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BalanceBot
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Both motors operating + Balance controller 

Reassigned GPIO to match motors
Motor deadbands
Controller gains
Speed controller
Cascaded balance controller
This commit is contained in:
Stedd 2019-12-21 00:04:55 +01:00
parent 72c4f2d591
commit 91e9be84ea
1 changed files with 16 additions and 18 deletions
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34
Main/Main.ino
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@ -8,14 +8,14 @@ GY_85 IMU;
//GPIO PIN MAPPING
const byte M1_ENC_A = 34;
const byte M1_ENC_B = 35;
const byte M2_ENC_A = 32;
const byte M2_ENC_B = 33;
const byte M1_A = 18;
const byte M1_B = 19;
const byte M2_A = 16;
const byte M2_B = 17;
const byte M1_ENC_A = 32;
const byte M1_ENC_B = 33;
const byte M2_ENC_A = 34;
const byte M2_ENC_B = 35;
const byte M1_A = 16;
const byte M1_B = 17;
const byte M2_A = 18;
const byte M2_B = 19;
const byte IMU_I2C_SCL = 26;
const byte IMU_I2C_SDA = 27;
@ -102,20 +102,20 @@ void IRAM_ATTR m2_A_changed() {
//Rising
if (M2_A_state == HIGH) {
if (M2_B_state == HIGH) {
m2Raw = m2Raw - 1;
m2Raw = m2Raw + 1;
}
else if (M2_B_state == LOW) {
m2Raw = m2Raw + 1;
m2Raw = m2Raw - 1;
}
}
//Falling
else if (M2_A_state == LOW) {
if (M2_B_state == HIGH) {
m2Raw = m2Raw + 1;
m2Raw = m2Raw - 1;
}
else if (M2_B_state == LOW) {
m2Raw = m2Raw - 1;
m2Raw = m2Raw + 1;
}
}
}
@ -128,20 +128,20 @@ void IRAM_ATTR m2_B_changed() {
//Rising
if (M2_B_state == HIGH) {
if (M2_A_state == HIGH) {
m2Raw = m2Raw + 1;
m2Raw = m2Raw - 1;
}
else if (M2_A_state == LOW) {
m2Raw = m2Raw - 1;
m2Raw = m2Raw + 1;
}
}
//Falling
else if (M2_B_state == LOW) {
if (M2_A_state == HIGH) {
m2Raw = m2Raw - 1;
m2Raw = m2Raw + 1;
}
else if (M2_A_state == LOW) {
m2Raw = m2Raw + 1;
m2Raw = m2Raw - 1;
}
}
}
@ -192,8 +192,6 @@ void setup() {
ledcSetup(3, PWM_CYCLE, PWM_RESOLUTION);
ledcSetup(4, PWM_CYCLE, PWM_RESOLUTION);
// Serial.println("Reference,Actual,SpeedCommand");
}
void loop() {