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Added IONI configs and mining firmware

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This commit is contained in:
Dylan Thrush
2018-07-28 22:20:13 -07:00
parent d6719e87f9
commit 6607e4bd77
6 changed files with 459 additions and 61 deletions
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102
software/firmware/gripper/gripper.ino
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@@ -21,7 +21,7 @@ enum HARDWARE {
};
////////// Global Variables //////////
// define user words for motor states
// define nice words for motor states
#define BRAKE 0
#define FWD 1
#define REV 2
@@ -48,11 +48,12 @@ double signed_setpoint_vel = -200;
// Position
double setpoint_pos = 0; //PID position variables
double input_pos, output_pos;
PID motor_pos(&input_pos, &output_pos, &setpoint_pos, 10, 0, 0, DIRECT); //position PID
long current_pos = 1000;
PID motor_pos(&input_pos, &output_pos, &setpoint_pos, 500, 0, 0, DIRECT); //position PID
long current_pos = 0;
// Homing
int trip_threshold = 650;
int trip_threshold = 550;
bool home_flag = true;
long prev_millis = 0;
@@ -72,68 +73,81 @@ void setup() {
void loop() {
// Position based homing
//Serial.println(analogRead(HARDWARE::MOTOR_CURRENT_SENSE));
// if (home_flag == true){
// Serial.println("homing");
// Serial.println(analogRead(HARDWARE::MOTOR_CURRENT_SENSE));
//
// unsigned long curr_millis = millis();
// // if it is time to move the motor and we haven't tripped the current yet:
// unsigned long curr_millis = millis();
// if (curr_millis - prev_millis > interval){
// prev_millis = curr_millis;
// current_pos += 5; // increment by counts
//
// if (analogRead(HARDWARE::MOTOR_CURRENT_SENSE) < trip_threshold){
// current_pos = 0;
// enc.write(0);
// home_flag = false;
// current_pos -= 10; // increment by counts
// }
// if ((analogRead(HARDWARE::MOTOR_CURRENT_SENSE) > trip_threshold) && (curr_millis > 1000)){
// enc.write(0);
// current_pos = 0;
// home_flag = false;
// Serial.println("homing complete");
// }
// }
// Position movement test
// unsigned long curr_millis = millis();
// // if it is time to move the motor and we haven't tripped the current yet:
// if (curr_millis - prev_millis > interval){
// prev_millis = curr_millis;
// current_pos += 1; // increment by counts
// }
//
// set_position(10000);
//
// set_position(current_pos);
// Serial.print("Set Pos: ");
// Serial.println(current_pos);
// Serial.print("Curr Pos: ");
// Serial.println(enc.read());
// delay(1);
// Velocity based non blocking homing
if (home_flag == true){
/*----------------------------------------------------------------------------*/
set_velocity(-150);
// Position movement test
// unsigned long curr_millis = millis();
// // if it is time to move the motor and we haven't tripped the current yet:
// if (curr_millis - prev_millis > interval){
// prev_millis = curr_millis;
Serial.println("Homing");
// current_pos += 10; // increment by counts
Serial.print("Current: ");
Serial.println(analogRead(HARDWARE::MOTOR_CURRENT_SENSE));
if ((analogRead(HARDWARE::MOTOR_CURRENT_SENSE) > trip_threshold) && (millis() > 500)){
Serial.println("Tripped current sensor!");
set_motor_output(BRAKE, 0); //stop moving
home_flag = false; // no more homing
//set_motor_output(COAST, 0); //stop moving
enc.write(0); // reset encoder
}
}
else {
set_position(current_pos); // hold
Serial.print("Set Pos: ");
Serial.println(current_pos);
Serial.print("Curr Pos: ");
Serial.println(enc.read());
}
// }
//
set_position(current_pos);
Serial.print("Set Pos: ");
Serial.println(current_pos);
Serial.print("Curr Pos: ");
Serial.println(enc.read());
delay(1);
/*----------------------------------------------------------------------------*/
// Velocity based non blocking homing
// if (home_flag == true){
//
// set_velocity(-150);
//
// Serial.println("Homing");
//
// Serial.print("Current: ");
// Serial.println(analogRead(HARDWARE::MOTOR_CURRENT_SENSE));
//
// if ((analogRead(HARDWARE::MOTOR_CURRENT_SENSE) > trip_threshold) && (millis() > 500)){
// Serial.println("Tripped current sensor!");
// set_motor_output(BRAKE, 0); //stop moving
// home_flag = false; // no more homing
// //set_motor_output(COAST, 0); //stop moving
// enc.write(0); // reset encoder
// }
// }
// else {
// set_position(current_pos); // hold
// Serial.print("Set Pos: ");
// Serial.println(current_pos);
// Serial.print("Curr Pos: ");
// Serial.println(enc.read());
// }
//
// delay(1);
}
void setup_hardware(){