Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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68 lines
2.6 KiB
68 lines
2.6 KiB
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/*
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* Created by: Cheng Saetern
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* This example is meant to demonstrate the ability to adjust pwm frequency and/or
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* resolution for Arduino Nano/Uno pin 9 and 10 using function setPWM16(uint8_t prescaler, unsigned int resolution).
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* Equation for fast pwm frequency = frequency of MPU(16Mhz)/prescaler/resolution
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* F_PWM = 16000000/prescaler/resolution.
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* prescaler argument value MUST be between 1-5, representing 1,8,64,256,1024 respectively.
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* resolution MUST be a value from 0-65535.
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*/
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#include <MX1508.h>
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#define PINA 9
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#define PINB 10
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#define NUMPWM 2
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// MX1508 schematics(in Chinese) can be found here at: http://sales.dzsc.com/486222.html
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/*
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* MX1508(uint8_t pinIN1, uint8_t pinIN2, DecayMode decayMode, NumOfPwmPins numPWM);
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* DecayMode must be FAST_DECAY or SLOW_DECAY,
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* NumOfPwmPins, must be the value of 2 for setPWM16() function
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* PINA and PINB MUST!!! be pin 9 and 10 for setPWM16() function
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* Example MX1508 myMotor(10,9,FAST_DECAY, 2).
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*/
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MX1508 motorA(PINA,PINB, FAST_DECAY, 2);
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int resolution = 1000;
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void setup() {
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Serial.begin(115200);
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motorA.setPWM16(2,resolution); // prescaler at 8, resolution 1000, PWM frequency = 16Mhz/8/1000=2000Hz
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// prescalar 1=1, 2=8, 3=64, 4=256, 5 =1028
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/*------------ setPWM16 Class function is defined as below-----------------
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void MX1508::setPWM16(uint8_t prescaler, unsigned int resolution){
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if(prescaler > 5 || prescaler == 0) prescaler = 3; // default to 64 if not in range.
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DDRB |= _BV(PB1) | _BV(PB2); // set pin 9and 10 as outputs
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TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11); // non-inverting PWM, mode 14 fastPWM, TOP =ICR1
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TCCR1B = _BV(WGM13) | _BV(WGM12) | prescaler ;
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ICR1 = resolution;
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_pwmResolution = resolution;
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_useAnalogWrite16 = true;
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}
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*/
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}
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/*
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* Ramp up to pwm = resolution/2 , by increasing pwm by 1 every 50 millisecond.
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* then ramp down to pwm = -resolution/2, by decreasing pwm every 50 millisecond.
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* positive value pwm results in forward direction.
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* negative value pwm results in opposite direction.
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*/
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void loop() {
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// put your main code here, to run repeatedly:
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static unsigned long lastMilli = 0;
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static bool cwDirection = true; // assume initial direction(positive pwm) is clockwise
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static int pwm = 1;
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if(millis()-lastMilli > 50){ // every 50 millisecond
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if (cwDirection && pwm++ > resolution/2 ) {
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cwDirection = false;
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} else if (!cwDirection && pwm-- < -(resolution/2)) {
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cwDirection = true;
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}
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motorA.motorGo(pwm);
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lastMilli = millis();
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Serial.println(motorA.getPWM()); // we can just print pwm but just showing that member function getPWM() works.
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}
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}
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