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make min PWM a configuration option to allow custom motor drivers #33

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make min PWM a configuration option to allow custom motor drivers #33

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ff529c2
config option for motor driver min PWM value
timotto Sep 9, 2021
14ba252
refactoring
timotto Sep 9, 2021
1fed382
allow different min-pwm for drive and mow
timotto Nov 16, 2021
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3 changes: 2 additions & 1 deletion sunray/config_example.h
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,8 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
// ----- gear motors --------------------------------------------------
// for brushless motors, study the sections (drivers, adapter, protection etc.) in the Wiki (https://wiki.ardumower.de/index.php?title=DIY_Brushless_Driver_Board)
// #define MOTOR_DRIVER_BRUSHLESS 1 // uncomment this for new brushless motor drivers
#define MOTOR_DRIVER_MIN_PWM 2 // set this to 0 if you use custom motor drivers and your motors do not stop spinning when stopped
#define MOWER_DRIVER_MIN_PWM 2 // set this to 0 if you use custom mower drivers and your motors do not stop spinning when stopped

#define MOTOR_OVERLOAD_CURRENT 0.8 // gear motors overload current (amps)

Expand Down Expand Up @@ -514,4 +516,3 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
// 2. Locate file 'packages/arduino/hardware/sam/xxxxx/cores/arduino/RingBuffer.h

#define SERIAL_BUFFER_SIZE 1024

2 changes: 1 addition & 1 deletion sunray/robot.cpp
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Expand Up @@ -57,7 +57,7 @@ MPU9250_DMP imu;
SerialRainSensorDriver rainDriver(robotDriver);
#else
AmRobotDriver robotDriver;
AmMotorDriver motorDriver;
AmMotorDriver motorDriver(MOTOR_DRIVER_MIN_PWM, MOWER_DRIVER_MIN_PWM);
AmBatteryDriver batteryDriver;
AmBumperDriver bumper;
AmStopButtonDriver stopButton;
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25 changes: 9 additions & 16 deletions sunray/src/driver/AmRobotDriver.cpp
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Expand Up @@ -46,7 +46,7 @@ void OdometryRightISR(){
odomTicksRight++;
}

AmMotorDriver::AmMotorDriver(){
AmMotorDriver::AmMotorDriver(int _motorMinPwm, int _mowerMinPwm) : motorMinPwm(_motorMinPwm), mowerMinPwm(_mowerMinPwm) {
}


Expand Down Expand Up @@ -128,27 +128,20 @@ void AmMotorDriver::setMC33926(int pinDir, int pinPWM, int speed) {
// IN1 PinPWM IN2 PinDir
// PWM L Forward
// PWM H Reverse
// verhindert dass das PWM Signal 0 wird. Der Driver braucht einen kurzen Impuls um das PWM zu erkennen.
// Wenn der z.B. vom max. PWM Wert auf 0 bzw. das Signal auf Low geht, behält er den vorherigen Wert bei und der Motor stoppt nicht
void AmMotorDriver::setBrushless(int pinDir, int pinPWM, int speed) {
// minPwm verhindert, dass das PWM Signal 0 wird. Manche Driver brauchen einen kurzen Impuls, um das PWM zu erkennen.
// Wenn der z.B. vom max. PWM Wert auf 0 bzw. das Signal auf Low geht, behalten diese den vorherigen Wert bei und der Motor stoppt nicht.
void AmMotorDriver::setBrushless(int pinDir, int pinPWM, int speed, int minPwm) {
//DEBUGLN(speed);
if (speed < 0) {
digitalWrite(pinDir, HIGH) ;
if (speed >= -2) speed = -2;
pinMan.analogWrite(pinPWM, ((byte)abs(speed)));
} else {
digitalWrite(pinDir, LOW) ;
if (speed <= 2) speed = 2;
pinMan.analogWrite(pinPWM, ((byte)abs(speed)));
}
digitalWrite(pinDir, speed < 0 ? HIGH : LOW);
pinMan.analogWrite(pinPWM, (byte) max(minPwm, abs(speed)) );
}


void AmMotorDriver::setMotorPwm(int leftPwm, int rightPwm, int mowPwm){
#ifdef MOTOR_DRIVER_BRUSHLESS
setBrushless(pinMotorLeftDir, pinMotorLeftPWM, leftPwm);
setBrushless(pinMotorRightDir, pinMotorRightPWM, rightPwm);
setBrushless(pinMotorMowDir, pinMotorMowPWM, mowPwm);
setBrushless(pinMotorLeftDir, pinMotorLeftPWM, leftPwm, motorMinPwm);
setBrushless(pinMotorRightDir, pinMotorRightPWM, rightPwm, motorMinPwm);
setBrushless(pinMotorMowDir, pinMotorMowPWM, mowPwm, mowerMinPwm);
#else
setMC33926(pinMotorLeftDir, pinMotorLeftPWM, leftPwm);
setMC33926(pinMotorRightDir, pinMotorRightPWM, rightPwm);
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7 changes: 5 additions & 2 deletions sunray/src/driver/AmRobotDriver.h
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Expand Up @@ -21,8 +21,11 @@ class AmRobotDriver {


class AmMotorDriver: public MotorDriver {
private:
int motorMinPwm;
int mowerMinPwm;
public:
AmMotorDriver();
AmMotorDriver(int _motorMinPwm, int _mowerMinPwm);
void begin() override;
void run() override;
void setMotorPwm(int leftPwm, int rightPwm, int mowPwm) override;
Expand All @@ -32,7 +35,7 @@ class AmMotorDriver: public MotorDriver {
void getMotorEncoderTicks(int &leftTicks, int &rightTicks, int &mowTicks) override;
protected:
void setMC33926(int pinDir, int pinPWM, int speed);
void setBrushless(int pinDir, int pinPWM, int speed);
void setBrushless(int pinDir, int pinPWM, int speed, int minPwm);
};

class AmBatteryDriver : public BatteryDriver {
Expand Down