ank/pick-n-place
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demo path

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This commit is contained in:
Andy Killorin 2024-05-17 13:52:32 -05:00
parent 81443942ba
commit b59195d32a
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 28 additions and 12 deletions
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38
src/main.rs
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@ -3,7 +3,7 @@
#![feature(abi_avr_interrupt, cell_update)] #![feature(abi_avr_interrupt, cell_update)]
use arduino_hal::{hal::port::PD5, pac::tc1::OCR1A, port::{mode::{Input, PullUp}, Pin}}; use arduino_hal::{delay_ms, hal::port::PD5, pac::tc1::OCR1A, port::{mode::{Input, PullUp}, Pin}};
use avr_device::interrupt; use avr_device::interrupt;
use encoder::{rotations, setup_encoder, COUNTS}; use encoder::{rotations, setup_encoder, COUNTS};
use panic_halt as _; use panic_halt as _;
@ -52,24 +52,40 @@ fn main() -> ! {
//uwriteln!(serial, "gripped"); //uwriteln!(serial, "gripped");
move_to(&carriage, 0.125); move_to(&carriage, 0.125);
uwriteln!(serial, "moved"); uwriteln!(serial, "moved");
carriage.set_speed(0.);
delay_ms(500);
move_to(&carriage, 0.5);
uwriteln!(serial, "moved .5");
carriage.set_speed(0.);
delay_ms(500);
move_to(&carriage, 0.125);
uwriteln!(serial, "returnd");
carriage.set_speed(0.);
delay_ms(500);
////claw.set_speed(0.4); ////claw.set_speed(0.4);
//loop {
// //uwriteln!(serial, "svith {}", switch.is_high());
// let gain = rotations();
// uwriteln!(serial, "speed {}", (gain * 1000.) as i16);
// //uwriteln!(serial, "speed {}", calculate_duty(gain));
// carriage.set_speed(half_deadzone(gain, MIN_SPEED));
// arduino_hal::delay_ms(20);
//}
loop { loop {
//uwriteln!(serial, "svith {}", switch.is_high());
let gain = rotations();
uwriteln!(serial, "speed {}", (gain * 1000.) as i16);
//uwriteln!(serial, "speed {}", calculate_duty(gain));
carriage.set_speed(gain);
arduino_hal::delay_ms(20);
} }
} }
const MAX_VELOCITY: f32 = 0.2; // rotations per 10ms const MAX_VELOCITY: f32 = 0.02; // rotations per 10ms
const ACCEPTABLE_ERROR: f32 = 0.02; // rotations const ACCEPTABLE_ERROR: f32 = 0.02; // rotations
const KP: f32 = 2.2; const KP: f32 = 0.8;
const KI: f32 = 1.2; const KI: f32 = 0.4;
const MIN_SPEED: f32 = 0.128; // motor speed that overcomes the friction of the table const MIN_SPEED: f32 = 0.218; // motor speed that overcomes the friction of the table
const I_BUF_LEN: usize = 64; const I_BUF_LEN: usize = 64;
fn move_to(carriage: &OCR1A, position: f32) { fn move_to(carriage: &OCR1A, position: f32) {
let mut i_buf = [0i8;I_BUF_LEN]; let mut i_buf = [0i8;I_BUF_LEN];