Revision 6:f95233916b61, committed 2019-02-28

Comitter:

estott

Date:

Thu Feb 28 09:30:42 2019 +0000

Parent:

5:a01230d95321

Commit message:

Removed old PWM mode

Changed in this revision

--- a/main.cpp	Tue Feb 19 10:12:57 2019 +0000
+++ b/main.cpp	Thu Feb 28 09:30:42 2019 +0000
@@ -49,7 +49,8 @@
 
 const int32_t PWM_PRD = 2000;
 
-const uint32_t ENC_TEST_REVS = 1000;
+const uint32_t ENC_TEST_PRE = 10000;
+const uint32_t ENC_TEST_DUR = 20000;
 
 const bool EXT_PWM = true;
 
@@ -108,36 +109,23 @@
     return stateMap[I1 + 2*I2 + 4*I3];
     }
 
-    //ISRs for counting optical inputs
 uint32_t revCount,encCount,maxEncCount,minEncCount,badEdges,maxBadEdges;
 uint32_t encState,totalEncCount;
-
-    //Rising edge of I1 - occurs once per revolution
 void photoISR() {
     
-    //Update min and max statistics
     if (encCount > maxEncCount) maxEncCount = encCount;
     if (encCount < minEncCount) minEncCount = encCount;
     if (badEdges > maxBadEdges) maxBadEdges = badEdges;
     
-    //Increment revolutions count
     revCount++;
-    
-    //Accumulate encoder counts
     totalEncCount += encCount;
-    
-    //Reset encoder counts
     encCount = 0;
     badEdges = 0;
     }
     
-    //ISR for each edge of encoder inputs
 void encISR0() {
-    //Increment encoder count if this edge was expected
     if (encState == 3) encCount++;
     else badEdges++;
-    
-    //Record the current state
     encState = 0;
     }
 void encISR1() {
@@ -167,11 +155,9 @@
     RawSerial pc(USBTX, USBRX);
     pc.printf("Hello\n\r");
     
-    //Initialise the PWM
     MotorPWM.period_us(PWM_PRD);
     MotorPWM.pulsewidth_us(PWM_PRD);
     
-    //Start the timer
     Timer testTimer;
     testTimer.start();
     
@@ -186,11 +172,10 @@
         while (testTimer.read_ms() < 1000) {}
     }
     
-    //Read the rotor position in state 0
     orState = readRotorState();
     pc.printf("PI origin %d\n\r",orState);
      
-    //Test motor current and photointerrupter input in each state
+    //Test each state
     bool drivePass = true;
     bool PIPass = true;
     for (int i=0;i<6;i++) {
@@ -220,80 +205,86 @@
         printf("Disc stuck or PI sensor fault\n\r");
         while (1) {}}
 
-    //Find maximum velocity
-    printf("Finding maximum velocity\n\r"); 
+
+    printf("Finding maximum velocity\n\r");
+    I1.rise(&photoISR); 
     testTimer.reset();  
     intStateOld = readRotorState();
     motorOut((readRotorState()-orState+lead+6)%6); //+6 to make sure the remainder is positive
     int32_t velCount = 0;
     int32_t maxVel = 0;
     uint8_t findMax = 1;
+    revCount = 0;
     
     while (findMax){
         intState = readRotorState();
         if (intState != intStateOld) {
             intStateOld = intState;
             motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
-            if (intState == 0) velCount++;
+            //if (intState == 0) velCount++;
             }
         
-        //Check the number of revolutions every second. Stop when there is no increase
         if (testTimer.read_ms() >= 1000){
             testTimer.reset();
-            if (velCount > maxVel) {
-                maxVel = velCount;
+            if (revCount > maxVel) {
+                maxVel = revCount;
             } else {
                 findMax = 0;
             }
-            velCount = 0;
+            revCount = 0;
         }
     }
         
     printf("Maximum Velocity %d rps\n\r",maxVel);
     
-    //Reduce the PWM in steps. Check speed at each step
+    //Poll the rotor state and set the motor outputs accordingly to spin the motor
+    float testDC = 1.0;
     for (dc=1.0; dc>0; dc-= 0.1){
         printf("Testing at %0.1f duty cycle...",dc);
         MotorPWM.write(dc);
         findMax = 1;
         testTimer.reset();  
+        revCount = 0;
         while (findMax) {
             intState = readRotorState();
             if (intState != intStateOld) {
                 intStateOld = intState;
-                if (EXT_PWM == false)
-                    motorOut((intState-orState+lead+6)%6,dc); //+6 to make sure the remainder is positive
-                else
-                    motorOut((intState-orState+lead+6)%6);
-                if (intState == 0) velCount++;
+                motorOut((intState-orState+lead+6)%6);
             }
             
-            //Check the number of revolutions every second. Stop when there is no decrease
             if (testTimer.read_ms() >= 1000){
                 testTimer.reset();
-                if (velCount < maxVel) {
-                    maxVel = velCount;
+                if (revCount < maxVel) {
+                    maxVel = revCount;
                 } else {
                     findMax = 0;
                 }
-                velCount = 0;
+                revCount = 0;
             }
         }
         printf("%d rps\n\r",maxVel);
+        if (maxVel > 20) testDC = dc;
         if (maxVel == 0) dc = 0.0;
     }
     
     
     //Test encoder
     
-    dc=0.5;
+    MotorPWM.write(1.0);
+    testTimer.reset();
+    while (testTimer.read_ms() < 1000) {
+        intState = readRotorState();
+        if (intState != intStateOld) {
+            intStateOld = intState;
+            motorOut((intState-orState+lead+6)%6);
+        }
+    }
+    dc=testDC;
     printf("Testing encoder. Duty cycle = %0.1f\n\r",dc);
     MotorPWM.write(dc);
     
     revCount = 0;
     
-    //Enable ISRs
-    I1.rise(&photoISR);
     CHA.rise(&encISR0);
     CHB.rise(&encISR1);
     CHA.fall(&encISR2);
@@ -301,8 +292,8 @@
     
     motorOut((readRotorState()-orState+lead+6)%6); //+6 to make sure the remainder is positive
     
-    //Spin for a while to allow speed to stabilise
-    while (revCount < 200) {
+    testTimer.reset();
+    while (testTimer.read_ms() < ENC_TEST_PRE) {
         intState = readRotorState();
         if (intState != intStateOld) {
             intStateOld = intState;
@@ -310,15 +301,14 @@
         }
     }
     
-    //Reset counters
     maxEncCount = 0;
     minEncCount = -1;
     maxBadEdges = 0;
     revCount = 0;
     totalEncCount = 0;
     
-    //Run the motor for the required number of revolutions
-    while (revCount < ENC_TEST_REVS) {
+    testTimer.reset();
+    while (testTimer.read_ms() < ENC_TEST_DUR) {
         intState = readRotorState();
         if (intState != intStateOld) {
             intStateOld = intState;
@@ -326,12 +316,10 @@
         }
     }
     
-    //Stop the photointerrupter ISR so no more updates to counters
     I1.rise(NULL);
-    printf("Min, Mean, Max encoder count = %d, %d, %d\n\r",minEncCount,totalEncCount/ENC_TEST_REVS,maxEncCount);
+    printf("Min, Mean, Max encoder count = %d, %d, %d\n\r",minEncCount,totalEncCount/revCount,maxEncCount);
     printf("Max bad transitions = %d\n\r",maxBadEdges);
     
-    //Spin forever
     while (1) {
         intState = readRotorState();
         if (intState != intStateOld) {