516 lines
18 KiB
C++
516 lines
18 KiB
C++
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#include <Arduino.h>
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#include <ShiftRegister74HC595.h>
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//#include <PID_v1.h>
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//#include <SPI.h>
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#include <RPC.h>
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#include "SerialRPC.h"
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#include "constants.h"
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#define DEBUG_M4 true
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// Inicializando RTOS
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using namespace rtos;
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Thread sensorThread;
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#if PID_ENABLE
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// ************************************************ Variables PID *****************************************************************
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double Setpoint = 0.0, Input = 0.0, Output = 0.0; // Setpoint=Posición designada; Input=Posición del motor; Output=Tensión de salida para el motor.
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double kp = 0.0, ki = 0.0, kd = 0.0; // Constante proporcional, integral y derivativa.
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double outMax = 0.0, outMin = 0.0; // Límites para no sobrepasar la resolución del PWM.
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// **************************************************** Otras Variables ***********************************************************
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volatile long contador = 0; // En esta variable se guardará los pulsos del encoder y que interpreremos como distancia (o ángulo si ese fuese el caso).
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byte ant = 0, act = 0; // Sólo se utiliza los dos primeros bits de estas variables y servirán para decodificar el encoder. (ant=anterior, act=actual.)
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byte cmd = 0; // Un byte que utilizamos para la comunicación serie. (cmd=comando.)
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unsigned int tmp = 0; // Variable que utilizaremos para poner el tiempo de muestreo.
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const byte ledok = 13; // El pin 13 de los Arduinos tienen un led que utilizo para mostrar que el motor ya ha llegado a la posición designada.
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// ********************************************************************************************************************************
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PID myPID(&Input, &Output, &Setpoint, 0.0, 0.0, 0.0, DIRECT); // Parámetros y configuración para invocar la librería.
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#endif
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// create a global shift register object
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// parameters: <number of shift registers> (data pin, clock pin, latch pin)
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ShiftRegister74HC595<1> sr(8, 4, 12);
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#define M2A 0
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#define M1A 1
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#define M0A 2
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#define M0B 3
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#define M1B 4
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#define M3A 5
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#define M2B 6
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#define M3B 7
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#define M4A 31
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#define M4B 33
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#define M5A 29
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#define M5B 27
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const int EN_MOTOR[6] = {11, 3, 5, 6, 10, 9};
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const int MA_MOTOR[6] = {M0A, M1A, M2A, M3A, M4A, M5A};
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const int MB_MOTOR[6] = {M0B, M1B, M2B, M3B, M4B, M5B};
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#define sr_enable 7
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#define STOP 0
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#define CONTINUOUS 1
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#define ONE_TURN 2
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const long TIME_LINEAL_MAX[6] = {4500, 670, 4250, 6200, 4000, 4000 }; //ms
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#define command Serial2
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volatile float fps_read = 0;
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volatile float fps_temp = 0;
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unsigned long time_sec= millis();
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unsigned long time_fps = micros();
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static volatile unsigned long lastTimeDebounce = 0; //Tiempo del rebote
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void fps_count() {
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if(digitalRead(20) && (micros()-lastTimeDebounce >= 500))
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{
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lastTimeDebounce = micros();
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fps_temp = 1000000./(float)(micros()-time_fps);
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if(fps_temp<70) fps_read = fps_temp;
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time_fps = micros();
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if((millis()-time_sec)>=1000)
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{
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//Serial.println(fps_read);
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time_sec = millis();
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}
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}
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}
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void backward(int motor, int SPEED)
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{
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if(motor<4)
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{
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sr.set(MA_MOTOR[motor], HIGH);
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sr.set(MB_MOTOR[motor], LOW);
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}
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else
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{
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digitalWrite(MA_MOTOR[motor], HIGH);
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digitalWrite(MB_MOTOR[motor], LOW);
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}
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analogWrite(EN_MOTOR[motor], SPEED);
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}
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void forward(int motor, int SPEED)
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{
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if(motor<4)
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{
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sr.set(MA_MOTOR[motor], LOW);
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sr.set(MB_MOTOR[motor], HIGH);
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}
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else
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{
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digitalWrite(MA_MOTOR[motor], LOW);
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digitalWrite(MB_MOTOR[motor], HIGH);
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}
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analogWrite(EN_MOTOR[motor], SPEED);
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}
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void stop(int motor)
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{
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sr.set(MA_MOTOR[motor], LOW);
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sr.set(MB_MOTOR[motor], LOW);
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analogWrite(EN_MOTOR[motor], 0);
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}
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unsigned long time_move_motor[6] = {0, 0, 0, 0, 0, 0};
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unsigned long time_refresh[6] = { millis(), millis(), millis(), millis(), millis(), millis()};
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float position_motor[6] = { 0, 0, 0, 0, 0, 0};
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bool state_pmotor[6] = { false, false, false, false, false, false};
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void config_position_motor(int motor, float position) //Configuracion posicion en % motor
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{
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if((position!=position_motor[motor])&&(!state_pmotor[motor]))
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{
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time_move_motor[motor] = abs(position_motor[motor]-position)*TIME_LINEAL_MAX[motor]/100;
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time_refresh[motor] = millis();
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if(position>position_motor[motor]) forward(motor,255);
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else backward(motor,255);
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position_motor[motor] = position;
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state_pmotor[motor] = true;
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//Serial.println(time_move_motor[motor]);
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}
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}
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bool state_smotor[6] = { false, false, false, false, false, false};
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void config_speed_motor(int motor, int direction, int speed) //Configuracion velocidad motor
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{
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if(direction==FORWARD) forward(motor,speed);
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else if(direction==BACKWARD) backward(motor,speed);
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if(speed>0) state_smotor[motor] = true;
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else state_smotor[motor] = false;
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}
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int interval_direction[6] = {0, 0, 0, 0, 0, 0};
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int interval_frames[6] = {0, 0, 0, 0, 0, 0};
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unsigned long interval_time[6] = {0, 0, 0, 0, 0, 0};
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int frames_count[6] = {0, 0, 0, 0, 0, 0};
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unsigned long time_interval_count[6] = {0, 0, 0, 0, 0, 0};
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void config_interval_motor(int motor, int direction, int Frames, int Seconds) //Configuracion velocidad motor
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{
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interval_direction[motor] = direction;
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interval_frames[motor] = Frames;
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interval_time[motor] = Seconds*1000;
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frames_count[motor] = 0;
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time_interval_count[motor] = millis();
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}
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float inc_position_fade = 0;
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int fade_direction = 0;
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bool SyncFadeWithInterval = false;
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void config_automatic_fade(int shutterFadeFrames, int shutterSyncWithInterval, int shutterFadeInActive, int shutterFadeOutActive) //Configuracion fade
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{
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//config_position_motor(0, shutterFadeFrames);
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inc_position_fade = 100/(float)shutterFadeFrames;
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SyncFadeWithInterval = shutterSyncWithInterval;
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if((shutterFadeInActive)&&(!shutterFadeOutActive)) fade_direction=IN;
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else if((!shutterFadeInActive)&&(shutterFadeOutActive)) fade_direction=OUT;
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else if((shutterFadeInActive)&&(shutterFadeOutActive)) fade_direction=IN_OUT;
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else fade_direction=STOP;
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}
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void config_optics(int zoomValue, int focusValue, int diaphragmValue, int syncWithIntervalOptics) //Configuracion de las opticas
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{
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config_position_motor(1, zoomValue);
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config_position_motor(2, focusValue);
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config_position_motor(3, map(int(diaphragmValue*10), 19, 220, 0, 100));
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}
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void secure_stop(int direction)
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{
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if (digitalRead(20))
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{
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//config_speed_motor(4, direction, 100);
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//delay(7);
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while(digitalRead(20))config_speed_motor(4, direction, 100);
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if(direction==FORWARD) delay(15);
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}
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config_speed_motor(4, direction, 0);
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}
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void next_frame(int direction)
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{
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if (digitalRead(20))
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{
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while(digitalRead(20))config_speed_motor(4, direction, 120);
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if(direction==FORWARD) delay(15);
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}
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else
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{
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while(!digitalRead(20))config_speed_motor(4, direction, 120);
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while(digitalRead(20))config_speed_motor(4, direction, 120);
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if(direction==FORWARD) delay(15);
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}
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config_speed_motor(4, direction, 0);
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}
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void ini_motors()
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{
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backward(0,255);
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backward(1,255);
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backward(2,255);
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backward(3,255);
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delay(TIME_LINEAL_MAX[3]);
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stop(0);
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stop(1);
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stop(2);
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stop(3);
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}
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void refresh_position_motors()
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{
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for(int i=0; i<6; i++)
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{
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if(((millis()-time_refresh[i])>time_move_motor[i])&&(state_pmotor[i]))
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{
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stop(i);
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state_pmotor[i] = false;
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}
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}
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}
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void refresh_interval_motors()
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{
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if(((millis()-time_interval_count[4])>=interval_time[4])&&(interval_frames[4]!=frames_count[4]))
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{
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frames_count[4]++;
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time_interval_count[4] = millis();
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if (SyncFadeWithInterval)
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{
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float value_position=0;
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if(fade_direction==IN)
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{
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value_position = position_motor[0] + inc_position_fade;
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if (value_position>100) value_position=100;
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}
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else if(fade_direction==OUT)
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{
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value_position = position_motor[0] - inc_position_fade;
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if (value_position<0) value_position=0;
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}
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else value_position = position_motor[0];
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config_position_motor(0, value_position);
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}
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next_frame(interval_direction[4]);
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}
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}
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float fps_request = 24;
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uint8_t speed_request = 0;
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unsigned long time_adjust = millis();
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void adjust_fps()
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{
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if(fps_temp>=(fps_request+0.5))
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{
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if(speed_request>0) speed_request--;
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analogWrite(EN_MOTOR[4], speed_request);
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}
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else if(fps_temp<(fps_request-0.5))
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{
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if(speed_request<255) speed_request++;
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analogWrite(EN_MOTOR[4], speed_request);
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}
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}
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int fpsRead() {
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int result = fps_read;
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return result;
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}
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int read_value[10];
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int* decode_values(String inputString_rpc, int num_dec)
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{
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String str = inputString_rpc.substring(inputString_rpc.lastIndexOf(":") + 1);
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read_value[0] = str.substring(0, str.indexOf(',')).toInt();
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for(int i=1; i<num_dec; i++)
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{
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str = str.substring(str.indexOf(',')+1);
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read_value[i] = str.substring(0, str.indexOf(',')).toInt();
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}
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return read_value;
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}
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char c_rpc;
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String inputString_rpc;
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void RPCRead()
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{
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////////////////////////////////////////////////////////////
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/////// RUTINA TRATAMIENTO DE STRINGS DEL UART ///////////
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////////////////////////////////////////////////////////////
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if (SerialRPC.available())
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{
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c_rpc = SerialRPC.read();
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if ((c_rpc == '\r') || (c_rpc == '\n'))
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{
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if (inputString_rpc.startsWith("/s_motor:")) //Speed Motor
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{
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int* value = decode_values(inputString_rpc, 3);
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#if DEBUG_M4
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SerialRPC.print("Recibido Speed M4: ");
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SerialRPC.println(inputString_rpc);
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for(int i=0; i<3; i++) RPC.println(value[i]);
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#endif
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if (value[0]==4)
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{
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uint8_t value_temp = 0;
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if (value[2]>0) value_temp = map(value[2], 24, 48, 146, 192); //Fake fps
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if (value_temp==0) secure_stop(value[1]);
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else config_speed_motor(value[0], value[1], value_temp);
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}
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else config_speed_motor(value[0], value[1], value[2]);
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}
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else if (inputString_rpc.startsWith("/i_motor:")) //Interval Motor
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{
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int* value = decode_values(inputString_rpc, 4);
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#if DEBUG_M4
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SerialRPC.print("Recibido Interval M4: ");
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SerialRPC.println(inputString_rpc);
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for(int i=0; i<4; i++) RPC.println(value[i]);
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#endif
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config_interval_motor(value[0], value[1], value[2], value[3]);
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}
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else if (inputString_rpc.startsWith("/fade:")) //Fade configuration
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{
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int* value = decode_values(inputString_rpc, 4);
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#if DEBUG_M4
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SerialRPC.print("Recibido fade M4: ");
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SerialRPC.println(inputString_rpc);
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for(int i=0; i<4; i++) RPC.println(value[i]);
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#endif
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config_automatic_fade(value[0], value[1], value[2], value[3]);
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}
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else if (inputString_rpc.startsWith("/optics:")) //Fade configuration
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{
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int* value = decode_values(inputString_rpc, 4);
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#if DEBUG_M4
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||
|
|
SerialRPC.print("Recibido optics M4: ");
|
||
|
|
SerialRPC.println(inputString_rpc);
|
||
|
|
for(int i=0; i<4; i++) RPC.println(value[i]);
|
||
|
|
#endif
|
||
|
|
config_optics(value[0], value[1], value[2], value[3]);
|
||
|
|
}
|
||
|
|
else if (inputString_rpc.startsWith("/p_motor:")) //Position motor
|
||
|
|
{
|
||
|
|
String str = inputString_rpc.substring(inputString_rpc.lastIndexOf(":") + 1);
|
||
|
|
int value[3];
|
||
|
|
value[0] = str.substring(0, str.indexOf(',')).toInt();
|
||
|
|
str = str.substring(str.indexOf(',')+1);
|
||
|
|
value[1] = str.substring(0, str.indexOf(',')).toInt();
|
||
|
|
#if DEBUG_M4
|
||
|
|
SerialRPC.print("Recibido Position M4: ");
|
||
|
|
SerialRPC.println(inputString_rpc);
|
||
|
|
for(int i=0; i<2; i++) RPC.println(value[i]);
|
||
|
|
#endif
|
||
|
|
config_position_motor(value[0], value[1]);
|
||
|
|
}
|
||
|
|
inputString_rpc = String();
|
||
|
|
}
|
||
|
|
else
|
||
|
|
inputString_rpc += c_rpc;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void requestReading() {
|
||
|
|
while (true) {
|
||
|
|
//delay(100);
|
||
|
|
RPCRead();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
char c;
|
||
|
|
String inputString;
|
||
|
|
void SerialRead()
|
||
|
|
{
|
||
|
|
////////////////////////////////////////////////////////////
|
||
|
|
/////// RUTINA TRATAMIENTO DE STRINGS DEL UART ///////////
|
||
|
|
////////////////////////////////////////////////////////////
|
||
|
|
if (command.available())
|
||
|
|
{
|
||
|
|
c = command.read();
|
||
|
|
if ((c == '\r') || (c == '\n'))
|
||
|
|
{
|
||
|
|
if (inputString.startsWith("/s_motor:")) //Speed Motor
|
||
|
|
{
|
||
|
|
//Serial.print("Rec: ");
|
||
|
|
//Serial.println(inputString);
|
||
|
|
String str = inputString.substring(inputString.lastIndexOf(":") + 1);
|
||
|
|
//Serial.println(str);
|
||
|
|
int value[3];
|
||
|
|
value[0] = str.substring(0, str.indexOf(',')).toInt();
|
||
|
|
//Serial.println(value[0]);
|
||
|
|
for(int i=1; i<3; i++)
|
||
|
|
{
|
||
|
|
str = str.substring(str.indexOf(',')+1);
|
||
|
|
value[i] = str.substring(0, str.indexOf(',')).toInt();
|
||
|
|
//Serial.println(value[i]);
|
||
|
|
}
|
||
|
|
if (value[0]==4)
|
||
|
|
{
|
||
|
|
int value_temp = 0;
|
||
|
|
if(value[2]==24) value_temp = 146;
|
||
|
|
else if(value[2]==48) value_temp = 192;
|
||
|
|
else value_temp = 0;
|
||
|
|
//config_smotor(value[0], value[1], value_temp);
|
||
|
|
if (value_temp==0) secure_stop(value[1]);
|
||
|
|
else config_speed_motor(value[0], value[1], value_temp);
|
||
|
|
}
|
||
|
|
else config_speed_motor(value[0], value[1], value[2]);
|
||
|
|
|
||
|
|
|
||
|
|
//config_angle(value[0], value[1], value[2]);
|
||
|
|
}
|
||
|
|
else if (inputString.startsWith("/p_motor:")) //Position motor
|
||
|
|
{
|
||
|
|
//Serial.print("Motor: ");
|
||
|
|
String str = inputString.substring(inputString.lastIndexOf(":") + 1);
|
||
|
|
//Serial.println(str);
|
||
|
|
int value[3];
|
||
|
|
value[0] = str.substring(0, str.indexOf(',')).toInt();
|
||
|
|
str = str.substring(str.indexOf(',')+1);
|
||
|
|
value[1] = str.substring(0, str.indexOf(',')).toInt();
|
||
|
|
//Serial.println(value[0]);
|
||
|
|
//Serial.println(value[1]);
|
||
|
|
config_position_motor(value[0], value[1]);
|
||
|
|
}
|
||
|
|
inputString = String();
|
||
|
|
}
|
||
|
|
else
|
||
|
|
inputString += c;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void setup() {
|
||
|
|
//SCB_CleanDCache();
|
||
|
|
SerialRPC.begin();
|
||
|
|
|
||
|
|
command.begin(9600); // set this as high as you can reliably run on your platformRPC.begin(); //boots M4
|
||
|
|
//delay(5000);
|
||
|
|
pinMode(20, INPUT_PULLUP);
|
||
|
|
pinMode(sr_enable, OUTPUT);
|
||
|
|
for (size_t i = 4; i < 6; i++)
|
||
|
|
{
|
||
|
|
pinMode(MA_MOTOR[i], OUTPUT);
|
||
|
|
pinMode(MB_MOTOR[i], OUTPUT);
|
||
|
|
}
|
||
|
|
digitalWrite(sr_enable, LOW);
|
||
|
|
sr.setAllLow(); // set all pins LOW
|
||
|
|
ini_motors();
|
||
|
|
secure_stop(FORWARD);
|
||
|
|
attachInterrupt(digitalPinToInterrupt(20), fps_count, RISING);
|
||
|
|
|
||
|
|
#if PID_ENABLE
|
||
|
|
outMax = 255.0; // Límite máximo del controlador PID.
|
||
|
|
outMin = 128.0; // Límite mínimo del controlador PID.
|
||
|
|
|
||
|
|
tmp = 5; // Tiempo de muestreo en milisegundos.
|
||
|
|
|
||
|
|
kp = 10.0; // Constantes PID iniciales. Los valores son los adecuados para un encoder de 334 ppr,
|
||
|
|
ki = 3.5; // pero como el lector de encoder está diseñado como x4 equivale a uno de 1336 ppr. (ppr = pulsos por revolución.)
|
||
|
|
kd = 30.0;
|
||
|
|
|
||
|
|
myPID.SetSampleTime(tmp); // Envía a la librería el tiempo de muestreo.
|
||
|
|
myPID.SetOutputLimits(outMin, outMax);// Límites máximo y mínimo; corresponde a Max.: 0=0V hasta 255=5V (PWMA), y Min.: 0=0V hasta -255=5V (PWMB). Ambos PWM se convertirán a la salida en valores absolutos, nunca negativos.
|
||
|
|
myPID.SetTunings(kp, ki, kd); // Constantes de sintonización.
|
||
|
|
myPID.SetMode(AUTOMATIC); // Habilita el control PID (por defecto).
|
||
|
|
Setpoint = 24; // Para evitar que haga cosas extrañas al inciarse, igualamos los dos valores para que comience estando el motor parado.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//config_smotor(4, 1, 146);
|
||
|
|
//delay(5000);
|
||
|
|
|
||
|
|
//Bind the sensorRead() function on the M4
|
||
|
|
//RPC.bind("fpsRead", fpsRead);
|
||
|
|
/*
|
||
|
|
Starts a new thread that loops the requestReading() function
|
||
|
|
*/
|
||
|
|
sensorThread.start(requestReading);
|
||
|
|
|
||
|
|
RPC.println("M4 Inicializado.");
|
||
|
|
}
|
||
|
|
|
||
|
|
void loop()
|
||
|
|
{
|
||
|
|
#if PID_ENABLE
|
||
|
|
/*Input = (double)fps_temp; // Lectura del encoder óptico. El valor del contador se incrementa/decrementa a través de las interrupciones extrenas (pines 2 y 3).
|
||
|
|
if(myPID.Compute())
|
||
|
|
analogWrite(EN_MOTOR[4], abs(Output)); // Por el primer pin sale la señal PWM.
|
||
|
|
*/
|
||
|
|
#endif
|
||
|
|
//config_smotor(4, 1, 146); //24 fps
|
||
|
|
//config_smotor(4, 1, 192); //48 fps
|
||
|
|
|
||
|
|
//adjust_fps();
|
||
|
|
//RPCRead();
|
||
|
|
SerialRead();
|
||
|
|
refresh_position_motors();
|
||
|
|
refresh_interval_motors();
|
||
|
|
}
|