simulador 2dof arduino inicio

Historiker · Dec 2, 2013

Hi Claudemir, welcome to XSimulator.

If you used Google Translate to post your comments in English more people could follow the conversation and perhaps chime in with helpful information.

eaorobbie · Dec 2, 2013

Claudemir said: ↑

Code:

/*
Opensource code for xsimulator by Jean David SEDRUE
Version betatest26 - 24042012
test21 with Tacho
test22 less tache to continue biMotor test
*/
#define BRAKEVCC 0
#define RV 2 //according to cable at 24/11/2011
#define FW 1 //according to cable at 24/11/2011
#define STOP 0
#define BRAKEGND 3
#define CS_THRESHOLD 253 //not use :(
////////////////////////////////////////////////////////////////////////////////
#define pwmMin 128;
#define pwmMax 250;
#define motLeft 0
#define motRigth 1
#define speedPin 10
#define potL A4
#define potR A5

////////////////////////////////////////////////////////////////////////////////
// DECLARATIONS
////////////////////////////////////////////////////////////////////////////////
/* VNH2SP30 pin definitions*/
int inApin[2] = {
7, 4}; // INA: Clockwise input
int inBpin[2] = {
8, 9}; // INB: Counter-clockwise input
int pwmpin[2] = {
5, 6}; // PWM input
int cspin[2] = {
2, 3}; // CS: Current sense ANALOG input
int enpin[2] = {
0, 1}; // EN: Status of switches output (Analog pin)
int statpin = 13;
/* init position value*/
int DataValueL=125; //middle position
int DataValueR=125; //middle position

////////////////////////////////////////////////////////////////////////////////
// INITIALIZATION
////////////////////////////////////////////////////////////////////////////////
void setup()
{
/* serial initialization */
Serial.begin(115200);
/* motor initialization */
pinMode(statpin, OUTPUT);
for (int i=0; i<2; i++)
{
pinMode(inApin[i], OUTPUT);
pinMode(inBpin[i], OUTPUT);
pinMode(pwmpin[i], OUTPUT);
}
// Initialize braked for motor
for (int i=0; i<2; i++)
{
digitalWrite(inApin[i], LOW);
digitalWrite(inBpin[i], LOW);
}
}
////////////////////////////////////////////////////////////////////////////////
///////////////////////////////// Main Loop ////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void loop()
{
int sensorL,sensorR;

serialData();
sensorR = analogRead(A4)/4;
sensorL = analogRead(A5)/4; // echelle 0-1000
/* Serial.print(sensorL);
Serial.print(" ; ");
Serial.println(sensorR);
motorGo(motRigth, FW, 255);
delay(100);
motorOff(motRigth);
delay(1000);
*/
motorMotion(motRigth,sensorR,DataValueR);
motorMotion(motLeft,sensorL,DataValueL);

}
////////////////////////////////////////////////////////////////////////////////
// Procedure: wait for complete trame
////////////////////////////////////////////////////////////////////////////////
void serialData()
{
byte Data[3]={
'0','0','0' };
// il faut limmitter le temps pour garder le contrôle des moteurs
if (Serial.available()>2){ //wait a packets of 6
//test if order R or L data type
Data[0]=Serial.read();
if (Data[0]=='R'){ // ordre connue ?, si non je verrais au prochain tour !
Data[1]=Serial.read();
Data[2]=Serial.read();
DataValueR=NormalizeData(Data);
}
if (Data[0]=='L'){ // ordre connue ?, si non je verrais au prochain tour !
Data[1]=Serial.read();
Data[2]=Serial.read();
DataValueL=NormalizeData(Data);

}
}
if (Serial.available()>16) Serial.flush();
}
////////////////////////////////////////////////////////
void motorMotion(int numMot,int actualPos,int targetPos)
////////////////////////////////////////////////////////
{
// int potPinL=A4; //to include in header procedure
// int potPinR=A5; //to include in header procedure

int Tol=4;
int difference;
int pwm;
int securityLow=20;
int securityHigh=200;
int brakeDistance=16;
boolean move=true;

// encadrements des valeurs
if (targetPos<securityLow+brakeDistance) targetPos=(securityLow+brakeDistance); //software limits, but consideration speed brake.
if (targetPos>securityHigh-brakeDistance) targetPos=(securityHigh-brakeDistance); //software limits, but consideration speed brake.
// calculate speed about distance
difference=abs(targetPos-actualPos);

if (difference<=Tol) pwm=0; // to near to mov
if (difference>Tol) pwm=168;
if (difference>50) pwm=200;
if (difference>75) pwm=225;
if (difference>100) pwm=255;
// pay attention for security for Right motor!!
if (actualPos>securityHigh || actualPos<securityLow) move=false; //mechanicals limits
//to near to move
if (difference<= Tol) move=false; //to near to move
// en avant (haut)
if (actualPos<targetPos && move) {
pwm=255; //need power to go up !
motorGo(numMot, FW, pwm);
}
pwm=255; //test !
// en arriere (bas)
if (actualPos>targetPos && move) motorGo(numMot, RV, pwm);
// ne pas bouger !
if (move==false) motorOff(numMot);// STOP
}
////////////////////////////////////////////////////////////////////////////////
void motorOff(int motor){
////////////////////////////////////////////////////////////////////////////////
digitalWrite(inApin[motor], LOW);
digitalWrite(inBpin[motor], LOW);
analogWrite(pwmpin[motor], 0);
}
////////////////////////////////////////////////////////////////////////////////
void motorGo(uint8_t motor, uint8_t direct, uint8_t pwm)
////////////////////////////////////////////////////////////////////////////////
{
if (motor <= 1)
{
if (direct <=4)
{
// Set inA[motor]
if (direct <=1)
digitalWrite(inApin[motor], HIGH);
else
digitalWrite(inApin[motor], LOW);

// Set inB[motor]
if ((direct==0)||(direct==2))
digitalWrite(inBpin[motor], HIGH);
else
digitalWrite(inBpin[motor], LOW);

analogWrite(pwmpin[motor], pwm);

}
}
}
////////////////////////////////////////////////////////////////////////////////
// testPot
////////////////////////////////////////////////////////////////////////////////
void testPot(){

Serial.print(analogRead(A4));
Serial.print(";");
Serial.println(analogRead(A5));
delay(250);

}
////////////////////////////////////////////////////////////////////////////////
void testpulse(){
int pw=120;
while (true){

motorGo(motLeft, FW, pw);
delay(250);
motorOff(motLeft);
delay(250);
motorGo(motLeft, RV, pw);
delay(250);
motorOff(motLeft);

delay(500);

motorGo(motRigth, FW, pw);
delay(250);
motorOff(motRigth);
delay(250);
motorGo(motRigth, RV, pw);
delay(250);
motorOff(motRigth);
Serial.println("testpulse pwm:80");
delay(500);

}
}
////////////////////////////////////////////////////////////////////////////////
// Function: convert Hex to Dec
////////////////////////////////////////////////////////////////////////////////
int NormalizeData(byte x[3])
////////////////////////////////////////////////////////////////////////////////
{
int result;

if (x[2]==13) //only a LSB and Carrier Return
{
x[2]=x[1]; //move MSB to LSB
x[1]='0'; //clear MSB
}
for (int i=1; i<3; i++)
{
if (x[i]>47 && x[i]<58 ){//for xA to xF
x[i]=x[i]-48;
}
if ( x[i]>64 && x[i]<71 ){//for x0 to x9
x[i]=x[i]-55;
}
}
result=(x[1]*16+x[2]);
return result;
}

Click to expand...

No I would not use this code it is for a different motor driver, let me do a pic for @RufusDufus code for you.

eaorobbie · Dec 3, 2013

Well here goes @RufusDufus is this correct , please dont use @Claudemir until RufusDufus says that it is correct, sorry lcd might not be able to be connected. Yet.

Confirmed by @RufusDufus to be correct. 3/12

RufusDufus · Dec 3, 2013

@eaorobbie that's spot on. This is how I have mine wired for use with the SMC3 code set to MODE2 - designed especially for these H-Bridges. I'll add your pic to the SMC3 post when I next do some updates. Thanks heaps!

@Claudemir No plans to support an LCD I'm afraid... the Windows SMC3 Utils does everything you need.

eaorobbie · Dec 3, 2013

Well there we have it @Claudemir the diagram I have supplied is correct, any questions on it please ask.
You should be right now to go ahead and wire up, dont power the HBridges on and follow the @RufusDufus post on them - http://www.xsimulator.net/community...3dof-motor-driver-and-windows-utilities.4957/ -
And should not be long till you have your motors running correctly.
Let us all know how you get along.
Once again Thanks @RufusDufus and you are welcome to use the image as you please.

Claudemir · Dec 3, 2013

eaorobbie said: ↑

Well here goes @RufusDufus is this correct , please dont use @Claudemir until RufusDufus says that it is correct, sorry lcd might not be able to be connected. Yet.
10853

Confirmed by @RufusDufus to be correct. 3/12
Click to expand...

poxa !!! muito obrigado mesmo !! estou muito feliz que tenha pessoas que ajudam

Claudemir · Dec 3, 2013

eaorobbie said: ↑

Well here goes @RufusDufus is this correct , please dont use @Claudemir until RufusDufus says that it is correct, sorry lcd might not be able to be connected. Yet.
10853

Confirmed by @RufusDufus to be correct. 3/12
Click to expand...

I would like of saying thanks everyone for helping to finish my project. Without the help of you not manages to come. Thank you for your help. When the project finished I'll post the photos. Thank you again.

Claudemir · Dec 3, 2013

RufusDufus said: ↑

@eaorobbie that's spot on. This is how I have mine wired for use with the SMC3 code set to MODE2 - designed especially for these H-Bridges. I'll add your pic to the SMC3 post when I next do some updates. Thanks heaps!

@Claudemir No plans to support an LCD I'm afraid... the Windows SMC3 Utils does everything you need.
Click to expand...

I'll try to talk to you using google translator ok?
Alright! no matter whether or not you need the LCD, I will follow all recommendations imposed by you.
I'm learning all thanks to you!

got better chat using the translator?
I'm sorry, I can not speak English!

eaorobbie · Dec 10, 2013

From a quick look, all looks good, nice use of an old psu box.
So can you get the motors to move ?.

Claudemir · Dec 10, 2013

So I will use the two engines 5v those mentioned above. then make a prototype on a smaller scale, it helped me make the program work correctly? And when everything is ready and configured I change the engine 5v by 24v to 24v supply with 30A, while doing so I will spare the platform in full size. Am I correct or not?

eaorobbie · Dec 11, 2013

@Claudemir this is not a silly idea, I do often recommend people build a model of the proposed sim to get use to how the software works.
But normally encourage them to build it with Rc Servos on an UNO with code that I have freely supplied here onsite.
You have taken it to the next step, well done. I do like the idea, the hacked RC Servos will work just beware not too feed them too many volts, they fry easy.

Claudemir · Dec 11, 2013

eaorobbie said: ↑

@Claudemir this is not a silly idea, I do often recommend people build a model of the proposed sim to get use to how the software works.
But normally encourage them to build it with Rc Servos on an UNO with code that I have freely supplied here onsite.
You have taken it to the next step, well done. I do like the idea, the hacked RC Servos will work just beware not too feed them too many volts, they fry easy.
Click to expand...

as you can see I removed the little plate servo motor so that it behaves the same as the windshield wiper motor only in a smaller size. And as the voltage will use the 5v with a computer source. .

Claudemir · Dec 11, 2013

when I compile from that mistake!

Download the SMC3 software attached to this post (SMC3.ini)

Get the Arduino IDE tools installed on your computer if you don't already have them. Follow the Arduino Getting Started guide found here:http://arduino.cc/en/Guide/Windows (Note the step for installing the drivers!)

Open the SMC3.ini with the Arduino IDE

Edit the code at the top if the file to select the MODE you will be using

Compile and Download the SMC3.ini program to your Arduino Uno R3

RufusDufus · Dec 12, 2013

It looks like you don't have the software serial library installed. I'll have a closer look tonight... I thought that was included in the standard arduino install?

RufusDufus · Dec 12, 2013

@Claudemir, I just checked the arduino documentation and it says "The version of SoftwareSerial included in 1.0 and later".

It is difficult to see in the screenshot but it looks like your version of the Arduino IDE tools is earlier (0.22?) than this (should show up in the top left of the Windows frame).

Are you able to install the latest IDE? I am currently using ver 1.05 but I think there is even a newer version. Alternatively I think you would need to get the SoftwareSerial library.

If you didn't want to do this you could probably disable the second serial port - would require some editing of the code though.

Claudemir · Dec 12, 2013

RufusDufus said: ↑

@Claudemir, I just checked the arduino documentation and it says "The version of SoftwareSerial included in 1.0 and later".

It is difficult to see in the screenshot but it looks like your version of the Arduino IDE tools is earlier (0.22?) than this (should show up in the top left of the Windows frame).

Are you able to install the latest IDE? I am currently using ver 1.05 but I think there is even a newer version. Alternatively I think you would need to get the SoftwareSerial library.

If you didn't want to do this you could probably disable the second serial port - would require some editing of the code though.
Click to expand...

alright! I'll try to make a new update of the IDE.
with Version 1.05 compiled!

eaorobbie · Dec 13, 2013

Ah i see wiper moters, please make sure the earths are isolated out of them as they ground to the body, or when the motors go into a reverse the sim frame will have 12Vs flowing through it, not a good thing normally cause thing to die in a bad way.
Been there done that.
If already done, look like your on the right path.

Claudemir · Dec 13, 2013

eaorobbie said: ↑

Ah i see wiper moters, please make sure the earths are isolated out of them as they ground to the body, or when the motors go into a reverse the sim frame will have 12Vs flowing through it, not a good thing normally cause thing to die in a bad way.
Been there done that.
If already done, look like your on the right path.
Click to expand...

these engines are not the windshield wiper.
Its operation is similar but these are póprios for automation. see link http://www.ecommercekalatec.com.br/motor-dc-bosch/f006wmo310.html#

Claudemir · Nov 1, 2014

ola!

eaorobbie · Dec 13, 2013

Claudemir said: ↑

these engines are not the windshield wiper.
Its operation is similar but these are póprios for automation. see link http://www.ecommercekalatec.com.br/motor-dc-bosch/f006wmo310.html#
Click to expand...

Cool they should be fine.
You will need the 24v grunt to move that , screen and all with motors placed under back corners requires a strong motor, pay close attention on placing you pivot, overall gunna be a sexy sim, Way cool.

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simulador 2dof arduino inicio

Historiker Dramamine Adict Gold Contributor

eaorobbie Well-Known Member SimTools Developer Gold Contributor

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RufusDufus Well-Known Member

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