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