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Updated mining firmware

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This commit is contained in:
Dylan Thrush
2018-07-29 00:02:17 -07:00
parent 5b33b80196
commit f4114424b9
1 changed files with 20 additions and 7 deletions
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27
software/firmware/mining/mining.ino
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@@ -1,5 +1,6 @@
////////// Includes //////////
#include "HX711.h"
#include <ModbusRtu.h>
////////// Hardware / Data Enumerations //////////
enum HARDWARE {
@@ -53,14 +54,16 @@ enum MODBUS_REGISTERS {
////////// Global Variables //////////
int set_position_lift = 0;
int set_position_tilt = 0;
int current_position_lift = 0;
int current_position_tilt = 0;
int tolerance = 20; //tolerance for position
float calibration_factor = -120000; //for the scale
// modbus stuff
const uint8_t node_id = 2;
const uint8_t mobus_serial_port_number = 3;
uint16_t modbus_data[] = {0, 0, 0, 0, 0, 0, 0};
const uint8_t mobus_serial_port_number = 2;
uint16_t modbus_data[] = {1023, 350, 0, 0, 0, 0, 0};
uint8_t num_modbus_registers = 0;
int8_t poll_state = 0;
bool communication_good = false;
@@ -73,6 +76,7 @@ uint8_t message_count = 0;
#define BRAKEGND 3
////////// Class Instantiations //////////
HX711 scale(HARDWARE::SCALE_DOUT, HARDWARE::SCALE_CLK);
Modbus slave(node_id, mobus_serial_port_number, HARDWARE::RS485_EN);
void setup() {
@@ -81,7 +85,7 @@ void setup() {
setup_hardware();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(115200); // baud-rate at 19200
slave.setTimeOut(150);
slave.setTimeOut(500);
}
void loop() {
@@ -129,11 +133,12 @@ void setup_hardware() {
// set the current desired position to the current position
set_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
set_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
current_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
// setup scale
scale.set_scale();
scale.tare(); //Reset the scale to 0
scale.set_scale(calibration_factor);
scale.tare(); //Reset the scale to 0
}
void poll_modbus(){
@@ -165,6 +170,9 @@ void set_motors() {
current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
current_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
modbus_data[MODBUS_REGISTERS::CURRENT_POSITION_LIFT] = current_position_lift;
modbus_data[MODBUS_REGISTERS::CURRENT_POSITION_TILT] = current_position_tilt;
if (abs(current_position_lift - set_position_lift) > tolerance) {
if (current_position_lift < set_position_lift) {
set_motor_output(MOTORS::LIFT, CCW, 255);
@@ -191,11 +199,16 @@ void set_motors() {
}
void set_scale(){
scale.set_scale(modbus_data[MODBUS_REGISTERS::CALIBRATION_FACTOR]);
scale.set_scale(modbus_data[MODBUS_REGISTERS::CALIBRATION_FACTOR]*-1000);
if (modbus_data[MODBUS_REGISTERS::TARE] == 1){
scale.tare();
modbus_data[MODBUS_REGISTERS::TARE] = 0;
}
}
void poll_scale(){
modbus_data[MODBUS_REGISTERS::MEASURED_WEIGHT] = scale.get_units()*-1
modbus_data[MODBUS_REGISTERS::MEASURED_WEIGHT] = scale.get_units()*-1000;
}
//---Set Motor Output---//