rpm sensor+pwm is working in a slightly cursed way
This commit is contained in:
Robert Schauklies
parent
b8a7f23f30
commit
38ea428824
1 changed files with 122 additions and 26 deletions
148
src/main.py
148
src/main.py
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@ -1,7 +1,7 @@
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# test of printing multiple fonts to the ILI9341 on an M5Stack using H/W SP
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# MIT License; Copyright (c) 2017 Jeffrey N. Magee
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from ili934xnew import ILI9341, color565
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from machine import Pin, SPI,Timer
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from machine import Pin, SPI,Timer, UART,PWM
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from ST7735 import TFT,TFTColor
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import m5stack
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import tt14
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@ -80,7 +80,7 @@ def fafo():
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for col in range(w):
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bgr = f.read(3)
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tft._pushcolor(TFTColor(bgr[2],bgr[1],bgr[0]))
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time.sleep(10)
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time.sleep(5)
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def tftprinttest():
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tft.fill(TFT.BLACK)
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v = 30
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@ -155,17 +155,17 @@ def draw_rpm(rpm):
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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")
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display.print("Deposit")
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draw_rpm(state["rpm"])
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display.text("Press to")
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display.text("continue")
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display.print("Press to")
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display.print("continue")
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def coating_view(state, rotary):
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# display.fill_rect()
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display.text("Coating")
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display.print("Coating")
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draw_rpm(state["rpm"])
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display.text("{: >{w}} sec".format(state["timer"], w=4))
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display.print("{: >{w}} sec".format(state["timer"], w=4))
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def decode_ESC_telemetry(data, motor_poles=14):
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@ -201,7 +201,7 @@ 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(color565(0,0,0))
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display.print("LOLOLOL")
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state["view"](state, rotary)
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await uasyncio.sleep_ms(200)
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@ -210,7 +210,7 @@ async def update_motor():
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global state
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#we want to use 18 for the SPI-Bus!
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#https://docs.micropython.org/en/latest/esp32/quickref.html#hardware-spi-bus
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dshot = Dshot(pin=Pin(26))
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dshot = Dshot(pin=Pin(25))
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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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@ -229,14 +229,14 @@ async def update_motor():
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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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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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@ -244,13 +244,87 @@ async def update_motor():
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dshot.set_throttle(throttle)
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await uasyncio.sleep_ms(1)
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def update_motor_pwm():
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pwm = PWM(Pin(26))
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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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pwm.freq(50)
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# pwm.duty_u16(1638)
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# pwm.duty_u16(8192)
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# set_throttle(pwm,1055)
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pwm.duty_ns(1055*10**3)
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time.sleep(1)
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pwm.duty_ns(1070*10**3)
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time.sleep(10)
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global rpm_counter
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rpm_counter= 0
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pwm.duty_ns(1200*10**3)
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time.sleep(10)
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global rpm_counter
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rpm_counter= 0
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pwm.duty_ns(1400*10**3)
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time.sleep(60)
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pwm.duty_ns(1055*10**3)
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# time.sleep(10) # keep low signal to arm
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# # for i in range(1060,1800):
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# # pwm.duty_u16(i*3)
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# # time.sleep(1)
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# pwm.duty_ns(1070*10**3)
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# pwm.duty_u16(1700)
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# time.sleep(200)
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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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def set_throttle(pwm,us):
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hertz = 50
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#we now have to calculate the duty_cycle!
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# Period defined as 1/Hertz, we need to multiply by 1_000_000 to calculate to microseconds
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period = (1/hertz)*1000000
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# us = max(1060, min(1860, us))
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#our thing has to be one for x microseconds during the period!
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duty_cycle_percentage = (us/period)*100
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duty = int((duty_cycle_percentage/100))*65535
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print(duty)
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pwm.duty_u16(duty)
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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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rpm_counter = 0
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def rpm_count(p):
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global rpm_counter
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rpm_counter+=1
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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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@ -264,7 +338,6 @@ def on_button_press(p):
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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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@ -285,6 +358,7 @@ def on_button_press(p):
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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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max_val=1000,
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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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@ -295,8 +369,8 @@ def on_button_press(p):
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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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return
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state["view"] = coating_view
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start_coating(state)
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return
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@ -363,7 +437,6 @@ timer2 = Timer(2)
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# CS CS
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# GND GND
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# VCC VCC
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print("BOOOOOOTTT2T")
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spi = SPI(
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2,
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baudrate=40000000,
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@ -384,7 +457,7 @@ display = tft
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tft.initr()
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tft.rgb(True)
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#tftprinttest()
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uart = UART(1, baudrate=115200, rx=5) # to receive ESC telemetry
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rotary = RotaryIRQ(
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pin_num_clk=25,
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pin_num_dt=13,
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@ -395,6 +468,10 @@ rotary = RotaryIRQ(
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)
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button = Pin(15, Pin.IN, Pin.PULL_UP)
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button.irq(trigger=Pin.IRQ_FALLING, handler=on_button_press)
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#interrupt for rpm sensor!
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rpm_pin = Pin(19, Pin.IN, Pin.PULL_UP)
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rpm_pin.irq(trigger=Pin.IRQ_FALLING, handler=rpm_count)
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state = {
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"view": start_view,
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"rpm": 0,
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@ -410,13 +487,32 @@ with open("config.json", "r") as f:
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tft.fill(TFT.BLACK)
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# splash()
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fafo()
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#fafo()
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# for ff in fonts:
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# display.set_font(ff)
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# display.print(text)
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event_loop = uasyncio.get_event_loop()
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event_loop.create_task(update_display())
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update_motor_pwm()
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print(rpm_counter)
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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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# event_loop.create_task(update_motor_pwm())
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# event_loop.run_forever()
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# pwm = PWM(Pin(26))
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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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# pwm.freq(50)
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# # pwm.duty_u16(1638)
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# # pwm.duty_u16(8192)
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# # set_throttle(pwm,1055)
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# pwm.duty_ns(1055*10**3)
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# time.sleep(3)
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# pwm.duty_ns(1070*10**3)
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