caperren/osurc_mars_rover_2017_2018
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Added missing resolution line to motor driver. Need to fix calcs for motor driver and 24v on iris. Linear repsentation from measurement next.

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Corwin Perren
2018-02-21 00:30:54 -08:00
parent 3e4d85c9a1
commit aa46f6637a
1 changed files with 7 additions and 0 deletions
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7
software/firmware/motor_driver/motor_driver.ino
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@@ -55,6 +55,8 @@ void setup() {
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]); num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(2000000); // baud-rate at 19200 slave.begin(2000000); // baud-rate at 19200
slave.setTimeOut(150); slave.setTimeOut(150);
Serial.begin(9600);
} }
void loop() { void loop() {
@@ -96,6 +98,9 @@ void setup_hardware(){
// Change motor PWM frequency so it's not in the audible range // Change motor PWM frequency so it's not in the audible range
analogWriteFrequency(HARDWARE::MOTOR_PWM, 25000); analogWriteFrequency(HARDWARE::MOTOR_PWM, 25000);
// Set teensy to increased analog resolution
analogReadResolution(13);
} }
void poll_modbus(){ void poll_modbus(){
@@ -143,4 +148,6 @@ void poll_sensors_and_motor_state(){
modbus_data[MODBUS_REGISTERS::CURRENT] = (uint16_t)(((((analogRead(HARDWARE::MOTOR_CURRENT_SENSE) / 8192.0) * 3.3) - 0.05) / 0.02) * 1000); modbus_data[MODBUS_REGISTERS::CURRENT] = (uint16_t)(((((analogRead(HARDWARE::MOTOR_CURRENT_SENSE) / 8192.0) * 3.3) - 0.05) / 0.02) * 1000);
modbus_data[MODBUS_REGISTERS::FAULT] = !digitalRead(HARDWARE::MOTOR_FAULT); modbus_data[MODBUS_REGISTERS::FAULT] = !digitalRead(HARDWARE::MOTOR_FAULT);
modbus_data[MODBUS_REGISTERS::TEMPERATURE] = (uint16_t)(((((analogRead(HARDWARE::TEMP) / 8192.0) * 3.3) - 0.750) / 0.01) * 1000); modbus_data[MODBUS_REGISTERS::TEMPERATURE] = (uint16_t)(((((analogRead(HARDWARE::TEMP) / 8192.0) * 3.3) - 0.750) / 0.01) * 1000);
Serial.println(modbus_data[MODBUS_REGISTERS::CURRENT]);
} }