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Add Stepper to connection-plan, Add datasheets

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- Add datasheets of VFD and stepper driver
- Change pins in config for stepper driver
    - DISABLED LAMP (pin now used for stepper)
- update connection plan with stepper section and wiring
This commit is contained in:
jonny_ji7
2023-03-01 01:13:08 +01:00
parent ac4ca5450a
commit 118e9714b5
16 changed files with 126 additions and 19 deletions
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4
main/config.hpp
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@@ -17,8 +17,8 @@ extern "C" {
#define GPIO_VFD_D1 GPIO_NUM_15 //ST1
//#define GPIO_VFD_D2 GPIO_NUM_15 //ST1 (D2 only used with 7.5kw vfd)
#define GPIO_MOS1 GPIO_NUM_18 //mos1 (free)
#define GPIO_LAMP GPIO_NUM_5 //mos2
#define GPIO_MOS1 GPIO_NUM_18 //mos1 (free) 2022.02.28: pin used for stepper
#define GPIO_LAMP GPIO_NUM_0 //mos2 (5) 2022.02.28: lamp disabled, pin used for stepper
#define GPIO_RELAY GPIO_NUM_13
#define GPIO_BUZZER GPIO_NUM_12

130
main/guide-stepper.cpp
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@@ -10,35 +10,113 @@ extern "C"
#include "DendoStepper.h"
#include "config.hpp"
#include "guide-stepper.hpp"
#include "encoder.hpp"
//---------------------
//--- configuration ---
//---------------------
//also see config.hpp
#define LEN_MOVE 65 //mm
//for pin definition
#define STEPPER_TEST_TRAVEL 65 //mm
//
#define MIN 0
#define MAX 60
#define SPEED_MIN 2.0 //mm/s
#define SPEED_MAX 60.0 //mm/s
#define ACCEL_MS 100.0 //ms from 0 to max
#define DECEL_MS 90.0 //ms from max to 0
#define STEPS_PER_ROT 1600
#define STEPPER_STEPS_PER_ROT 1600
#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
#define D_CABLE 6
#define D_REEL 155 //actual 170
#define PI 3.14159
//----------------------
//----- variables ------
//----------------------
DendoStepper step;
DendoStepper step1;
static DendoStepper step;
static const char *TAG = "stepper"; //tag for logging
static int stepp_lengthNow = 0; //length measured in mm
static int lengthPrev = 0; //length last check
static bool stepp_direction = true;
static uint64_t posNow = 0;
//----------------------
//----- functions ------
//----------------------
//move left and right or reverse while winding
void travelDist(int length){
//uint64_t posNow = step.getPositionMm();
int d, remaining;
d = abs(length);
if(length < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
while (d != 0){
//--- currently moving right ---
if (stepp_direction == true){ //currently moving right
remaining = MAX - posNow; //calc remaining distance fom current position to limit
if (d > remaining){ //new distance will exceed limit
step.runAbsMm (MAX); //move to limit
posNow=MAX;
stepp_direction = false; //change current direction for next iteration
d = d - remaining; //decrease target length by already traveled distance
printf(" --- changed direction (L) --- \n ");
}
else { //target distance does not reach the limit
step.runAbsMm (posNow + d); //move by (remaining) distance to reach target length
printf("moving to %lld\n", posNow+d);
posNow += d;
d = 0; //finished, reset target length (could as well exit loop/break)
}
}
//--- currently moving left ---
else {
remaining = posNow - MIN;
if (d > remaining){
step.runAbsMm (MIN);
posNow=0;
stepp_direction = true;
d = d - remaining;
printf(" --- changed direction (R) --- \n ");
}
else {
step.runAbsMm (posNow - d); //when moving left the coordinate has to be decreased
printf("moving to %lld\n", posNow-d);
posNow -= d;
d = 0;
}
}
}
if(length < 0) stepp_direction = !stepp_direction; //undo inversion of stepp_direction after reverse mode is finished
return;
}
//calculate time needed for certain length (NOT NEEDED/ DELETE)
//float mmToS(int l){
//
@@ -73,9 +151,9 @@ void home() {
void init_stepper() {
ESP_LOGW(TAG, "initializing stepper...");
DendoStepper_config_t step_cfg = {
.stepPin = 18,
.dirPin = 19,
.enPin = 21,
.stepPin = STEPPER_STEP_PIN,
.dirPin = STEPPER_DIR_PIN,
.enPin = STEPPER_EN_PIN,
.timer_group = TIMER_GROUP_0,
.timer_idx = TIMER_0,
.miStep = MICROSTEP_32,
@@ -84,13 +162,13 @@ void init_stepper() {
step.init();
step.setSpeed(1000, 1000, 1000); //random default speed
step.setStepsPerMm(STEPS_PER_ROT /4); //guide: 4mm/rot
step.setStepsPerMm(STEPPER_STEPS_PER_MM); //guide: 4mm/rot
}
//function that updates speed value using ADC input and configured MIN/MAX
void updateSpeedFromAdc() {
int potiRead = gpio_readAdc(ADC1_CHANNEL_6); //0-4095 GPIO34
int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34
double poti = potiRead/4095.0;
int speed = poti*(SPEED_MAX-SPEED_MIN) + SPEED_MIN;
step.setSpeedMm(speed, ACCEL_MS, DECEL_MS);
@@ -102,20 +180,48 @@ void updateSpeedFromAdc() {
//---------------------
//------- TASK --------
//---------------------
void task_stepper(void *pvParameter)
void task_stepper_test(void *pvParameter)
{
init_stepper();
home();
while (1) {
updateSpeedFromAdc();
step.runPosMm(-LEN_MOVE);
step.runPosMm(-STEPPER_TEST_TRAVEL);
while(step.getState() != 1) vTaskDelay(2);
ESP_LOGI(TAG, "finished moving right => moving left");
updateSpeedFromAdc();
step.runPosMm(LEN_MOVE);
step.runPosMm(STEPPER_TEST_TRAVEL);
while(step.getState() != 1) vTaskDelay(2); //1=idle
ESP_LOGI(TAG, "finished moving left => moving right");
}
}
void task_stepper_ctl(void *pvParameter)
{
init_stepper();
home();
while(1){
//get current length
stepp_lengthNow = encoder_getLenMm();
int lengthDelta = stepp_lengthNow - lengthPrev;
//TODO add modifier e.g. poti value
int travel = lengthDelta * D_CABLE / (PI * D_REEL); //calc distance to move
ESP_LOGI(TAG, "delta: %d travel: %d",lengthDelta, travel);
//FIXME: rounding issue? e.g. 1.4 gets lost
if (abs(travel) > 1){ //when ready to move axis by at least 1 millimeter
ESP_LOGI(TAG, "EXCEEDED: delta: %d travel: %d",lengthDelta, travel);
travelDist(travel);
while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
lengthPrev = stepp_lengthNow; //update length
}
else {
vTaskDelay(5);
}
}
}

6
main/guide-stepper.hpp
View File

@@ -5,4 +5,8 @@
// - automatically auto-homes
// - moves left and right repeatedly
// - updates speed from potentiometer each cycle
void task_stepper(void *pvParameter);
void task_stepper_test(void *pvParameter);
//task that initializes and controls the stepper motor
// - moves stepper according to encoder movement
void task_stepper_ctl(void *pvParameter);

3
main/main.cpp
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@@ -95,9 +95,6 @@ extern "C" void app_main()
//create task for controlling the machine
xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
//create task for controlling the stepper
xTaskCreate(task_stepper_ctl, "task_stepper-test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
//create task for handling the buzzer
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
#endif