adds code from: https://github.com/JeroenDelcour/spincoater without mods
This commit is contained in:
Robert Schauklies
parent
5551bbda50
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8 changed files with 1087 additions and 0 deletions
299
src/main.py
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299
src/main.py
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from machine import Pin, I2C, Timer, UART
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import uasyncio
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import json
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import ssd1306
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from rotary_irq_esp import RotaryIRQ
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from dshot import Dshot
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from pid import PID
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def splash():
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# display.fill(0)
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# display.fill_rect(0, 0, 32, 32, 1)
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# display.fill_rect(2, 2, 28, 28, 0)
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# display.vline(9, 8, 22, 1)
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# display.vline(16, 2, 22, 1)
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# display.vline(23, 8, 22, 1)
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# display.fill_rect(26, 24, 2, 4, 1)
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# display.text("MicroPython", 40, 0, 1)
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# display.text("SSD1306", 40, 12, 1)
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# display.text("OLED 128x64", 40, 24, 1)
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display.fill(0)
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display.text("SPIN", 34, 4, 1)
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display.text("COATER", 50, 14, 1)
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display.show()
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def start_view(state, rotary):
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display.text("SPIN", 34, 4, 1)
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display.text("COATER", 50, 14, 1)
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before = "> " if rotary.value() == 0 else " "
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display.text(before + "Edit", 12, 36, 1)
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before = "> " if rotary.value() == 1 else " "
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display.text(before + "Start", 12, 46, 1)
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def draw_edit_menu(state, rotary):
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display.text("Deposit speed:", 0, 0, 1)
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display.text("{: >{w}} RPM".format(config["deposit_rpm"], w=5), 56, 10, 1)
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display.text("Coating speed:", 0, 21, 1)
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display.text("{: >{w}} RPM".format(config["coating_rpm"], w=5), 56, 31, 1)
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display.text("Coating time:", 0, 42, 1)
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display.text("{: >{w}} sec".format(config["coating_time"], w=5), 56, 52, 1)
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def edit_deposit_view(state, rotary):
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config["deposit_rpm"] = rotary.value() * 100
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draw_edit_menu(state, rotary)
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display.text(">", 40, 10, 1)
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def edit_coating_rpm_view(state, rotary):
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config["coating_rpm"] = rotary.value() * 100
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draw_edit_menu(state, rotary)
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display.text(">", 40, 32, 1)
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def edit_coating_time_view(state, rotary):
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config["coating_time"] = rotary.value()
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draw_edit_menu(state, rotary)
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display.text(">", 40, 54, 1)
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def draw_rpm(rpm):
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display.text("RPM:{: >{w}.0f}".format(rpm, w=5), 30, 27, 1)
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def deposit_view(state, rotary):
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display.fill_rect(0, 0, 127, 14, 1)
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display.text("Deposit", 36, 3, 0)
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draw_rpm(state["rpm"])
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display.text("Press to", 32, 42, 1)
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display.text("continue", 32, 52, 1)
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def coating_view(state, rotary):
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display.fill_rect(0, 0, 127, 14, 1)
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display.text("Coating", 36, 3, 0)
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draw_rpm(state["rpm"])
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display.text("{: >{w}} sec".format(state["timer"], w=4), 30, 48, 1)
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def decode_ESC_telemetry(data, motor_poles=14):
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if len(data) > 10:
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# use latest telemetry
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data = data[-10:]
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temperature = int(data[0]) # degrees Celsius
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voltage = int((data[1] << 8) | data[2]) * 0.01 # Volt
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current = (
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int((data[3] << 8) | data[4]) * 0.01
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) # Amps, only available if the ESC has a current meter
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consumption = int(
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(data[5] << 8) | data[6]
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) # mAh, only available if the ESC has a current meter
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erpm = int((data[7] << 8) | data[8]) * 100
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rpm = erpm / (motor_poles / 2)
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crc = data[9]
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# print(" Temp (C):", temperature)
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# print(" Voltage (V):", voltage)
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# print(" Current (A):", current)
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# print("Consumption (mAh):", consumption)
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# print(" Erpm:", erpm)
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# print(" RPM:", rpm)
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# print(" CRC:", crc)
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# print()
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return temperature, voltage, current, consumption, erpm, rpm
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async def update_display():
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global state
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global rotary
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while True:
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display.fill(0)
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state["view"](state, rotary)
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display.show()
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await uasyncio.sleep_ms(33)
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async def update_motor():
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global state
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dshot = Dshot(pin=Pin(18))
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rpm_pid = PID(
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Kp=config["PID"]["Kp"],
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Ki=config["PID"]["Ki"],
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Kd=config["PID"]["Kd"],
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setpoint=0,
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sample_time=None,
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output_limits=(0.0, 1.0),
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# proportional_on_measurement=True,
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)
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while True:
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rpm_pid.setpoint = state["target_rpm"]
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# read ESC telemetry
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if uart.any() >= 10:
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telemetry = decode_ESC_telemetry(uart.read())
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if telemetry is not None:
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state["rpm"] = telemetry[5]
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throttle = rpm_pid(state["rpm"])
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# print(
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# "Throttle:",
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# throttle,
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# "pid components:",
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# rpm_pid.components,
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# "RPM:",
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# state["rpm"],
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# )
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if state["target_rpm"] == 0 and state["rpm"] < 1000:
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throttle = 0
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rpm_pid.reset()
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dshot.set_throttle(throttle)
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await uasyncio.sleep_ms(1)
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def debounce_button(p):
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p.irq(trigger=Pin.IRQ_FALLING, handler=None) # remove irq
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timer0 = Timer(0)
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timer0.init(period=20, mode=Timer.ONE_SHOT, callback=lambda t: on_button_press(p))
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def on_button_press(p):
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p.irq(trigger=Pin.IRQ_FALLING, handler=debounce_button) # restore irq
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if p.value() == 1: # debounce
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return
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global state
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global config
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global rotary
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if state["view"] == start_view:
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if rotary.value() == 0:
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state["view"] = edit_deposit_view
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rotary.set(
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min_val=0,
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max_val=1000,
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range_mode=RotaryIRQ.RANGE_BOUNDED,
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value=int(0.01 * config["deposit_rpm"]),
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)
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return
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if rotary.value() == 1:
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state["view"] = deposit_view
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state["target_rpm"] = config["deposit_rpm"]
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return
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if state["view"] == edit_deposit_view:
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state["view"] = edit_coating_rpm_view
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rotary.set(
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min_val=0,
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max_val=1000,
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range_mode=RotaryIRQ.RANGE_BOUNDED,
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value=int(0.01 * config["coating_rpm"]),
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)
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return
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if state["view"] == edit_coating_rpm_view:
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state["view"] = edit_coating_time_view
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rotary.set(
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min_val=0,
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max_val=9999,
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range_mode=RotaryIRQ.RANGE_BOUNDED,
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value=config["coating_time"],
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)
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return
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if state["view"] == edit_coating_time_view:
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save_config()
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rotary.set(min_val=0, max_val=1, range_mode=RotaryIRQ.RANGE_BOUNDED, value=0)
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state["view"] = start_view
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return
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if state["view"] == deposit_view:
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state["view"] = coating_view
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start_coating(state)
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return
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if state["view"] == coating_view:
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stop_coating()
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return
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def start_coating(state):
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global timer1
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global timer2
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state["timer"] = config["coating_time"]
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timer1.init(
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period=config["coating_time"] * 1000,
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mode=Timer.ONE_SHOT,
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callback=lambda t: stop_coating(),
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)
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def decrement_timer(t):
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state["timer"] -= 1
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timer2.init(period=1000, mode=Timer.PERIODIC, callback=decrement_timer)
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# state["throttle"] = 0.10
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state["target_rpm"] = config["coating_rpm"]
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def stop_coating():
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global state
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global rotary
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global timer1
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global timer2
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timer1.deinit()
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timer2.deinit()
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state["target_rpm"] = 0
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rotary.set(min_val=0, max_val=1, range_mode=RotaryIRQ.RANGE_BOUNDED, value=0)
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state["view"] = start_view
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def save_config():
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global config
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with open("config.json", "w") as f:
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json.dump(config, f)
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# using default address 0x3c
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i2c = I2C(1, sda=Pin(21), scl=Pin(22))
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display = ssd1306.SSD1306_I2C(128, 64, i2c)
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display.rotate(0)
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timer1 = Timer(1)
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timer2 = Timer(2)
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splash()
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rotary = RotaryIRQ(
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pin_num_clk=14,
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pin_num_dt=13,
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min_val=0,
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max_val=1,
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range_mode=RotaryIRQ.RANGE_BOUNDED,
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pull_up=True,
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)
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button = Pin(19, Pin.IN, Pin.PULL_UP)
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button.irq(trigger=Pin.IRQ_FALLING, handler=on_button_press)
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uart = UART(1, baudrate=115200, rx=5) # to receive ESC telemetry
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state = {
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"view": start_view,
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"rpm": 0,
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"target_rpm": 0,
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"timer": 0,
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}
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with open("config.json", "r") as f:
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config = json.load(f)
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event_loop = uasyncio.get_event_loop()
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event_loop.create_task(update_display())
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event_loop.create_task(update_motor())
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event_loop.run_forever()
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