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Filling out more functions and timers, untested

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dogma 2023-11-22 06:01:15 -06:00
parent f9e588e0cf
commit 36fab27821
1 changed files with 69 additions and 21 deletions
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90
main.py
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@ -18,6 +18,7 @@
Shaft diameter is 5mm with a 3mm inner key thing. Mounting holes are 35mm apart. """ Shaft diameter is 5mm with a 3mm inner key thing. Mounting holes are 35mm apart. """
import machine
from machine import Pin from machine import Pin
from machine import Timer from machine import Timer
import math import math
@ -26,7 +27,7 @@ import time
NUM_PINS = 4 NUM_PINS = 4
NUM_STEPS = 8 NUM_STEPS = 8
RADS_PER_SEC = 7.292115e-05 RADS_PER_SEC = 7.292115e-05
LENGTH_CM = 28.884 # fill in with precise measured value LENGTH_CM = 28.884 # fill in with precise measured value
# For theta zero, I used relative measurement between two boards w/ level. # For theta zero, I used relative measurement between two boards w/ level.
# Got 0.72 degrees, which is 0.012566 radians # Got 0.72 degrees, which is 0.012566 radians
THETAO = 0.012566 THETAO = 0.012566
@ -40,29 +41,29 @@ REWINDING = 1
STOPPED = 2 STOPPED = 2
motorPins = [ motorPins = [
Pin(16, Pin.out), # D0 Pin(16, Pin.out), # D0
Pin(5, Pin.out), # D1 Pin(5, Pin.out), # D1
Pin(4, Pin.out), #D2 Pin(4, Pin.out), # D2
Pin(14, Pin.out) #D5 Pin(14, Pin.out) # D5
] ]
MODE_PIN = Pin(13, Pin.out) #D7 MODE_PIN = Pin(13, Pin.out) # D7
STEPPER_SEQUENCE = [ STEPPER_SEQUENCE = [
[1,0,0,1], [1, 0, 0, 1],
[1,0,0,0], [1, 0, 0, 0],
[1,1,0,0], [1, 1, 0, 0],
[0,1,0,0], [0, 1, 0, 0],
[0,1,1,0], [0, 1, 1, 0],
[0,0,1,0], [0, 0, 1, 0],
[0,0,1,1], [0, 0, 1, 1],
[0,0,0,1] [0, 0, 0, 1]
] ]
step_delta = 0 step_delta = 0
step_num = 0 step_num = 0
total_seconds = 0.0 total_seconds = 0.0
totalsteps = 0 totalsteps = 0
step_interval_s = 0.001 step_interval_s = 0.001
current_step = 0 current_step = 0
next = 0 next = 0
@ -75,7 +76,8 @@ autostop = True
def ypt(ts): def ypt(ts):
# Bolt insertion rate in cm/s: y'(t) # Bolt insertion rate in cm/s: y'(t)
# Note, if you run this for ~359 minutes, it goes to infinity!! # Note, if you run this for ~359 minutes, it goes to infinity!!
return LENGTH_CM * RADS_PER_SEC/math.pow(math.cos(THETAO + RADS_PER_SEC * ts),2) return LENGTH_CM * RADS_PER_SEC/math.pow(math.cos(THETAO + RADS_PER_SEC * ts), 2)
def step_motor(): def step_motor():
""" """
@ -86,27 +88,73 @@ def step_motor():
""" """
pass pass
def do_step(current_step): def do_step(current_step):
# apply a single step of the stepper motor on its pins. # apply a single step of the stepper motor on its pins.
pass for i in NUM_PINS:
if current_step[i] is 1:
Pin(motorPins[i], Pin.HIGH)
else
Pin(motorPins[i], Pin.LOW )
def setup(): def setup():
pass setup_gpio()
setup_timer()
buttonUp = Pin(MODE_PIN)
if not buttonUp:
print("Manual REWIND")
autostop = False
current_mode = REWINDING
def setup_timer(): def setup_timer():
pass machine.disable_irq()
timer = Timer(2)
timer.init(freq=1000)
timer.callback(lambda t:step_motor())
machine.enable_irq()
def setup_gpio(): def setup_gpio():
for i in NUM_PINS: for i in NUM_PINS:
Pin(motorPins[i], Pin.OUT) Pin(motorPins[i], Pin.OUT)
all_pins_off() all_pins_off()
button = Pin(MODE_PIN, Pin.IN) button = Pin(MODE_PIN, Pin.IN)
button.irq(trigger=Pin.IRQ_FALLING, handler=toggle_mode) button.irq(trigger=Pin.IRQ_FALLING, handler=toggle_mode)
pass
def all_pins_off(): def all_pins_off():
for i in NUM_PINS: for i in NUM_PINS:
Pin(motorPins[i], Pin.low()) Pin(motorPins[i], Pin.low())
def toggle_mode(): def toggle_mode():
# We have several modes that we can toggle between with a button, # We have several modes that we can toggle between with a button,
# NORMAL, REWIND, and STOPPED. # NORMAL, REWIND, and STOPPED.
# Need to find replacement for ESP.getCycleCount();
#if ESP.getCycleCount() - last_toggle < 0.2*CYCLES_PER_SECOND:
# return
if current_mode is REWINDING:
print("STOPPING")
current_mode = STOPPED
all_pins_off()
if not autostop:
step_num = 0
total_seconds = 0
totalsteps = 0
autostop = True
elif current_mode is NORMAL:
print("REWINDING")
current_mode = REWINDING
else:
print("RESTARTING")
current_mode = NORMAL
last_toggle = 0# FIND REPLACEMENT FOR ESP.getCycleCount();
pass pass
def loop(): def loop():
pass pass