330 lines
9.2 KiB
C++
330 lines
9.2 KiB
C++
#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 <IRremote.hpp> // Library for the IR receiver
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#include <RotaryEncoder.h> // Library for encoder using
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// ibt2's RPWM and LPWM pins
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#define RPWM 5
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#define LPWM 6
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// important information about the fifth sculpture setting
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/*
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Pins connected to aduino( in english )
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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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/*
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IMPORTANT WARNING
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In case of changing the speed of the movements, the acceleration must be changed the same way, manually, according to what's desired, just like the decimal numbers increased or decreased to the ac variable at the final of acceleration or deceleration iterations.
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It must be done within attempts of values, always checking the serial monitor to check if the decimal number is enough to what is desired, in order to look for smooth transitions beetween the sequences.
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*/
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// IR receive 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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// IR codes
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const int codeON = 0xAA1;
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const int code1 = 0xAA2;
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const int code2 = 0xAA3;
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const int code3 = 0xAA4;
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const int codeOFF = 0xAA5;
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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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void rotateMotor(bool b, int vel) /* function to set the rotation sense of the motor */
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{
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if (b == true)
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{
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// rotate to the right
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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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// rotate to the left
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analogWrite(RPWM, 0);
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analogWrite(LPWM, vel);
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}
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}
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void stopMotor() /* function to stop the motor rotation */
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{
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// stop the motor
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analogWrite(LPWM, 0);
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analogWrite(RPWM, 0);
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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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IrReceiv.enableIRIn();
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}
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void loop()
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{
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static int pos = 0; // variable to store the beggining location of the movement
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int newPos; // variable to store the position at that momento of the movement
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float ac = 0; // variable for acceleration control
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if (IrReceiv.decode(&result))
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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)
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{
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case codeON:
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// stopped
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for (unsigned long start = millis(); millis() - start <= 20000;)
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{
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stopMotor();
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Serial.print("Motor status:");
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Serial.print(" Stopped ");
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Serial.print("|| RPM: 0");
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Serial.println(" || PWM: 0");
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}
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ac = 0;
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// acceleration
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for (unsigned long start = millis(); millis() - start <= 10000;) // 10 seconds long acceleration
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{
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rotateMotor(true, map(ac, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Stopped -> Slow ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print("|| PWM: ");
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Serial.print(map(ac, 0, 100, 0, 255));
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Serial.print(" || ac: ");
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Serial.println(ac);
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pos = newPos;
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}
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ac = ac + 0.00047; // acceleration increasing
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}
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break;
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case code1:
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// slow speed
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for (unsigned long start = millis(); millis() - start <= 110000;)
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{
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rotateMotor(true, map(40, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Moving ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print(" || PWM: ");
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Serial.println(map(40, 0, 100, 0, 255));
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pos = newPos;
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}
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}
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ac = 40;
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// acceleration
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for (unsigned long start = millis(); millis() - start <= 10000;) // 10 seconds long acceleration
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{
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rotateMotor(true, map(ac, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Slow -> Medium ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print("|| PWM: ");
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Serial.print(map(ac, 0, 100, 0, 255));
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Serial.print(" || ac: ");
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Serial.println(ac);
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pos = newPos;
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}
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ac = ac + 0.0008; // acceleration increasing
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}
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break;
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case code2:
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// medium speed
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for (unsigned long start = millis(); millis() - start <= 110000;)
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{
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rotateMotor(true, map(70, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Moving ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print(" || PWM: ");
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Serial.println(map(70, 0, 100, 0, 255));
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pos = newPos;
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}
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}
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ac = 70;
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// acceleration
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for (unsigned long start = millis(); millis() - start <= 10000;) // 10 seconds long acceleration
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{
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rotateMotor(true, map(ac, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Medium -> Fast ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print("|| PWM: ");
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Serial.print(map(ac, 0, 100, 0, 255));
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Serial.print(" || ac: ");
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Serial.println(ac);
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pos = newPos;
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}
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ac = ac + 0.00135; // acceleration increasing
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}
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break;
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case code3:
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// fast speed
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for (unsigned long start = millis(); millis() - start <= 110000;)
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{
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rotateMotor(true, map(100, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Moving ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print(" || PWM: ");
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Serial.println(map(100, 0, 100, 0, 255));
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pos = newPos;
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}
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}
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ac = 100;
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// deceleration
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for (unsigned long start = millis(); millis() - start <= 10000;) // 10 seconds long deceleration
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{
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rotateMotor(true, map(ac, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Fast -> Medium ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print("|| PWM: ");
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Serial.print(map(ac, 0, 100, 0, 255));
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Serial.print(" || ac: ");
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Serial.println(ac);
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pos = newPos;
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}
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ac = ac - 0.00139; // acceleration decreasing
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}
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break;
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case codeOFF:
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// velocidade média
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for (unsigned long start = millis(); millis() - start <= 120000;)
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{
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rotateMotor(true, map(70, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Moving ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print(" || PWM: ");
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Serial.println(map(70, 0, 100, 0, 255));
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pos = newPos;
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}
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}
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ac = 70;
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// deceleration
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for (unsigned long start = millis(); millis() - start <= 10000;) // 10 seconds long deceleration
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{
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rotateMotor(true, map(ac, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Medium -> Slow ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print("|| PWM: ");
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Serial.print(map(ac, 0, 100, 0, 255));
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Serial.print(" || ac: ");
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Serial.println(ac);
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pos = newPos;
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}
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ac = ac - 0.0008; // acceleration decreasing
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}
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// slow speed
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for (unsigned long start = millis(); millis() - start <= 120000;)
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{
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rotateMotor(true, map(40, 0, 100, 0, 255));
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encoder.tick();
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newPos = encoder.getPosition();
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if (pos != newPos)
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{
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Serial.print("Motor status:");
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Serial.print(" Moving ");
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Serial.print("|| RPM: ");
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Serial.print((int)(encoder.getRPM()));
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Serial.print(" || PWM: ");
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Serial.println(map(40, 0, 100, 0, 255));
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pos = newPos;
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}
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}
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break;
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default:
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Serial.println("ERROR");
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break;
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}
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delay(1000);
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} |