connect potentiometer to motors and control movement with potentiometer

[jonathanshu87]

Send a command to the motor driver giving the position wanted (and eventually the speed we want)

[jonathanshu87]

Plan to take potentiometer output from analog pin after applying exponential moving algorithm and map the values to motor rotation.

• Potentiometer range: 0-1022
• Motor range: 0-30 radians (about)

Using arduino map() function to convert these ranges

[jonathanshu87]

https://github.com/epfl-cs358/2024sp-robopong/assets/69027178/59ddeadc-624c-4b3d-93b6-9511b185654a

[jonathanshu87]

To decrease latency:

• Tested on hardware serial to determine where latency is coming from
• Optimize position calculation (remove abs(), unnecessary computation)
• Increase baud rate to 115200

[cemuelle]

#include <SoftwareSerial.h>

#define STEP_INCREMENT 1.0  // Initial radian increment for searching limits
#define FINE_TUNE_INCREMENT 0.1  // Smaller increment for fine-tuning edge detection

SoftwareSerial serialMotor0(8, 9); // RX, TX
float minLimitM0 = -10.0;
float maxLimitM0 = 10.0;

SoftwareSerial serialMotor1(10, 11); // RX, TX
float minLimitM1 = -10.0;
float maxLimitM1 = 10.0;

void setup() {
  Serial.begin(115200);
  serialMotor0.begin(115200);
  //serialMotor1.begin(9600);

  //calibrationMotor();
  //delay(10000);

}

void loop() {
  playerControl(0);
  controlSerialData();
}

int prev= 0;
int scaledValue = 0;
int potValue = 0;
void playerControl(int id){
  potValue = analogRead(A0);
  //int scaledValue = map(potValue, 0, 1023, 0, 100);
  //scaledValue = map(analogRead(A0), 0, 1023, 0, 100);
  //moveMotor(0, potValue, -1);

  if ((prev - potValue > 2) || (potValue - prev > 2)){
    moveMotor(id, potValue, -1);
    prev = potValue;
  }
}

void controlSerialData(){
  if (Serial.available() > 0) {
    // Read the input from the Serial Monitor
    String input = Serial.readStringUntil('\n');

    // Send the input to the other Arduino
    serialMotor0.println(input);
  }

  // Check if there is any message from the other Arduino
  if (serialMotor0.available() > 0) {
    // Read the message
    String messageReceived = serialMotor0.readStringUntil('\n');

    // Print the received message to the Serial Monitor
    Serial.print("Received: ");
    Serial.println(messageReceived);
  }
}

/*
 * id         : which motor we want to control, 0 or 1
 * position   : position between 0 and 1023 that we want the motor to goes to 
 * speed      : speed in rad/s that we want to move
*/
void moveMotor(int id, float position, float speed){
  if (position < 0 || position >1023 ){
    return;
  }
  String speedString = (speed == -1) ? "" : " " + String(speed, 2);

  if(id == 0){
    float range = maxLimitM0 - minLimitM0;
    float targetPosition = minLimitM0 + (position / 1023.0) * range;
    serialMotor0.println("M" + String(targetPosition, 2) + speedString);
  }
  if (id == 1){
    float range = maxLimitM1 - minLimitM1;
    float targetPosition = minLimitM1 + (position / 100.0) * range;
    serialMotor1.println("M" + String(targetPosition, 2) + speedString);
  }
}

void calibrationMotor(){
  // Move to minimum limit
  findEdge(0, serialMotor0);
  findEdge(1, serialMotor1);
}

void findEdge(int id, SoftwareSerial serialMotor) {
  float position = 0.0;
  float increment = STEP_INCREMENT;

  while (!checkEdgeReached(id)) {
    position -= increment;
    serialMotor.println("M" + String(position, 2) + " 10");
    delay(200);  // Allow motor to move
    //increment = FINE_TUNE_INCREMENT;
  }
  if (id == 0){
    minLimitM0 = position;
  }
  else {
    minLimitM1 = position;
  }

  increment = STEP_INCREMENT;

  delay(500);
  while (!checkEdgeReached(id)) {
    position += increment;
    serialMotor.println("M" + String(position, 2) + " 10");
    delay(200);  // Allow motor to move
    increment = FINE_TUNE_INCREMENT;
  }
  if (id == 0){
    maxLimitM0 = position;
  }
  else {
    maxLimitM1 = position;
  }
}

String searchString = "paddle_position :";

bool checkEdgeReached(int id) {
  while (true) {
    if (Serial.available() > 0) {
      String inputString = Serial.readStringUntil('\n');
      searchString = String(id, 1) + searchString;

      int index = inputString.indexOf(searchString);
      if (index != -1) {
        float value = inputString.substring(index + searchString.length()).toFloat();
        return (value >= 99.9 || value <= 0.1);
      } 
    }
  }
  return false;  
}

#include <Arduino.h>
#include <SimpleFOC.h>

BLDCMotor motor = BLDCMotor(7, 0.025); // br3536 kv1200
BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);
LowsideCurrentSense currentSense = LowsideCurrentSense(0.003f, -64.0f/7.0f, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);

Commander commander = Commander(Serial);
void onMotion(char* cmd) { commander.motion(&motor, cmd); }

String searchString = "Initial position :";

void setup() {
  Wire.setClock(400000);
  sensor.init();

  motor.linkSensor(&sensor);

  driver.voltage_power_supply = 12;
  driver.init();
  motor.linkDriver(&driver);
  currentSense.linkDriver(&driver);

  currentSense.init();
  currentSense.skip_align = true;
  motor.linkCurrentSense(&currentSense);

  motor.controller = MotionControlType::angle;

  //motor.voltage_limit = 12;
  motor.current_limit = 35;
  motor.velocity_limit = 1000;

  motor.PID_velocity.P = 0.2;
  motor.PID_velocity.I = 20;
  motor.PID_velocity.D = 0.001;
  motor.PID_velocity.output_ramp = 1000;
  motor.LPF_velocity.Tf = 0.01;

  Serial.begin(115200);

  motor.useMonitoring(Serial);

  //motor.zero_electric_angle = 1.07;
  //motor.sensor_direction = Direction::CCW;

  motor.init();
  motor.initFOC();

  commander.add('M', onMotion, "motion control");

  Serial.println(F("Motor ready."));
  Serial.println(F("Set the target angle using serial terminal:"));
  _delay(1000);
}

void loop() {
  motor.loopFOC();
  motor.move();
  commander.run();
}