kopia lustrzana https://github.com/pimoroni/pimoroni-pico
129 wiersze
3.5 KiB
C++
129 wiersze
3.5 KiB
C++
#include <cstdio>
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#include "pico/stdlib.h"
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#include "inventor.hpp"
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/*
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A program that profiles the speed of a motor across its PWM
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duty cycle range using the attached encoder for feedback.
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*/
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using namespace inventor;
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// The gear ratio of the motor
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constexpr float GEAR_RATIO = 50;
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// The direction to spin the motor in. NORMAL_DIR (0), REVERSED_DIR (1)
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const Direction DIRECTION = NORMAL_DIR;
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// The scaling to apply to the motor's speed. Set this to the maximum measured speed
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constexpr float SPEED_SCALE = 5.4f;
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// The duty cycle that corresponds with zero speed when plotting the motor's speed as a straight line
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constexpr float ZERO_POINT = 0.0f;
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// The duty cycle below which the motor's friction prevents it from moving
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constexpr float DEAD_ZONE = 0.0f;
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// How many duty cycle steps to sample the speed of
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const uint DUTY_STEPS = 100;
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// How long to wait after changing motor duty cycle
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const uint SETTLE_TIME = 100;
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// How long to capture the motor's speed at each step
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const uint CAPTURE_TIME = 200;
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// Create a new Inventor2040W
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Inventor2040W board(GEAR_RATIO);
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// Function that performs a single profiling step
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void profile_at_duty(Motor& m, Encoder& enc, float duty) {
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// Set the motor to a new duty cycle and wait for it to settle
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if(DIRECTION == REVERSED_DIR)
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m.duty(0.0 - duty);
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else
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m.duty(duty);
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sleep_ms(SETTLE_TIME);
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// Perform a dummy capture to clear the encoder
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enc.capture();
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// Wait for the capture time to pass
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sleep_ms(CAPTURE_TIME);
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// Perform a capture and read the measured speed
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Encoder::Capture capture = enc.capture();
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float measured_speed = capture.revolutions_per_second();
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// These are some alternate speed measurements from the encoder
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// float measured_speed = capture.revolutions_per_minute();
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// float measured_speed = capture.degrees_per_second();
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// float measured_speed = capture.radians_per_second();
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// Print out the expected and measured speeds, as well as their difference
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printf("Duty = %f, Expected = %f, Measured = %f, Diff = %f\n",
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m.duty(), m.speed(), measured_speed, m.speed() - measured_speed);
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}
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int main() {
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stdio_init_all();
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// Attempt to initialise the board
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if(board.init()) {
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// Give some time to connect up a serial terminal
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sleep_ms(10000);
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// Access the motor and encoder from Inventor
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Motor& m = board.motors[MOTOR_A];
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Encoder& enc = board.encoders[MOTOR_A];
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// Set the motor's speed scale, zeropoint, and deadzone
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m.speed_scale(SPEED_SCALE);
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m.zeropoint(ZERO_POINT);
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m.deadzone(DEAD_ZONE);
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// Set the motor and encoder's direction
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m.direction(DIRECTION);
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enc.direction(DIRECTION);
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// Enable the motor to get started
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m.enable();
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printf("Profiler Starting...\n");
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// Profile from 0% up to one step below 100%
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for(uint i = 0; i < DUTY_STEPS; i++) {
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profile_at_duty(m, enc, (float)i / (float)DUTY_STEPS);
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}
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// Profile from 100% down to one step above 0%
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for(uint i = 0; i < DUTY_STEPS; i++) {
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profile_at_duty(m, enc, (float)(DUTY_STEPS - i) / (float)DUTY_STEPS);
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}
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// Profile from 0% down to one step above -100%
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for(uint i = 0; i < DUTY_STEPS; i++) {
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profile_at_duty(m, enc, -(float)i / (float)DUTY_STEPS);
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}
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// Profile from -100% up to one step below 0%
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for(uint i = 0; i < DUTY_STEPS; i++) {
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profile_at_duty(m, enc, -(float)(DUTY_STEPS - i) / (float)DUTY_STEPS);
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}
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// Profile 0% again
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profile_at_duty(m, enc, 0.0f);
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printf("Profiler Finished...\n");
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// Disable the motor now the profiler has finished
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m.disable();
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}
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}
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