135 lines
No EOL
4.1 KiB
C++
135 lines
No EOL
4.1 KiB
C++
#pragma once
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#include "utilities/math_constants.h"
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// #define DEMO_MODE
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//--- MOTORS ------------------------------------------------------------------
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// motor pole pair count
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// * 100 for 0.9deg stepper motors
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// * 50 for 1.8deg stepper motors
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constexpr float MOTOR1_POLE_PAIRS = 50;
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constexpr float MOTOR2_POLE_PAIRS = 50;
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constexpr float MOTOR3_POLE_PAIRS = 50;
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// max current factor in range [0..1]. Lower values reduce pwm resolution so a
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// value above 0.4 is recommended.
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constexpr float MOTOR_MAX_CURRENT_FACTOR = 0.6f;
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//--- ENCODERS ----------------------------------------------------------------
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// Conversion factor from encoder angle (one 2pi period every two magnets) to rotor angle.
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// Used when the system can not rely on calibration data being present (e.g. during homing)
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constexpr float ENCODER_MAGNET_PITCH = 3.0f; // [mm]
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constexpr float ENCODER_MAGNET_RADIUS = 30.0f; // [mm]
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constexpr float ENCODER_ANGLE_TO_ROTOR_ANGLE = (ENCODER_MAGNET_PITCH*2.0f) /
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(ENCODER_MAGNET_RADIUS * Constants::TWO_PI_F);
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//--- HOMING ------------------------------------------------------------------
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constexpr float HOMING_VELOCITY = 1.0f; // rad per s
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constexpr float HOMING_CURRENT = 0.15f; // range 0..1
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// NOT IMPLEMENTED YET: constexpr float HOMING_FINISH_POS = 0.5f; // in rad
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//--- CALIBRATION -------------------------------------------------------------
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// degrees from home position
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constexpr float CALIBRATION_RANGE = 83;
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// velocity of the magnetic field during calibration (lower is more accurate)
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constexpr float CALIBRATION_FIELD_VELOCITY = 20.0f;
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// size of the calibration lookup table
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constexpr int ENCODER_LUT_SIZE = 256;
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//--- CLOSED LOOP CONTROL -----------------------------------------------------
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// position controller
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constexpr float POS_KP = 60.0f;
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constexpr float POS_KI = 30000.0f;
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// velocity controller
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constexpr float VEL_LOWPASS_TC = 0.004f;
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constexpr float VEL_KP = 0.2f;
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constexpr float VEL_KI = 90.0f;
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//--- KINEMATIC ---------------------------------------------------------------
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// Kinematic Parameters are defined kinematic_modes/kinematic_model_delta3d.cpp
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// NUM_JOINTS and NUM_TOOLS are defined in 'path_segment.h'. Note that changing
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// the number of joints requires changing the kinematic model accordingly and
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// also requires the initialization of the correct number of 'RobotJoint' objects
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// in the Robtos init method.
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//--- PINS --------------------------------------------------------------------
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#define JOINT_READY_OVERRIDE
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// #define SINGLE_AXIS_BOARD
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#ifndef SINGLE_AXIS_BOARD
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// Pins for 3Axis Board
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// #define PIN_BUILTIN_LED 23 // RP2040 pico clone
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// #define PIN_USER_BUTTON 24 // RP2040 pico clone
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#define PIN_BUILTIN_LED 25
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#define PIN_M1_PWM_A_POS 13
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#define PIN_M1_PWM_A_NEG 12
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#define PIN_M1_PWM_B_POS 14
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#define PIN_M1_PWM_B_NEG 15
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#define PIN_M2_PWM_A_POS 9
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#define PIN_M2_PWM_A_NEG 8
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#define PIN_M2_PWM_B_POS 10
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#define PIN_M2_PWM_B_NEG 11
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#define PIN_M3_PWM_A_POS 5
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#define PIN_M3_PWM_A_NEG 4
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#define PIN_M3_PWM_B_POS 6
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#define PIN_M3_PWM_B_NEG 7
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#define PIN_MOTOR_EN 18
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#define PIN_MOTOR_PWMAB 19
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#define PIN_ENCODER1_CS 20
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#define PIN_ENCODER2_CS 21
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#define PIN_ENCODER3_CS 22
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#define PIN_ENCODER_SCK 2
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#define PIN_ENCODER_MISO 0
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#define PIN_ENCODER_MOSI 3
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#define PIN_TOOL1 16
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#define PIN_TOOL2 17
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#else
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// Single Axis Board
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#define PIN_BUILTIN_LED 16
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#define PIN_USER_BUTTON 24
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#define PIN_M1_PWM_A_POS 13
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#define PIN_M1_PWM_A_NEG 12
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#define PIN_M1_PWM_B_POS 14
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#define PIN_M1_PWM_B_NEG 15
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#define PIN_M2_PWM_A_POS 9
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#define PIN_M2_PWM_A_NEG 8
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#define PIN_M2_PWM_B_POS 10
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#define PIN_M2_PWM_B_NEG 11
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#define PIN_M3_PWM_A_POS 5
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#define PIN_M3_PWM_A_NEG 4
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#define PIN_M3_PWM_B_POS 6
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#define PIN_M3_PWM_B_NEG 7
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#define PIN_MOTOR_EN 18
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#define PIN_MOTOR_PWMAB 19
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#define PIN_ENCODER1_CS 20
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#define PIN_ENCODER2_CS 21
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#define PIN_ENCODER3_CS 22
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#define PIN_ENCODER_SCK 2
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#define PIN_ENCODER_MISO 0
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#define PIN_ENCODER_MOSI 3
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#endif |