Ich versuche, die Geschwindigkeit von zwei DC-Motoren mit einem Arduino Uno und Encoder, die an die Motoren angeschlossen sind, zu steuern.Gleichstrommotor mit Encoder
Ich habe einen Code geschrieben, um zu überprüfen, ob sich die Position des Encoders ändert und dementsprechend die Geschwindigkeit der Motoren berechnet.
verwendet Ive this website für den Code:
ich Probleme habe, wenn die Differenz zwischen der neuen Position des Gebers zu berechnen und der alten Position des Gebers. Aus irgendeinem Grund steigt dieser Unterschied, obwohl die Geschwindigkeit gleich bleibt.
Dies ist mein Code so weit:
#define pwmLeft 10
#define pwmRight 5
#define in1 9
#define in2 8
#define in3 7
#define in4 6
//MOTOR A
int motorSpeedA = 100;
static int pinA = 2; // Our first hardware interrupt pin is digital pin 2
static int pinB = 3; // Our second hardware interrupt pin is digital pin 3
volatile byte aFlag = 0; // let's us know when we're expecting a rising edge on pinA to signal that the encoder has arrived at a detent
volatile byte bFlag = 0; // let's us know when we're expecting a rising edge on pinB to signal that the encoder has arrived at a detent (opposite direction to when aFlag is set)
volatile long encoderPos = 0; //this variable stores our current value of encoder position. Change to int or uin16_t instead of byte if you want to record a larger range than 0-255
volatile long oldEncPos = 0; //stores the last encoder position value so we can compare to the current reading and see if it has changed (so we know when to print to the serial monitor)
volatile long reading = 0; //somewhere to store the direct values we read from our interrupt pins before checking to see if we have moved a whole detent
//MOTOR B
static int pinC = 12; // Our first hardware interrupt pin is digital pin 2
static int pinD = 33; // Our second hardware interrupt pin is digital pin 3
volatile byte cFlag = 0; // let's us know when we're expecting a rising edge on pinA to signal that the encoder has arrived at a detent
volatile byte dFlag = 0; // let's us know when we're expecting a rising edge on pinB to signal that the encoder has arrived at a detent (opposite direction to when aFlag is set)
volatile long encoderPosB = 0; //this variable stores our current value of encoder position. Change to int or uin16_t instead of byte if you want to record a larger range than 0-255
volatile long oldEncPosB = 0; //stores the last encoder position value so we can compare to the current reading and see if it has changed (so we know when to print to the serial monitor)
volatile long readingB = 0;
int tempPos;
long vel;
unsigned long newtime;
unsigned long oldtime = 0;
void setup() {
//MOTOR A
pinMode(pinA, INPUT_PULLUP); // set pinA as an input, pulled HIGH to the logic voltage (5V or 3.3V for most cases)
pinMode(pinB, INPUT_PULLUP); // set pinB as an input, pulled HIGH to the logic voltage (5V or 3.3V for most cases)
attachInterrupt(0, PinA, RISING); // set an interrupt on PinA, looking for a rising edge signal and executing the "PinA" Interrupt Service Routine (below)
attachInterrupt(1, PinB, RISING); // set an interrupt on PinB, looking for a rising edge signal and executing the "PinB" Interrupt Service Routine (below)
//MOTOR B
pinMode(pinC, INPUT_PULLUP); // set pinA as an input, pulled HIGH to the logic voltage (5V or 3.3V for most cases)
pinMode(pinD, INPUT_PULLUP); // set pinB as an input, pulled HIGH to the logic voltage (5V or 3.3V for most cases)
attachInterrupt(0, PinC, RISING); // set an interrupt on PinA, looking for a rising edge signal and executing the "PinA" Interrupt Service Routine (below)
attachInterrupt(1, PinD, RISING);
Serial.begin(9600); // start the serial monitor link
pinMode (in1, OUTPUT);
pinMode (in2, OUTPUT);
pinMode (in3, OUTPUT);
pinMode (in4, OUTPUT);
digitalWrite (8, HIGH);
digitalWrite (9, LOW); //LOW
digitalWrite (7, LOW); //LOW
digitalWrite (6, HIGH);
pinMode (pwmLeft, OUTPUT);
pinMode (pwmRight, OUTPUT);
}
void PinA(){
cli(); //stop interrupts happening before we read pin values
reading = PIND & 0xC; // read all eight pin values then strip away all but pinA and pinB's values
if(reading == B00001100 && aFlag) { //check that we have both pins at detent (HIGH) and that we are expecting detent on this pin's rising edge
encoderPos --; //decrement the encoder's position count
bFlag = 0; //reset flags for the next turn
aFlag = 0; //reset flags for the next turn
} else if (reading == B00000100) bFlag = 1; //signal that we're expecting pinB to signal the transition to detent from free rotation
sei(); //restart interrupts
}
void PinB(){
cli(); //stop interrupts happening before we read pin values
reading = PIND & 0xC; //read all eight pin values then strip away all but pinA and pinB's values
if (reading == B00001100 && bFlag) { //check that we have both pins at detent (HIGH) and that we are expecting detent on this pin's rising edge
encoderPos ++; //increment the encoder's position count
bFlag = 0; //reset flags for the next turn
aFlag = 0; //reset flags for the next turn
} else if (reading == B00001000) aFlag = 1; //signal that we're expecting pinA to signal the transition to detent from free rotation
sei(); //restart interrupts
}
void PinC(){
cli(); //stop interrupts happening before we read pin values
readingB = PIND & 0xC; // read all eight pin values then strip away all but pinA and pinB's values
if(readingB == B00001100 && cFlag) { //check that we have both pins at detent (HIGH) and that we are expecting detent on this pin's rising edge
encoderPosB --; //decrement the encoder's position count
dFlag = 0; //reset flags for the next turn
cFlag = 0; //reset flags for the next turn
} else if (readingB == B00000100) dFlag = 1; //signal that we're expecting pinB to signal the transition to detent from free rotation
sei(); //restart interrupts
}
void PinD(){
cli(); //stop interrupts happening before we read pin values
readingB = PIND & 0xC; //read all eight pin values then strip away all but pinA and pinB's values
if (readingB == B00001100 && dFlag) { //check that we have both pins at detent (HIGH) and that we are expecting detent on this pin's rising edge
encoderPosB ++; //increment the encoder's position count
dFlag = 0; //reset flags for the next turn
cFlag = 0; //reset flags for the next turn
} else if (readingB == B00001000) cFlag = 1; //signal that we're expecting pinA to signal the transition to detent from free rotation
sei(); //restart interrupts
}
void loop(){
analogWrite(pwmLeft, motorSpeedA);
analogWrite(pwmRight, motorSpeedA);
if(oldEncPos != encoderPos) {
newtime = millis();
tempPos = encoderPos - oldEncPos;
vel = tempPos/(newtime - oldtime);
Serial.println(tempPos);
oldEncPos = encoderPos;
oldtime = newtime;
delay(250);
}
if(oldEncPosB != encoderPosB) {
Serial.println(encoderPosB);
oldEncPosB = encoderPosB;
}
}
Die beiden, wenn Aussagen gemacht werden, nur zu prüfen, ob die Geber richtig funktionieren. In der ersten if-Anweisung versuche ich die Geschwindigkeit zu berechnen.
Ich würde mich über jede Rückmeldung freuen.
Vielen Dank.
EDIT:
ich Theres eine Encoder-Bibliothek fand heraus, das alles viel einfacher macht.
so jetzt sieht mein Code wie folgt aus:
#include <Encoder.h>
#define pwmLeft 10
#define pwmRight 5
Encoder myEncA(3, 2);
Encoder myEncB(13, 12);
unsigned long oldtimeA = 0;
unsigned long oldtimeB = 0;
int speedA = 100;
int speedB = 130;
void setup() {
Serial.begin(9600);
digitalWrite (8, HIGH);
digitalWrite (9, LOW); //LOW
digitalWrite (7, LOW); //LOW
digitalWrite (6, HIGH);
pinMode (pwmLeft, OUTPUT);
pinMode (pwmRight, OUTPUT);
}
long oldPositionA = -999;
long oldPositionB = -999;
void loop() {
analogWrite(pwmLeft, speedA);
analogWrite(pwmRight, speedB);
long newPositionA = myEncA.read();
long newPositionB = myEncB.read();
if ((newPositionA != oldPositionA) || (newPositionB != oldPositionB)) {
unsigned long newtimeA = millis();
long positionA = newPositionA - oldPositionA;
long positionB = newPositionB - oldPositionB;
long velB = (positionB)/(newtimeA - oldtimeA);
long velA = (positionA)/(newtimeA - oldtimeA);
oldtimeA = newtimeA;
oldPositionA = newPositionA;
oldPositionB = newPositionB;
Serial.println(velB);
}
}
Ich bin immer noch Probleme mit meinem „B“ Motor, die Berechnung ist noch in weiter Ferne aus irgendeinem Grund haben.
Motor "A" funktioniert
Hallo Michael Danke für die Antwort, habe ich versucht, die Änderungen zu übernehmen Sie gesagt, aber ich immer noch falsche Ergebnisse zu erhalten. Wenn ich die if-Anweisung mit der Zeitdifferenz über 30 verwende, bekomme ich nur ein paar Ergebnisse (inakrete Ergebnisse) und die Ergebnisse stoppen aus irgendeinem Grund. – user7792712
Ich habe eine Bearbeitung mit dem neuen Code hinzugefügt – user7792712