caperren/ossm_overkill_edition
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caperren
2024-03-09 15:14:28 -08:00
parent 0a7b362cf2
commit 58e89db541
1 changed files with 51 additions and 23 deletions
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74
software/motion_controller/main.py
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@@ -18,9 +18,12 @@ e) Duty cycle of PUL signal is recommended 50%"""
class MotionControllerBase(AccelStepper): class MotionControllerBase(AccelStepper):
REV = 1
FWD = 0
def __init__(self, step_pin: str, dir_pin: str, steps_per_revolution: float): def __init__(self, step_pin: str, dir_pin: str, steps_per_revolution: float):
self.step_pin = Pin(step_pin, Pin.OUT, value=0) self.step_pin = Pin(step_pin, Pin.OUT, value=0)
self.dir_pin = Pin(dir_pin, Pin.OUT, value=0) self.dir_pin = Pin(dir_pin, Pin.OUT, value=0)
self._last_dir = self.REV
self.steps_per_revolution = steps_per_revolution self.steps_per_revolution = steps_per_revolution
@@ -32,13 +35,17 @@ class MotionControllerBase(AccelStepper):
self.step_pin.value(0) self.step_pin.value(0)
def fwd(self): def fwd(self):
self.dir_pin.value(1) if self._last_dir != self.FWD:
sleep_us(2) self.dir_pin.value(1)
sleep_us(2)
self._last_dir = self.FWD
self.one_step() self.one_step()
def rev(self): def rev(self):
self.dir_pin.value(0) if self._last_dir != self.REV:
sleep_us(2) self.dir_pin.value(0)
sleep_us(2)
self._last_dir = self.REV
self.one_step() self.one_step()
@@ -139,9 +146,14 @@ def machine_main():
slider_off_offset = 800.0 slider_off_offset = 800.0
uint_remaining_range = uint_max - slider_off_offset uint_remaining_range = uint_max - slider_off_offset
max_mm = 120.0 MAX_THRUST_MM = 120.0
min_mm = 20.0 MIN_THRUST_MM = 20.0
mm_delta = max_mm - min_mm THRUST_MM_DELTA = MAX_THRUST_MM - MIN_THRUST_MM
MAX_TPS = 5
MAX_TPS_MM_PER_SECOND = THRUST_MM_DELTA * MAX_TPS
THRUST_MM_PER_SECOND_ACCEL = 2000
thrust.set_max_speed(thrust.mm_to_steps(5*MAX_TPS_MM_PER_SECOND))
thrust.set_acceleration(thrust.mm_to_steps(THRUST_MM_PER_SECOND_ACCEL))
min_limit_pin = ADC(Pin("A1", Pin.IN)) min_limit_pin = ADC(Pin("A1", Pin.IN))
max_limit_pin = ADC(Pin("A2", Pin.IN)) max_limit_pin = ADC(Pin("A2", Pin.IN))
@@ -162,10 +174,11 @@ def machine_main():
RETRACTED = 1 RETRACTED = 1
last_move = EXTENDED last_move = EXTENDED
last_manual_max_thrust_val = 0 last_thrust_value = 0
last_speed_percentage = 0
last_ticks_ms = ticks_ms() last_ticks_ms = ticks_ms()
running = False running = True
last_running = False last_running = False
while True: while True:
print_debug = (ticks_ms() - last_ticks_ms) > 1000 print_debug = (ticks_ms() - last_ticks_ms) > 1000
@@ -188,15 +201,16 @@ def machine_main():
# Thrust Depth Control # Thrust Depth Control
if min_thrust_val < slider_off_offset: if min_thrust_val < slider_off_offset:
if last_state == TPS_CONTROL: if last_state == TPS_CONTROL:
last_manual_max_thrust_val = 0 last_thrust_value = 0
last_state = MANUAL_CONTROL last_state = MANUAL_CONTROL
if abs(last_manual_max_thrust_val - max_thrust_val) > 1000: if abs(last_thrust_value - max_thrust_val) > 1000:
final_mm = (mm_delta * max_limit_percentage) + min_mm final_mm = (THRUST_MM_DELTA * max_limit_percentage) + MIN_THRUST_MM
thrust.move_to_mm(final_mm) thrust.move_to_mm(final_mm)
last_thrust_value = final_mm
else: else:
slider_set_min_mm = (min_limit_percentage * mm_delta) + min_mm slider_set_min_mm = (min_limit_percentage * THRUST_MM_DELTA) + MIN_THRUST_MM
slider_set_max_mm = (max_limit_percentage * mm_delta) + min_mm slider_set_max_mm = (max_limit_percentage * THRUST_MM_DELTA) + MIN_THRUST_MM
slider_set_max_mm = max(slider_set_max_mm, slider_set_min_mm) slider_set_max_mm = max(slider_set_max_mm, slider_set_min_mm)
if last_state == MANUAL_CONTROL: if last_state == MANUAL_CONTROL:
@@ -216,25 +230,39 @@ def machine_main():
# Rotation speed control # Rotation speed control
if rotation_revolutions_per_second_value < lower_rotation_enable: if rotation_revolutions_per_second_value < lower_rotation_enable:
reverse_speed_percentage = ( speed_percentage = (
lower_rotation_enable - rotation_revolutions_per_second_value lower_rotation_enable - rotation_revolutions_per_second_value
) / uint_rotation_remaining_range ) / uint_rotation_remaining_range
rotation.set_rps(reverse_speed_percentage * max_rotations_per_second) speed = speed_percentage * max_rotations_per_second
if abs(last_speed_percentage - speed) < 0.01:
rotation.set_rps(speed)
last_speed_percentage = speed_percentage
if print_debug: if print_debug:
print(f"{reverse_speed_percentage}") print(f"{speed}")
elif rotation_revolutions_per_second_value > upper_rotation_enable: elif rotation_revolutions_per_second_value > upper_rotation_enable:
forward_speed_percentage = ( speed_percentage = (
rotation_revolutions_per_second_value - upper_rotation_enable rotation_revolutions_per_second_value - upper_rotation_enable
) / uint_rotation_remaining_range ) / uint_rotation_remaining_range
rotation.set_rps(-forward_speed_percentage * max_rotations_per_second) speed = -speed_percentage * max_rotations_per_second
if abs(last_speed_percentage - speed) < 0.01:
rotation.set_rps(speed)
last_speed_percentage = speed_percentage
if print_debug: if print_debug:
print(f"{forward_speed_percentage}") print(f"{speed}")
# if last_rotation_sp
else: else:
rotation.set_speed(0) if last_speed_percentage != 0:
rotation.set_speed(0)
last_speed_percentage = 0
if running != last_running: if running != last_running:
last_manual_max_thrust_val = 0 last_thrust_value = 0
set_color(np, (0, 255, 0)) set_color(np, (0, 255, 0))
last_running = running last_running = running
@@ -242,7 +270,7 @@ def machine_main():
if running != last_running: if running != last_running:
set_color(np, (255, 255, 0)) set_color(np, (255, 255, 0))
last_running = running last_running = running
thrust.move_to_mm(min_mm) thrust.move_to_mm(MIN_THRUST_MM)
rotation.set_speed(0) rotation.set_speed(0)
thrust.run() thrust.run()