Clean up files
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dogma
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12
boot.py
12
boot.py
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# boot.py -- run on boot-up
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# This file is executed on every boot (including wake-boot from deepsleep)
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#import esp
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#esp.osdebug(None)
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import os, machine
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#os.dupterm(None, 1) # disable REPL on UART(0)
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import gc
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import webrepl
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webrepl.start()
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gc.collect()
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@ -1,221 +0,0 @@
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/*
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* Skytracker by Nick Touran for ESP8266 and Stepper Motors
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*
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* partofthething.com
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*
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* This accelerates the motor to correct the tangent error. It can rewind too!
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*
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* Motors are 28BYJ-48 5V + ULN2003 Driver Board from Amazon
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* Hook up power and ground and then hook inputs 1-4 up to GPIO pins.
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*
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* See Also: http://www.raspberrypi-spy.co.uk/2012/07/stepper-motor-control-in-python/
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* This motor has a 1:64 gear reduction ratio and a stride angle of 5.625 deg (1/64th of a circle).
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*
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* So it takes 64*64 = 4096 single steps for one full rotation, or 2048 double-steps.
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* with 3 ms timing, double-stepping can do a full rotation in 2048*0.003 = 6.144 seconds
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* so that's a whopping 1/6.144 * 60 = 9.75 RPM. But it has way more torque than I expected.
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*
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* Can get 2ms timing going with double stepping on ESP8266. Pretty fast!
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* Should power it off of external 5V.
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*
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* Shaft diameter is 5mm with a 3mm inner key thing. Mounting holes are 35mm apart.
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*
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*/
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#define NUM_PINS 4
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#define NUM_STEPS 8
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#define RADS_PER_SEC 7.292115e-05
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#define LENGTH_CM 28.884 // fill in with precise measured value
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// For theta zero, I used relative measurement between two boards w/ level.
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// Got 0.72 degrees, which is 0.012566 radians
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#define THETA0 0.012566 // fill in with angle at fully closed position (radians)
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#define ROTATIONS_PER_CM 7.8740157 // 1/4-20 thread
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#define DOUBLESTEPS_PER_ROTATION 2048.0
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#define CYCLES_PER_SECOND 80000000
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//modes
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#define NORMAL 0
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#define REWINDING 1
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#define STOPPED 2
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int allPins[NUM_PINS] = {D1, D2, D3, D4};
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int MODE_PIN = D7;
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// from manufacturers datasheet
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int STEPPER_SEQUENCE[NUM_STEPS][NUM_PINS] = {{1,0,0,1},
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{1,0,0,0},
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{1,1,0,0},
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{0,1,0,0},
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{0,1,1,0},
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{0,0,1,0},
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{0,0,1,1},
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{0,0,0,1}};
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int step_delta;
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int step_num = 0;
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double total_seconds = 0.0;
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long totalsteps = 0;
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double step_interval_s=0.001;
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int *current_step;
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volatile unsigned long next; // next time to trigger callback
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volatile unsigned long now; // volatile keyword required when things change in callbacks
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volatile unsigned long last_toggle; // for debounce
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volatile short current_mode=NORMAL;
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bool autostop=true; // hack for allowing manual rewind at boot
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float ypt(float ts) {
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// bolt insertion rate in cm/s: y'(t)
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// Note, if you run this for ~359 minutes, it goes to infinity!!
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return LENGTH_CM * RADS_PER_SEC/pow(cos(THETA0 + RADS_PER_SEC * ts),2);
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}
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void inline step_motor(void) {
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/* This is the callback function that gets called when the timer
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* expires. It moves the motor, updates lists, recomputes
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* the step interval based on the current tangent error,
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* and sets a new timer.
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*/
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switch(current_mode) {
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case NORMAL:
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step_interval_s = 1.0/(ROTATIONS_PER_CM * ypt(total_seconds)* 2 * DOUBLESTEPS_PER_ROTATION);
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step_delta = 1; // single steps while filming for smoothest operation and highest torque
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step_num %= NUM_STEPS;
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break;
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case REWINDING:
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// fast rewind
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step_interval_s = 0.0025; // can often get 2ms but gets stuck sometimes.
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step_delta = -2; // double steps going backwards for speed.
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if (step_num<0) {
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step_num+=NUM_STEPS; // modulus works here in Python it goes negative in C.
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}
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break;
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case STOPPED:
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step_interval_s = 0.2; // wait a bit to conserve power.
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break;
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}
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if (current_mode!=STOPPED) {
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total_seconds += step_interval_s; // required for tangent error
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current_step = STEPPER_SEQUENCE[step_num];
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do_step(current_step);
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step_num += step_delta; // double-steppin'
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totalsteps += step_delta;
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}
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// Serial.println(totalsteps);
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// Before setting the next timer, subtract out however many
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// clock cycles were burned doing all the work above.
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now = ESP.getCycleCount();
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next = now + step_interval_s * CYCLES_PER_SECOND - (now-next); // will auto-rollover.
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timer0_write(next); // see you next time!
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}
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void do_step(int *current_step) {
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/* apply a single step of the stepper motor on its pins. */
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for (int i=0;i<NUM_PINS+1;i++) {
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if (current_step[i] == 1) {
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digitalWrite(allPins[i], HIGH);
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}
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else {
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digitalWrite(allPins[i], LOW);
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}
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}
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}
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void setup() {
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Serial.begin(115200);
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setup_gpio();
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setup_timer();
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// Convenient Feature: Hold button down during boot to do a manual rewind.
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// Press button again to set new zero point.
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int buttonUp = digitalRead(MODE_PIN);
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if(not buttonUp) {
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Serial.println("Manual REWIND!");
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autostop=false;
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current_mode=REWINDING;
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}
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}
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void setup_timer() {
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noInterrupts();
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timer0_isr_init();
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timer0_attachInterrupt(step_motor); // call this function when timer expires
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next=ESP.getCycleCount()+1000;
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timer0_write(next); // do first call in 1000 clock cycles.
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interrupts();
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}
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void setup_gpio() {
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for (int i=0;i<NUM_PINS+1;i++) {
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pinMode(allPins[i], OUTPUT);
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}
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all_pins_off();
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// Setup toggle button for some user input.
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pinMode(MODE_PIN, INPUT_PULLUP);
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attachInterrupt(digitalPinToInterrupt(MODE_PIN), toggle_mode, FALLING);
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}
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void all_pins_off() {
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for (int i=0;i<NUM_PINS+1;i++) {
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digitalWrite(allPins[i], LOW);
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}
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}
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void toggle_mode() {
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/* We have several modes that we can toggle between with a button,
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* NORMAL, REWIND, and STOPPED.
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*/
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if(ESP.getCycleCount() - last_toggle < 0.2*CYCLES_PER_SECOND) //debounce
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{
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return;
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}
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if (current_mode == REWINDING){
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Serial.println("STOPPING");
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current_mode = STOPPED;
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all_pins_off();
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if (not autostop) {
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// Reset things after a manual rewind.
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step_num = 0;
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total_seconds = 0.0;
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totalsteps=0;
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autostop=true;
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}
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}
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else if (current_mode == NORMAL) {
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Serial.println("Rewinding.");
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current_mode = REWINDING;
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}
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else {
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Serial.println("Restarting.");
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current_mode = NORMAL;
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}
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last_toggle = ESP.getCycleCount();
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}
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void loop() {
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if(current_mode == REWINDING) {
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// we've reached the starting point. stop rewinding.
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if(totalsteps < 1 and autostop==true){
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Serial.println("Ending the rewind and stopping.");
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current_mode=STOPPED;
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all_pins_off();
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total_seconds = 0.0;
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}
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}
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else {
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// no-op. just wait for interrupts.
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yield();
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}
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}
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@ -1,50 +0,0 @@
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#define NUM_PINS 4
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#define NUM_STEPS 8
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int allPins[NUM_PINS] = {D1, D2, D3, D4};
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// from manufacturers datasheet
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int STEPPER_SEQUENCE[NUM_STEPS][NUM_PINS] = {{1,0,0,1},
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{1,0,0,0},
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{1,1,0,0},
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{0,1,0,0},
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{0,1,1,0},
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{0,0,1,0},
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{0,0,1,1},
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{0,0,0,1}};
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int stepNum = 0;
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void setup() {
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Serial.begin(115200);
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setup_gpio();
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}
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void setup_gpio() {
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for (int i=0;i<NUM_PINS+1;i++) {
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pinMode(allPins[i], OUTPUT);
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}
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all_pins_off();
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}
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void all_pins_off() {
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for (int i=0;i<NUM_PINS+1;i++) {
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digitalWrite(allPins[i], HIGH);
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}
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}
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int *currentStep;
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void loop() {
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currentStep = STEPPER_SEQUENCE[stepNum];
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for (int i=0;i<NUM_PINS+1;i++) {
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if (currentStep[i] == 1) {
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digitalWrite(allPins[i], HIGH);
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}
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else {
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digitalWrite(allPins[i], LOW);
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}
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}
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delay(5);
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stepNum +=2; // double-stepping. Faster and shakier.
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stepNum %= NUM_STEPS;
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}
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@ -1 +0,0 @@
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import machine
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