caperren/osurc_mars_rover_2017_2018
1
0
Fork 0
mirror of https://github.com/OSURoboticsClub/Rover_2017_2018.git synced 2025-11-08 10:11:14 +00:00
Code Issues Packages Projects Releases Wiki Activity

Updated mining firmware

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

27
software/firmware/mining/mining.ino
View File

@@ -1,5 +1,6 @@
////////// Includes ////////// ////////// Includes //////////
#include "HX711.h" #include "HX711.h"
#include <ModbusRtu.h>
////////// Hardware / Data Enumerations ////////// ////////// Hardware / Data Enumerations //////////
enum HARDWARE { enum HARDWARE {
@@ -53,14 +54,16 @@ enum MODBUS_REGISTERS {
////////// Global Variables ////////// ////////// Global Variables //////////
int set_position_lift = 0; int set_position_lift = 0;
int set_position_tilt = 0; int set_position_tilt = 0;
int current_position_lift = 0;
int current_position_tilt = 0;
int tolerance = 20; //tolerance for position int tolerance = 20; //tolerance for position
float calibration_factor = -120000; //for the scale float calibration_factor = -120000; //for the scale
// modbus stuff // modbus stuff
const uint8_t node_id = 2; const uint8_t node_id = 2;
const uint8_t mobus_serial_port_number = 3; const uint8_t mobus_serial_port_number = 2;
uint16_t modbus_data[] = {0, 0, 0, 0, 0, 0, 0}; uint16_t modbus_data[] = {1023, 350, 0, 0, 0, 0, 0};
uint8_t num_modbus_registers = 0; uint8_t num_modbus_registers = 0;
int8_t poll_state = 0; int8_t poll_state = 0;
bool communication_good = false; bool communication_good = false;
@@ -73,6 +76,7 @@ uint8_t message_count = 0;
#define BRAKEGND 3 #define BRAKEGND 3
////////// Class Instantiations ////////// ////////// Class Instantiations //////////
HX711 scale(HARDWARE::SCALE_DOUT, HARDWARE::SCALE_CLK);
Modbus slave(node_id, mobus_serial_port_number, HARDWARE::RS485_EN); Modbus slave(node_id, mobus_serial_port_number, HARDWARE::RS485_EN);
void setup() { void setup() {
@@ -81,7 +85,7 @@ void setup() {
setup_hardware(); setup_hardware();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]); num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(115200); // baud-rate at 19200 slave.begin(115200); // baud-rate at 19200
slave.setTimeOut(150); slave.setTimeOut(500);
} }
void loop() { void loop() {
@@ -129,11 +133,12 @@ void setup_hardware() {
// set the current desired position to the current position // set the current desired position to the current position
set_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB); set_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
set_position_tilt = analogRead(HARDWARE::MOTOR_TILT_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 // setup scale
scale.set_scale();
scale.tare(); //Reset the scale to 0
scale.set_scale(calibration_factor); scale.set_scale(calibration_factor);
scale.tare(); //Reset the scale to 0
} }
void poll_modbus(){ void poll_modbus(){
@@ -165,6 +170,9 @@ void set_motors() {
current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB); current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
current_position_tilt = analogRead(HARDWARE::MOTOR_TILT_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 (abs(current_position_lift - set_position_lift) > tolerance) {
if (current_position_lift < set_position_lift) { if (current_position_lift < set_position_lift) {
set_motor_output(MOTORS::LIFT, CCW, 255); set_motor_output(MOTORS::LIFT, CCW, 255);
@@ -191,11 +199,16 @@ void set_motors() {
} }
void set_scale(){ 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(){ 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---// //---Set Motor Output---//