
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analogWrite(RPWM, vel);
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}
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else
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{
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analogWrite(RPWM, 0);
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analogWrite(LPWM, 0);
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delay(200);
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tgtangle = -30;
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}
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}
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else
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{
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if (now >= target)
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{
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analogWrite(RPWM, 0);
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analogWrite(LPWM, vel);
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}
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else
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{
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analogWrite(RPWM, 0);
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analogWrite(LPWM, 0);
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delay(200);
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tgtangle = 30;
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}
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}
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}
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// function in use to stop the sculpture
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void stopMottor()
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{
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analogWrite(RPWM, 0);
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analogWrite(LPWM, 0);
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}
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// function that obtain the angle at the moment
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void getAngle()
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{
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static int pos = 0;
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encoder.tick();
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int newPos = encoder.getPosition();
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if (pos != newPos)
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{
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angle = (float)newPos / PPR * 360;
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Serial.print("Desired angle: ");
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Serial.print(tgtangle);
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Serial.print(" || Actual angle: ");
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Serial.print(angle);
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Serial.print(" || Direction: ");
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Serial.print((int)(encoder.getDirection()));
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Serial.print(" || RPM: ");
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Serial.println((int)(encoder.getRPM()));
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pos = newPos;
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}
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}
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void setup()
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{
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Serial.begin(9600);
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pinMode(RPWM, OUTPUT);
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pinMode(LPWM, OUTPUT);
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}
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void loop()
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{
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if (IrReceiv.decode(&result)) // If any signal is detected
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{
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Serial.print(result.bits);
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Serial.print(": ");
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Serial.println(result.value, HEX);
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IrReceiv.resume();
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}
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switch (result.value) // Stop or Move the sculpture according to the IR code
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{
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case codeON:
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getAngle();
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Serial.println("Move");
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moveTo(angle, tgtangle);
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break;
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case codeOFF:
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Serial.println("Stop");
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stopMottor();
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break;
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default:
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Serial.println("ERROR");
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stopMottor();
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break;
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}
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}
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