Some photos about my projects;
X-Sim Calibrations;
This is the platform for controling and testing the motion and it's also a prototype;
Simulator Motors and Motor Driver links with Arduino Uno;
The Simulator Code:
- Code: Select all
/* Arduino code for dynamic playseat 2DOF
Created 24 May 2011 by Jim Lindblom SparkFun Electronics https://www.sparkfun.com/products/10182 "Example Code"
Created 24 Apr 2012 by Jean David SEDRUE Version betatest26 - 24042012 http://www.gamoover.net/Forums/index.php?topic=25907
Updated 20 May 2013 by RacingMat in english http://www.x-sim.de/forum/posting.php?mode=edit&f=37&t=943&p=8481 in french : http://www.gamoover.net/Forums/index.php?topic=27617
Updated 30 April 2014 by RacingMat (bug for value below 16 corrected)
*/
#define BRAKEVCC 0
#define RV 2 //beware it's depending on your hardware wiring
#define FW 1 //beware it's depending on your hardware wiring
#define STOP 0
#define BRAKEGND 3
////////////////////////////////////////////////////////////////////////////////
#define pwmMax 255 // or less, if you want to lower the maximum motor's speed
// defining the range of potentiometer's rotation
const int potMini=208;
const int potMaxi=815;
////////////////////////////////////////////////////////////////////////////////
#define motLeft 0
#define motRight 1
#define potL A0
#define potR A1
////////////////////////////////////////////////////////////////////////////////
// DECLARATIONS
////////////////////////////////////////////////////////////////////////////////
/* VNH2SP30 pin definitions*/
int inApin[2] = {
7, 4}; // INA: Clockwise input
int inBpin[2] = {
8, 9}; // INB: Counter-clockwise input
int pwmpin[2] = {
5, 6}; // PWM input
int cspin[2] = {
2, 3}; // CS: Current sense ANALOG input
int enpin[2] = {
0, 1}; // EN: Status of switches output (Analog pin)
int statpin = 13; //not explained by Sparkfun
/* init position value*/
int DataValueL=512; //middle position 0-1024
int DataValueR=512; //middle position 0-1024
////////////////////////////////////////////////////////////////////////////////
// INITIALIZATION
////////////////////////////////////////////////////////////////////////////////
void setup()
{
// serial initialization
Serial.begin(115200);
// initialization of Arduino's pins
pinMode(statpin, OUTPUT); //not explained by Sparkfun
digitalWrite(statpin, LOW);
for (int i=0; i<2; i++)
{
pinMode(inApin[i], OUTPUT);
pinMode(inBpin[i], OUTPUT);
pinMode(pwmpin[i], OUTPUT);
}
// Initialize braked for motor
for (int i=0; i<2; i++)
{
digitalWrite(inApin[i], LOW);
digitalWrite(inBpin[i], LOW);
}
}
////////////////////////////////////////////////////////////////////////////////
///////////////////////////////// Main Loop ////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void loop()
{
int sensorL,sensorR;
readSerialData(); // DataValueR & L contain the last order received (if there is no newer received, the last is kept)
// the previous order will still be used by the PID regulation MotorMotion Function
sensorR = analogRead(potR); // range 0-1024
sensorL = analogRead(potL); // range 0-1024
motorMotion(motRight,sensorR,DataValueR);
motorMotion(motLeft,sensorL,DataValueL);
}
////////////////////////////////////////////////////////////////////////////////
// Procedure: wait for complete trame
////////////////////////////////////////////////////////////////////////////////
void readSerialData()
{
byte Data[3]={
'0','0','0' };
// keep this function short, because the loop has to be short to keep the control over the motors
if (Serial.available()>2){
//parse the buffer : test if the byte is the first of the order "R"
Data[0]=Serial.read();
if (Data[0]=='L'){
Data[1]=Serial.read();
Data[2]=Serial.read();
// call the function that converts the hexa in decimal and that maps the range
DataValueR=NormalizeData(Data);
}
if (Data[0]=='R'){
Data[1]=Serial.read();
Data[2]=Serial.read();
// call the function that converts the hexa in decimal and maps the range
DataValueL=NormalizeData(Data);
}
}
if (Serial.available()>16) Serial.flush();
}
////////////////////////////////////////////////////////
void motorMotion(int numMot,int actualPos,int targetPos)
////////////////////////////////////////////////////////
{
int Tol=20; // no order to move will be sent to the motor if the target is close to the actual position
// this prevents short jittering moves
//could be a parameter read from a pot on an analogic pin
// the highest value, the calmest the simulator would be (less moves)
int gap;
int pwm;
int brakingDistance=30;
// security concern : targetPos has to be within the mechanically authorized range
targetPos=constrain(targetPos,potMini+brakingDistance,potMaxi-brakingDistance);
gap=abs(targetPos-actualPos);
if (gap<= Tol) {
motorOff(numMot); //too near to move
}
else {
// PID : calculates speed according to distance
pwm=195;
if (gap>50) pwm=215;
if (gap>75) pwm=235;
if (gap>100) pwm=255;
pwm=map(pwm, 0, 255, 0, pwmMax); //adjust the value according to pwmMax for mechanical debugging purpose !
// if motor is outside from the range, send motor back to the limit !
// go forward (up)
if ((actualPos<potMini) || (actualPos<targetPos)) motorGo(numMot, FW, pwm);
// go reverse (down)
if ((actualPos>potMaxi) || (actualPos>targetPos)) motorGo(numMot, RV, pwm);
}
}
////////////////////////////////////////////////////////////////////////////////
void motorOff(int motor){ //Brake Ground : free wheel actually
////////////////////////////////////////////////////////////////////////////////
digitalWrite(inApin[motor], LOW);
digitalWrite(inBpin[motor], LOW);
analogWrite(pwmpin[motor], 0);
}
////////////////////////////////////////////////////////////////////////////////
void motorOffBraked(int motor){ // "brake VCC" : short-circuit inducing electromagnetic brake
////////////////////////////////////////////////////////////////////////////////
digitalWrite(inApin[motor], HIGH);
digitalWrite(inBpin[motor], HIGH);
analogWrite(pwmpin[motor], 0);
}
////////////////////////////////////////////////////////////////////////////////
void motorGo(uint8_t motor, uint8_t direct, uint8_t pwm)
////////////////////////////////////////////////////////////////////////////////
{
if (motor <= 1)
{
if (direct <=4)
{
// Set inA[motor]
if (direct <=1)
digitalWrite(inApin[motor], HIGH);
else
digitalWrite(inApin[motor], LOW);
// Set inB[motor]
if ((direct==0)||(direct==2))
digitalWrite(inBpin[motor], HIGH);
else
digitalWrite(inBpin[motor], LOW);
analogWrite(pwmpin[motor], pwm);
}
}
}
////////////////////////////////////////////////////////////////////////////////
void motorDrive(uint8_t motor, uint8_t direct, uint8_t pwm)
////////////////////////////////////////////////////////////////////////////////
{
// more readable function than Jim's (for educational purpose)
// but 50 octets heavier -> unused
if (motor <= 1 && direct <=4)
{
switch (direct) {
case 0: //electromagnetic brake : brake VCC
digitalWrite(inApin[motor], HIGH);
digitalWrite(inBpin[motor], HIGH);
break;
case 3: //Brake Ground (free wheel)
digitalWrite(inApin[motor], LOW);
digitalWrite(inBpin[motor], LOW);
break;
case 1: // forward : beware it's depending on your hardware wiring
digitalWrite(inApin[motor], HIGH);
digitalWrite(inBpin[motor], LOW);
break;
case 2: // Reverse : beware it's depending on your hardware wiring
digitalWrite(inApin[motor], LOW);
digitalWrite(inBpin[motor], HIGH);
break;
}
analogWrite(pwmpin[motor], pwm);
}
}
////////////////////////////////////////////////////////////////////////////////
// testPot
////////////////////////////////////////////////////////////////////////////////
void testPot(){
Serial.print(analogRead(potL));
Serial.print(";");
Serial.println(analogRead(potR));
delay(250);
}
////////////////////////////////////////////////////////////////////////////////
void testpulse(){
int pw=120;
while (true){
motorGo(motLeft, FW, pw);
delay(250);
motorOff(motLeft);
delay(250);
motorGo(motLeft, RV, pw);
delay(250);
motorOff(motLeft);
delay(500);
motorGo(motRight, FW, pw);
delay(250);
motorOff(motRight);
delay(250);
motorGo(motRight, RV, pw);
delay(250);
motorOff(motRight);
Serial.println("testpulse pwm:80");
delay(500);
}
}
////////////////////////////////////////////////////////////////////////////////
// Function: convert Hex to Dec
////////////////////////////////////////////////////////////////////////////////
int NormalizeData(byte x[3])
////////////////////////////////////////////////////////////////////////////////
{
int result;
if ((x[2]==13) || (x[2]=='R') || (x[2]=='L')) //only a LSB and Carrier Return or 'L' or 'R' in case of value below 16 (ie one CHAR and not 2)
{
x[2]=x[1]; //move MSB to LSB
x[1]='0'; //clear MSB
}
for (int i=1; i<3; i++)
{
if (x[i]>47 && x[i]<58 ){//for x0 to x9
x[i]=x[i]-48;
}
if (x[i]>64 && x[i]<71 ){//for xA to xF
x[i]=(x[i]-65)+10;
}
}
// map the range from Xsim (0 <-> 255) to the mechanically authorized range (potMini <-> potMaxi)
result=map((x[1]*16+x[2]),0,255,potMini,potMaxi);
return result;
}
For the time being that's all but I'm continuing this project and I wanna ask you a couple of questions;
1- My motors have 55 rpm is it good i guess it is fast. If I use 45 rpm wiper motor will there be a change about simulator speed ?
2-If I choose 2DOF_Standard_combined or 2DOF_Standard_non_combined in X-Sim Converter are they gonna work properly with my simulator ? Because I don't wanna do profiling , is there any simple way for this condition?
Thanks for everything....
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