control on off

ultimos cambios 2020-08-23
readme 20020
2020-08-29 18:41:28 -05:00 · 2020-08-23 20:11:08 -05:00 · 2020-08-23 17:46:38 -05:00 · 2020-08-23 17:43:19 -05:00 · 2020-08-23 14:44:44 -05:00 · 2020-08-23 14:34:25 -05:00
30 changed files with 473 additions and 1 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
--- a/.travis.yml
+++ b/.travis.yml
@@ -0,0 +1,67 @@
+# Continuous Integration (CI) is the practice, in software
+# engineering, of merging all developer working copies with a shared mainline
+# several times a day < https://docs.platformio.org/page/ci/index.html >
+#
+# Documentation:
+#
+# * Travis CI Embedded Builds with PlatformIO
+#   < https://docs.travis-ci.com/user/integration/platformio/ >
+#
+# * PlatformIO integration with Travis CI
+#   < https://docs.platformio.org/page/ci/travis.html >
+#
+# * User Guide for `platformio ci` command
+#   < https://docs.platformio.org/page/userguide/cmd_ci.html >
+#
+#
+# Please choose one of the following templates (proposed below) and uncomment
+# it (remove "# " before each line) or use own configuration according to the
+# Travis CI documentation (see above).
+#
+
+
+#
+# Template #1: General project. Test it using existing `platformio.ini`.
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# install:
+#     - pip install -U platformio
+#     - platformio update
+#
+# script:
+#     - platformio run
+
+
+#
+# Template #2: The project is intended to be used as a library with examples.
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# env:
+#     - PLATFORMIO_CI_SRC=path/to/test/file.c
+#     - PLATFORMIO_CI_SRC=examples/file.ino
+#     - PLATFORMIO_CI_SRC=path/to/test/directory
+#
+# install:
+#     - pip install -U platformio
+#     - platformio update
+#
+# script:
+#     - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -0,0 +1,7 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ]
+}
--- a/README.md
+++ b/README.md
@@ -1,2 +1,52 @@
-# balancing_robot
+# Robot balancing ESP32
+
+Robot balanceador basado en la tarjeta de desarrollo ESP32 MH-ET live y el módulo MPU6050 y los drivers  DRV8825 
+
+- ESP32 MH-ET LIVE
+- 2 motores nema 17
+- 2 driver motores
+- MPU6050
+- bateria LiPo
+
+![](imagenes/balancing.jpg)
+
+## Diseño 3d
+Los diseños estan realizados en FreeCad e impresas en PLA rojo y los neumáticos en TPU
+
+![](imagenes/3d_balancing.png)
+
+Mejoras:
+
+   + mejorar acceso a los controles de los motores
+   + mejorar conector modulo MPU6050
+   + bajar motores o llantas de mayor tamaño
+   + re-diseñar espacio para la batería
+  
+## ToDo
+  + [x]  Control On Off
+  + [ ]  Control Proporcional
+  + [ ]  Control PI
+  + [ ]  Control PID
+  + [ ]  Control Jostick Web
+  + [ ]  OTA y Telnet
+
+
+
+## Referencias
+
+[https://github.com/tockn/MPU6050_tockn](https://github.com/tockn/MPU6050_tockn)
+
+[http://www.brokking.net/yabr_main.html](http://www.brokking.net/yabr_main.html)
+
+[http://axelsdiy.brinkeby.se/?page_id=1141](http://axelsdiy.brinkeby.se/?page_id=1141)
+
+[https://robologs.net/2014/10/15/tutorial-de-arduino-y-mpu-6050/](https://robologs.net/2014/10/15/tutorial-de-arduino-y-mpu-6050/)
+
+[https://www.luisllamas.es/medir-la-inclinacion-imu-arduino-filtro-complementario/](https://www.luisllamas.es/medir-la-inclinacion-imu-arduino-filtro-complementario/)
+
+
+
+
+
+

--- a/documentos/MPU-6000-Manual.pdf
+++ b/documentos/MPU-6000-Manual.pdf
--- a/documentos/MPU-6000-Register-Map.pdf
+++ b/documentos/MPU-6000-Register-Map.pdf
--- a/documentos/balancing/control_motors.FCStd
+++ b/documentos/balancing/control_motors.FCStd
--- a/documentos/balancing/control_motors.FCStd1
+++ b/documentos/balancing/control_motors.FCStd1
--- a/documentos/balancing/control_pcb.FCStd
+++ b/documentos/balancing/control_pcb.FCStd
--- a/documentos/balancing/control_pcb.FCStd1
+++ b/documentos/balancing/control_pcb.FCStd1
--- a/documentos/balancing/ensamble.FCStd
+++ b/documentos/balancing/ensamble.FCStd
--- a/documentos/balancing/ensamble.FCStd1
+++ b/documentos/balancing/ensamble.FCStd1
--- a/documentos/balancing/ensamble_asm_hierarchy.html
+++ b/documentos/balancing/ensamble_asm_hierarchy.html
@@ -0,0 +1,39 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="utf-8">
+    <meta http-equiv="X-UA-Compatible" content="IE=edge">
+    <title>A2P assembly hierarchy visualization</title>
+</head>
+<body>
+<div class="mermaid">
+graph TD
+parte_inferior_001 -- plane --> lateral_balancing_002
+parte_inferior_001 -- pointIdentity --> lateral_balancing_002
+lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- plane --> parte_inferior_001
+lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- pointIdentity --> parte_inferior_001
+lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- plane --> motores_001
+lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- plane --> parte_inferior_003
+lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- pointIdentity --> parte_inferior_003
+lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- axisParallel --> motores_001
+lateral_balancing_002 -- plane --> control_motors_001
+lateral_balancing_002 -- pointIdentity --> control_motors_001
+lateral_balancing_002 -- plane --> motores_002
+lateral_balancing_002 -- pointIdentity --> motores_002
+lateral_balancing_002 -- axisParallel --> motores_002
+lateral_balancing_002 -- plane --> parte_inferior_002
+lateral_balancing_002 -- pointIdentity --> parte_inferior_002
+lateral_balancing_002 -- pointIdentity --> parte_inferior_002
+control_motors_001
+motores_001 -- pointIdentity --> ruedas_002
+motores_002 -- pointIdentity --> ruedas_001
+ruedas_001
+ruedas_002
+parte_inferior_002
+parte_inferior_003
+</div>
+    <script src="https://unpkg.com/mermaid@7.1.2/dist/mermaid.js"></script>
+    <script>
+        mermaid.initialize({startOnLoad: true});
+    </script>
+</body></html>
--- a/documentos/balancing/lateral_balancing.FCStd
+++ b/documentos/balancing/lateral_balancing.FCStd
--- a/documentos/balancing/motores.FCStd
+++ b/documentos/balancing/motores.FCStd
--- a/documentos/balancing/neumatico.FCStd
+++ b/documentos/balancing/neumatico.FCStd
--- a/documentos/balancing/neumatico.stl
+++ b/documentos/balancing/neumatico.stl
--- a/documentos/balancing/parte_inferior.FCStd
+++ b/documentos/balancing/parte_inferior.FCStd
--- a/documentos/balancing/parte_superior.FCStd
+++ b/documentos/balancing/parte_superior.FCStd
--- a/documentos/balancing/pcb.stl
+++ b/documentos/balancing/pcb.stl
--- a/documentos/balancing/ruedas.FCStd
+++ b/documentos/balancing/ruedas.FCStd
--- a/documentos/balancing/superior.stl
+++ b/documentos/balancing/superior.stl
--- a/documentos/drv8825.pdf
+++ b/documentos/drv8825.pdf
--- a/imagenes/3d_balancing.png
+++ b/imagenes/3d_balancing.png
--- a/imagenes/balancing.jpg
+++ b/imagenes/balancing.jpg
--- a/include/README
+++ b/include/README
@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
--- a/lib/README
+++ b/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
--- a/platformio.ini
+++ b/platformio.ini
@@ -0,0 +1,15 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:mhetesp32devkit]
+platform = espressif32
+board = mhetesp32devkit
+framework = arduino
+monitor_speed = 115200
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -0,0 +1,193 @@
+#include <Arduino.h>
+#include <Wire.h>
+#include <MPU6050_tockn.h>
+//TaskHandle_t TareaProcesador1;
+//void loop1(void *pvParameters);
+/*
+=========================================
+definiciones  de los motores paso a paso
+=========================================
+*/
+#define STEP_1 13
+#define DIR_1 25
+#define STEP_2 33
+#define DIR_2 14
+#define max_speed 100
+void IRAM_ATTR onTimer(); //declaración callback interrupciones tick Motores
+void motores_calc();
+void control_on_off(float angulo);
+hw_timer_t *timer_motores = NULL; //timer para controlar tick de los motores paso a paso
+portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED;
+volatile int tick_motores;
+
+volatile int left_motor, throttle_left_motor, throttle_counter_left_motor, throttle_left_motor_memory;
+volatile int right_motor, throttle_right_motor, throttle_counter_right_motor, throttle_right_motor_memory;
+volatile float setPoint = 0.0;
+volatile int dir = 0;
+bool FWD = HIGH;
+bool BWD = LOW;
+//==========================================
+/*
+============================================
+Definiciones MPU6050
+============================================
+*/
+MPU6050 mpu6050(Wire);
+float ay;
+long timer = 0;
+//==========================================
+
+void setup()
+{
+  //Configuracion motores
+  pinMode(23, OUTPUT);
+  pinMode(STEP_1, OUTPUT);
+  pinMode(STEP_2, OUTPUT);
+  pinMode(DIR_1, OUTPUT);
+  pinMode(DIR_2, OUTPUT);
+  digitalWrite(DIR_1, LOW);
+  digitalWrite(DIR_2, LOW);
+  timer_motores = timerBegin(0, 80, true);
+  timerAttachInterrupt(timer_motores, &onTimer, true);
+  timerAlarmWrite(timer_motores, 50, true);
+
+  //I2C
+  Wire.begin();
+  Serial.begin(115200);
+  Wire.begin();
+  // xTaskCreatePinnedToCore(loop1, "Tarea1", 10000, NULL, 1, &TareaProcesador1, 0);
+
+  delay(1000); // Pause for 1 seconds
+
+  //Configuracion MPU6050
+  mpu6050.begin();
+  mpu6050.calcGyroOffsets(false);
+  delay(2000);
+
+  //Calculamos el setPoint inicial
+  Serial.print("\n[");
+  for (int i = 0; i < 100; i++)
+  {
+    mpu6050.update();
+    setPoint += mpu6050.getAngleY();
+    //Serial.print(setPoint),Serial.print(",");
+    delay(100);
+  }
+  Serial.print("]");
+  setPoint = setPoint / 100;
+  Serial.print("\nSetpoint:"), Serial.println(setPoint);
+  Serial.print("Core: "), Serial.println(xPortGetCoreID());
+
+  timerAlarmEnable(timer_motores);
+}
+
+void loop()
+{
+
+  if (millis() - timer > 4)
+  {
+    mpu6050.update();
+    ay = mpu6050.getAngleY();
+
+    if (ay > 30 || ay < -30)
+    {
+      throttle_left_motor = 0;
+      throttle_right_motor = 0;
+    }
+    else
+    {
+      control_on_off(ay);
+    }
+
+    //Serial.println(ay);*/
+
+    timer = millis();
+  }
+  if (tick_motores > 0)
+  {
+    motores_calc();
+  }
+}
+
+/*
+=============================
+Funciones Motores paso a paso
+==============================
+*/
+//Interrupcion Tick Motores paso a paso
+void IRAM_ATTR onTimer()
+{
+  portENTER_CRITICAL_ISR(&timerMux);
+  tick_motores++;
+  portEXIT_CRITICAL_ISR(&timerMux);
+}
+
+void motores_calc()
+{
+  portENTER_CRITICAL(&timerMux);
+  tick_motores--;
+  portEXIT_CRITICAL(&timerMux);
+  throttle_counter_left_motor++; //Increase the throttle_counter_left_motor variable by 1 every time this routine is executed
+  if (throttle_counter_left_motor > throttle_left_motor_memory)
+  {                                                   //If the number of loops is larger then the throttle_left_motor_memory variable
+    throttle_counter_left_motor = 0;                  //Reset the throttle_counter_left_motor variable
+    throttle_left_motor_memory = throttle_left_motor; //Load the next throttle_left_motor variable
+    if (throttle_left_motor_memory < 0)
+    {                                   //If the throttle_left_motor_memory is negative
+      digitalWrite(DIR_1, BWD);         //Set output 3 low to reverse the direction of the stepper controller
+      throttle_left_motor_memory *= -1; //Invert the throttle_left_motor_memory variable
+    }
+    else
+      digitalWrite(DIR_1, FWD); //Set output 3 high for a forward direction of the stepper motor
+  }
+  else if (throttle_counter_left_motor == 1)
+    digitalWrite(STEP_1, HIGH); //Set output 2 high to create a pulse for the stepper controller
+  else if (throttle_counter_left_motor == 2)
+    digitalWrite(STEP_1, LOW); //Set output 2 low because the pulse only has to last for 20us
+
+  //right motor pulse calculations
+  throttle_counter_right_motor++; //Increase the throttle_counter_right_motor variable by 1 every time the routine is executed
+  if (throttle_counter_right_motor > throttle_right_motor_memory)
+  {                                                     //If the number of loops is larger then the throttle_right_motor_memory variable
+    throttle_counter_right_motor = 0;                   //Reset the throttle_counter_right_motor variable
+    throttle_right_motor_memory = throttle_right_motor; //Load the next throttle_right_motor variable
+    if (throttle_right_motor_memory < 0)
+    {                                    //If the throttle_right_motor_memory is negative
+      digitalWrite(DIR_2, BWD);          //Set output 5 low to reverse the direction of the stepper controller
+      throttle_right_motor_memory *= -1; //Invert the throttle_right_motor_memory variable
+    }
+    else
+      digitalWrite(DIR_2, FWD);
+    ; //Set output 5 high for a forward direction of the stepper motor
+  }
+  else if (throttle_counter_right_motor == 1)
+    digitalWrite(STEP_2, HIGH); //Set output 4 high to create a pulse for the stepper controller
+  else if (throttle_counter_right_motor == 2)
+    digitalWrite(STEP_2, LOW);
+}
+
+void control_on_off(float angulo)
+{
+
+  float error = angulo - setPoint;
+  if (error > 4)
+  {
+    dir = -1;
+  }
+  else if (error < -4)
+  {
+    dir = 1;
+  }
+  else
+  {
+    dir = 0;
+  }
+  throttle_left_motor = max_speed * dir;
+  throttle_right_motor = max_speed * dir;
+}
+
+/*void loop1(void *pvParameters){
+  for(;;){
+  Serial.print("Core: "),Serial.println(xPortGetCoreID());   
+  }
+}*/
--- a/test/README
+++ b/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PIO Unit Testing and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html
Author	SHA1	Message	Date
martin chaparro	82ebb95678	control on off	2020-08-29 18:41:28 -05:00
martin chaparro	ecb494c4b1	ultimos cambios 2020-08-23	2020-08-23 20:11:08 -05:00
martin chaparro	8a1f485d20	readme 20020	2020-08-23 17:46:38 -05:00
martin chaparro	5d6fe0de20	readme 2020-08-23	2020-08-23 17:43:19 -05:00
martin chaparro	94fd4b0606	cotrol on of	2020-08-23 14:44:44 -05:00
martin chaparro	890a26ac06	limpieza	2020-08-23 14:34:25 -05:00
mdchaparrror	2b9e394318	commit 2019-01-26	2019-01-26 15:42:42 -05:00
mdchaparrror	69d9a4b1e6	pcb inicial	2019-01-13 18:45:54 -05:00
mdchaparror	56581a0a5b	inicial	2018-07-02 21:56:34 -05:00
mdchaparror	5bb74adf96	Eliminar 'README.md'	2018-07-02 21:54:18 -05:00