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* improved hw_config file

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* added retract angle to homing
* v1.0.3
This commit is contained in:
0x23 2025-10-22 19:09:09 +02:00
parent 40d292ff46
commit dc0278ea2b
8 changed files with 151 additions and 49 deletions
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60
firmware/MotionControllerRP/src/hw_config.h
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@ -1,17 +1,39 @@
#pragma once
#include "utilities/math_constants.h"
//--- MOTORS ------------------------------------------------------------------
// motor pole pair count
// * 100 for 0.9deg stepper motors
// * 50 for 1.8deg stepper motors
#define MOTOR1_POLE_PAIRS 100
#define MOTOR2_POLE_PAIRS 100
#define MOTOR3_POLE_PAIRS 100
constexpr float MOTOR1_POLE_PAIRS = 100;
constexpr float MOTOR2_POLE_PAIRS = 100;
constexpr float MOTOR3_POLE_PAIRS = 100;
#define CALIBRATION_RANGE 95 // degrees from home position
#define CALIBRATION_FIELD_VELOCITY 40.0f
//--- ENCODERS ----------------------------------------------------------------
#define HOMING_VELOCITY 1.0f // rad per s
#define HOMING_CURRENT 0.15f // range 0..1
#define HOMING_FINISH_POS 0.5f // in rad
// Conversion factor from encoder angle (one 2pi period every two magnets) to rotor angle.
// Used when the system can not rely on calibration data being present (e.g. during homing)
constexpr float ENCODER_MAGNET_PITCH = 3.0f; // [mm]
constexpr float ENCODER_MAGNET_RADIUS = 30.0f; // [mm]
constexpr float ENCODER_ANGLE_TO_ROTOR_ANGLE = (ENCODER_MAGNET_PITCH*2.0f) /
(ENCODER_MAGNET_RADIUS * Constants::TWO_PI_F);
//--- HOMING ------------------------------------------------------------------
constexpr float HOMING_VELOCITY = 1.0f; // rad per s
constexpr float HOMING_CURRENT = 0.15f; // range 0..1
constexpr float HOMING_FINISH_POS = 0.5f; // in rad
//--- CALIBRATION -------------------------------------------------------------
// degrees from home position
constexpr float CALIBRATION_RANGE = 95;
// velocity of the magnetic field during calibration (lower is more accurate)
constexpr float CALIBRATION_FIELD_VELOCITY = 40.0f;
//--- PINS --------------------------------------------------------------------
// #define SINGLE_AXIS_BOARD
#ifndef SINGLE_AXIS_BOARD
@ -75,24 +97,4 @@
#define PIN_ENCODER_SCK 2
#define PIN_ENCODER_MISO 0
#define PIN_ENCODER_MOSI 3
#endif
// test setup
/*
#define PIN_PWM_A_POS 2
#define PIN_PWM_A_NEG 3
#define PIN_PWM_B_POS 1
#define PIN_PWM_B_NEG 0
#define PIN_PWM_A_EN 5
#define PIN_PWM_B_EN 5
#define PIN_PWMAB 4
// I2C Encoder
//#define PIN_ENCODER_SDA 28
//#define PIN_ENCODER_SCL 29
#define PIN_ENCODER_CS 17
#define PIN_ENCODER_SCK 18
#define PIN_ENCODER_MISO 16
#define PIN_ENCODER_MOSI 19
*/
#endif