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motors.cpp
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/*
* motors.cpp
*
* Created: 20.04.2018 13:50:52
* Author: kamil
*/
#define F_CPU 32000000UL
#include "motors.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
#include <stddef.h>
Motors::Motors()
{
//------------ustawienia silnika 1
PORTD.DIRSET = PIN5_bm|//inpu2
PIN4_bm|//input1
PIN3_bm;//pwm
PORTD.OUTCLR = PIN5_bm;//input 1->0
PORTD.OUTCLR = PIN4_bm;//input 2->0
//------------ustawienia silnika 2
PORTD.DIRSET = PIN2_bm|//inpu2
PIN1_bm|//input1
PIN0_bm;//pwm
PORTD.OUTCLR = PIN1_bm;//input 1->0
PORTD.OUTCLR = PIN2_bm;//input 2->0
TCD0.CTRLB = TC_WGMODE_SINGLESLOPE_gc| // pwm singleslope
TC0_CCDEN_bm|
TC0_CCAEN_bm;
TCD0.PER = 500;
TCD0.CCD = 0;
TCD0.CCA = 0;
TCD0.CTRLA = TC_CLKSEL_DIV1_gc;
//------------------------------- enkodera R ------------------------------------------------------
PORTC.PIN0CTRL = PORT_ISC_LEVEL_gc | PORT_OPC_PULLUP_gc;
PORTC.PIN1CTRL = PORT_ISC_LEVEL_gc | PORT_OPC_PULLUP_gc;
EVSYS.CH0MUX = EVSYS_CHMUX_PORTC_PIN0_gc; // pin C0 wywo³uje zdarzenie
EVSYS.CH0CTRL = EVSYS_QDEN_bm| // w³¹czenie dekodera w systemie zdarzeñ
EVSYS_DIGFILT_8SAMPLES_gc; // filtr cyfrowy
TCC0.CTRLA = TC_CLKSEL_EVCH0_gc; // taktowanie systemem zdarzeñ
TCC0.CTRLD = TC_EVACT_QDEC_gc | // w³¹czenie dekodera kwadraturowego
TC_EVSEL_CH0_gc; // dekoder zlicza impulsy z kana³u 0*/
//------------------------------- enkodera L ------------------------------------------------------
PORTF.PIN0CTRL = PORT_ISC_LEVEL_gc | PORT_OPC_PULLUP_gc;
PORTF.PIN1CTRL = PORT_ISC_LEVEL_gc | PORT_OPC_PULLUP_gc;
EVSYS.CH2MUX = EVSYS_CHMUX_PORTF_PIN0_gc; // pin E0 wywo³uje zdarzenie
EVSYS.CH2CTRL = EVSYS_QDEN_bm| // w³¹czenie dekodera w systemie zdarzeñ
EVSYS_DIGFILT_8SAMPLES_gc; // filtr cyfrowy
TCF0.CTRLA = TC_CLKSEL_EVCH2_gc; // taktowanie systemem zdarzeñ
TCF0.CTRLD = TC_EVACT_QDEC_gc | // w³¹czenie dekodera kwadraturowego
TC_EVSEL_CH2_gc; // dekoder zlicza impulsy z kana³u 0*/
L_ENKODER=0;
R_ENKODER=0;
}
MotorR::MotorR(const int16_t &_speed)
{
speed = _speed;
}
MotorL::MotorL(const int16_t &_speed)
{
speed = _speed;
}
void MotorR::set_speed(const int16_t &_speed)
{
speed = _speed;
pid.new_set_point(speed);
}
void MotorL::set_speed(const int16_t &_speed)
{
speed = _speed;
pid.new_set_point(speed);
}
void MotorR::set_pid(const uint8_t &Kp, const uint8_t &Kd, const uint8_t &Ki)
{
pid.set_gains(Kp, Kd, Ki);
}
void MotorL::set_pid(const uint8_t &Kp, const uint8_t &Kd, const uint8_t &Ki)
{
pid.set_gains(Kp, Kd, Ki);
}
void MotorR::update()
{
pid.update_process_value(13 * R_ENKODER);
set_PWM((speed + pid.get_correction()));
R_ENKODER = 0;
}
void MotorL::update()
{
pid.update_process_value((- 13 * L_ENKODER));
set_PWM((speed + pid.get_correction()));
L_ENKODER = 0;
}
void MotorR::set_PWM(const int16_t &pulse_width)
{
if(pulse_width < 0)
TCD0.CCD = - pulse_width;
else
TCD0.CCD = pulse_width;
if(pulse_width == 0)
{
PORTD.OUTCLR = PIN5_bm;//input 1->0
PORTD.OUTCLR = PIN4_bm;//input 2->0
}
else if(pulse_width > 0)
{
PORTD.OUTCLR = PIN5_bm;//input 1->0
PORTD.OUTSET = PIN4_bm;//input 2->1
}
else
{
PORTD.OUTSET = PIN5_bm;//input 1->1
PORTD.OUTCLR = PIN4_bm;//input 2->0
}
}
void MotorL::set_PWM(const int16_t &pulse_width)
{
if(pulse_width < 0)
TCD0.CCA = - pulse_width;
else
TCD0.CCA = pulse_width;
if(pulse_width == 0)
{
PORTD.OUTCLR = PIN1_bm;//input 1->0
PORTD.OUTCLR = PIN2_bm;//input 2->0
}
else if(pulse_width < 0)
{
PORTD.OUTCLR = PIN1_bm;//input 1->0
PORTD.OUTSET = PIN2_bm;//input 2->1
}
else
{
PORTD.OUTSET = PIN1_bm;//input 1->1
PORTD.OUTCLR = PIN2_bm;//input 2->0
}
}