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ads1256
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修改限位器

This commit is contained in:
许晟昊 2023-12-29 11:00:01 +08:00
parent 2792a8d347
commit f874a1a70d
6 changed files with 192 additions and 45 deletions
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3
platformio.ini
View File

@ -14,5 +14,6 @@ board = upesy_wroom
framework = arduino
lib_extra_dirs = ~/Documents/Arduino/libraries
lib_deps =
./lib
./lib
arduino-libraries/Stepper@^1.1.3
monitor_speed = 115200

2
src/adc1256.cpp
View File

@ -27,12 +27,12 @@ void adc1256_reset(void)
void adc1256_set_channel(uint8_t ch)
{
adc.waitDRDY();
adc.setChannel(ch);
}
float adc1256_read(void)
{
// adc.waitDRDY();
return adc.readCurrentChannel();
}

2
src/board.cpp
View File

@ -10,5 +10,5 @@ void board_init(void)
}
Serial.println("ADS1256 - 2023-12-22");
adc1256_init();
// motor_init();
motor_init();
}

158
src/main.cpp
View File

@ -4,7 +4,7 @@
volatile bool task_adc1256_flag = false;
String read_val = ""; // 用于储存串口接收的字符串
float array[5000]; // 存储数据
int motor_home_step = 0;
String fenge(String str, String fen, int index)
{
int weizhi;
@ -33,7 +33,7 @@ String fenge(String str, String fen, int index)
void task_ads(void *pt)
{
float *array; // 存储数据
float array[1000]; // 存储数据
uint16_t i = 0, j = 0;
float temp = 0;
@ -41,45 +41,85 @@ void task_ads(void *pt)
{
while (task_adc1256_flag)
{
Serial.println("Waiting for processing ...");
String part01 = fenge(read_val, ",", 0);
String part02 = fenge(read_val, ",", 1);
String part03 = fenge(read_val, ",", 2);
if (part01 == "r")
if (read_val == "h")
{
adc1256_set_channel(3);
if (part02 != "" && part03 != "")
if (digitalRead(LIMIT) == 1)
{
int count = part02.toInt();
int delay = part03.toInt();
motor_limit = MOTOR_LIMIT_OUTSIDE;
array = (float *)malloc(count * sizeof(float));
memset(array, 0, sizeof(array));
for (i = 0; i < count; i++)
{
array[i] = adc1256_read();
vTaskDelay(delay);
}
// 对array[i]从小到大排序后取中间一个值
for (i = 0; i < count - 1; i++)
{
for (j = 0; j < count - 1 - i; j++)
{
if (array[j] > array[j + 1])
{
temp = array[j];
array[j] = array[j + 1];
array[j + 1] = temp;
}
}
}
Serial.printf("r,%.4f", array[count / 2]);
free(array);
Serial.println("当前位置在限位器外，准备归位");
}
else
{
Serial.println("Error: Invalid input");
motor_limit = MOTOR_LIMIT_WITHIN;
motor_dir(-1);
Serial.println("当前位置在限位器内，准备归位");
}
motor_home_step = 0;
motor_limit_on();
}
else if (read_val == "s")
{
motor_limit_off();
}
else if (read_val == "r")
{
motor_dir(1);
}
else if (read_val == "l")
{
motor_dir(-1);
}
else if (read_val == "m")
{
motor_limit_on();
}
else
{
Serial.println("开始读取ADC ...");
String part01 = fenge(read_val, ",", 0);
String part02 = fenge(read_val, ",", 1);
String part03 = fenge(read_val, ",", 2);
if (part01 == "r")
{
adc1256_set_channel(3);
Serial.printf("r,%.4f", adc1256_read());
// if (part02 != "" && part03 != "")
// {
// int count = part02.toInt();
// int delay = part03.toInt();
// if (count < 1000)
// {
// memset(array, 0, sizeof(array));
// for (i = 0; i < count; i++)
// {
// array[i] = adc1256_read();
// vTaskDelay(delay);
// }
// // 对array[i]从小到大排序后取中间一个值
// for (i = 0; i < count - 1; i++)
// {
// for (j = 0; j < count - 1 - i; j++)
// {
// if (array[j] > array[j + 1])
// {
// temp = array[j];
// array[j] = array[j + 1];
// array[j + 1] = temp;
// }
// }
// }
// Serial.printf("r,%.4f", array[count / 2]);
// }
// else
// {
// Serial.println("Error: Invalid input");
// }
// }
// else
// {
// Serial.println("Error: Invalid input");
// }
}
}
@ -107,6 +147,11 @@ void task_serial(void *pt)
{
task_adc1256_flag = true;
}
else
{
// read_val = "r,100,10";
// task_adc1256_flag = true;
}
}
else
{
@ -117,17 +162,56 @@ void task_serial(void *pt)
}
}
void task_motor(void *pt)
{
for (;;)
{
motor_home();
int res = digitalRead(LIMIT);
if (motor_limit == MOTOR_LIMIT_WITHIN && res == 1)
{
motor_dir_reaction();
motor_limit = MOTOR_LIMIT_OUTSIDE;
}
if (motor_limit_flag == true && res == 0)
{
if (motor_limit == MOTOR_LIMIT_OUTSIDE && motor_dir_get() > 0)
{
if (++motor_home_step == 12)
{
motor_limit_off();
Serial.println("归位完成");
}
}
if (motor_limit == MOTOR_LIMIT_OUTSIDE && motor_dir_get() < 0)
{
if (++motor_home_step == 6)
{
motor_limit_off();
Serial.println("归位完成");
}
}
}
vTaskDelay(10);
}
}
void setup()
{
// put your setup code here, to run once:
board_init();
xTaskCreate(task_serial, "task_serial", 1024 * 4, NULL, 1, NULL);
xTaskCreate(task_ads, "task_ads", 1024 * 4, NULL, 1, NULL);
xTaskCreate(task_ads, "task_ads", 1024 * 8, NULL, 1, NULL);
xTaskCreate(task_motor, "task_motor", 1024 * 8, NULL, 1, NULL);
}
void loop()
{
// put your main code here, to run repeatedly:
vTaskDelay(1000); // 延时100ms
vTaskDelay(1000);
}

53
src/motor.cpp
View File

@ -1,13 +1,60 @@
#include <Arduino.h>
#include <Stepper.h>
#include "motor.h"
#define PUL 26 // CLK 输出端口为 PUL（脉冲信号）
#define DIR 25 // CW 输出端口为DIR（方向信号）
#define PULSE 400.0 // 脉冲数
#define ANGLE 360.0 / PULSE // 每个脉冲的角度
Stepper mstepper(PULSE, DIR, PUL);
volatile bool motor_limit_flag = false;
int motor_limit = MOTOR_LIMIT_OUTSIDE;
int _motor_dir_set = 1;
void motor_dir(int dir)
{
_motor_dir_set = dir;
}
void motor_dir_reaction(void)
{
_motor_dir_set = _motor_dir_set < 0 ? 1 : -1;
}
int motor_dir_get(void)
{
return _motor_dir_set;
}
void motor_limit_on(void)
{
motor_limit_flag = true;
}
void motor_limit_off(void)
{
motor_limit_flag = false;
}
void motor_init(void)
{
pinMode(PUL, OUTPUT);
pinMode(DIR, OUTPUT);
mstepper.setSpeed(PULSE);
pinMode(LIMIT, INPUT_PULLUP);
motor_limit_flag = false;
}
// 步进电机归位
void motor_home(void)
{
if (motor_limit_flag == true)
{
int dir = _motor_dir_set < 0 ? -1 : 1;
mstepper.step(PULSE * dir);
}
}
void motor_loop(void)
{
digitalWrite(DIR, LOW); // 先让arduino向驱动板输出一个低电平使其反转。
}

19
src/motor.h
View File

@ -1,8 +1,23 @@
#ifndef MOTOR_H
#define MOTOR_H
#define PUL 35 // CLK 定义9输出端口为 PUL（脉冲信号）
#define DIR 34 // CW 定义10输出端口为DIR（方向信号）
#define LIMIT 22 // 限位器
typedef enum
{
MOTOR_LIMIT_WITHIN,
MOTOR_LIMIT_OUTSIDE,
} motor_limit_e;
extern volatile bool motor_limit_flag;
extern int motor_limit;
// Function declarations
void motor_init(void);
void motor_loop(void);
void motor_home(void);
void motor_limit_on(void);
void motor_limit_off(void);
void motor_dir(int dir);
void motor_dir_reaction(void);
int motor_dir_get(void);
#endif // MOTOR_H