RampUp for DC motor

.github/workflows/LibraryBuild.yml

@@ -62,6 +62,7 @@ jobs:
                 -DUSE_STANDARD_SERIAL
                 -DUSE_US_SENSOR_1_PIN_MODE
                 -DDISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN
+                -DENABLE_MOTOR_LIST_FUNCTIONS
 
 #          - arduino-boards-fqbn: arduino:avr:leonardo
 #            build-properties:

README.md

@@ -5,7 +5,7 @@ Available as Arduino library "PWMMotorControl"
 
 [![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
 [![Build Status](https://github.com/ArminJo/PWMMotorControl/workflows/LibraryBuild/badge.svg)](https://github.com/ArminJo/PWMMotorControl/actions)
-[![Hit Counter](https://hitcounter.pythonanywhere.com/count/tag.svg?url=https%3A%2F%2Fgit.luolix.top%2FArminJo%2FPWMMotorControl)](https://github.com/brentvollebregt/hit-counter)
+![Hit Counter](https://visitor-badge.laobi.icu/badge?page_id=ArminJo_PWMMotorControl)
 
 - The PWMDcMotor.cpp controls **brushed DC motors** by PWM using standard full bridge IC's like **L298**, **TB6612** (new low loss dual full bridge IC), or **Adafruit_MotorShield** (using PCA9685 -> 2 x TB6612).
 - The EncoderMotor.cpp.cpp controls a DC motor with attached encoder disc and fork light barrier to enable **driving a specified distance**.
@@ -23,44 +23,65 @@ Maximal speed is the PWM value to use for driving a fixed distance. For encoder
 - `initGoDistanceCount(uint8_t Unsigned_DistanceCount,uint8_tDirection)` or `setSpeed(intSigned_DistanceCount)` - for non encoder motors a formula, using distance and the difference between minimal speed and maximal speed, is used to convert counts into motor driving time.
 - `updateMotor()` - call this in your loop if you use the start* functions.
 
-# Compile options for this library
 # Compile options / macros for this library
-To customize the library to different requirements, there are some compile options / makros available.<br/>
-Modify it by commenting them out or in, or change the values if applicable. Or define the macro with the -D compiler option for gobal compile (the latter is not possible with the Arduino IDE, so consider to use [sloeber](https://eclipse.baeyens.it).
-Some options which are enabed by default can be disabled also by defining a *inhibit* macro like `USE_STANDARD_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD`.
+To customize the library to different requirements, there are some compile options / macros available.<br/>
+Modify it by commenting them out or in, or change the values if applicable. Or define the macro with the -D compiler option for gobal compile (the latter is not possible with the Arduino IDE, so consider to use [sloeber](https://eclipse.baeyens.it).<br/>
+Some options which are enabed by default can be disabled by defining a *inhibit* macro like `USE_STANDARD_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD`.
 
-| Macro | Default | File | Disable macro | Description |
-|-|-|-|-|-|
-| `USE_ENCODER_MOTOR_CONTROL` | disabled | PWMDCMotor.h | | Use fork light barrier and an attached encoder disc to enable motor distance and speed sensing for closed loop control. |
-| `USE_ADAFRUIT_MOTOR_SHIELD` | disabled | PWMDcMotor.h | | Use Adafruit Motor Shield v2 connected by I2C instead of simple TB6612 or L298 breakout board.<br/>
-This disables tone output by using motor as loudspeaker, but requires only 2 I2C/TWI pins in contrast to the 6 pins used for the full bride.<br/>
-For full bride, analogWrite the millis() timer0 is used since we use pin 5 & 6. |
-| `USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD` | enabled | PWMDcMotor.h | `USE_STANDARD_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD` | Saves 694 bytes program memory |
+| Macro | Default | File | Description |
+|-|-|-|-|
+| `USE_ENCODER_MOTOR_CONTROL` | disabled | PWMDCMotor.h | Use fork light barrier and an attached encoder disc to enable motor distance and speed sensing for closed loop control. |
+| `USE_ADAFRUIT_MOTOR_SHIELD` | disabled | PWMDcMotor.h | Use Adafruit Motor Shield v2 connected by I2C instead of simple TB6612 or L298 breakout board.<br/>This disables tone output by using motor as loudspeaker, but requires only 2 I2C/TWI pins in contrast to the 6 pins used for the full bride.<br/>For full bride, analogWrite the millis() timer0 is used since we use pin 5 & 6. |
+| `USE_OWN_LIBRARY_FOR_`<br/>`ADAFRUIT_MOTOR_SHIELD` | enabled | PWMDcMotor.h | Saves around 694 bytes program memory.<br/>Disable macro=`USE_STANDARD_LIBRARY_`<br/>`FOR_ADAFRUIT_MOTOR_SHIELD` |
+| `SUPPORT_RAMP_UP` | enabled | PWMDcMotor.h | Saves around 300 bytes program memory.<br/>Disable macro=`DO_NOT_SUPPORT_RAMP_UP` |
+
+# Default car geometry dependent values used in this library
+These values are for a standard 2 WD car as can be seen on the pictures below.
+| Macro | Default | File | Description |
+|-|-|-|-|
+| `DEFAULT_COUNTS_PER_FULL_ROTATION` | 40 | PWMDCMotor.h | This value is compatible with 20 slot encoder discs, giving 20 on and 20 off counts per full rotation. |
+| `DEFAULT_MILLIMETER_PER_COUNT` | 5 | PWMDCMotor.h | At a circumference of around 20 cm (21.5 cm actual) this gives 5 mm per count. |
+| `FACTOR_CENTIMETER_TO_`<br/>`COUNT_INTEGER_DEFAULT` | 2 | CarMotorControl.h | Exact value is 1.86, but integer saves program space and time. |
+| `FACTOR_DEGREE_TO_COUNT_DEFAULT` | 0.4277777 for 2 wheel drive cars, 0.8 for 4 WD cars | CarMotorControl.h | Reflects the geometry of the standard 2 WD car sets. The 4 WD car value is estimated for slip on smooth surfaces. |
+
+# Other default values for this library
+These values are used by functions and the first 2 can be overwritten by set* functions.
+| Macro | Default | File | Description |
+|-|-|-|-|
+| `DEFAULT_START_SPEED` | 45/150 for 7.4/6.0 volt supply | PWMDCMotor.h | START_SPEED is the speed PWM value at which car starts to move. |
+| `DEFAULT_DRIVE_SPEED` | 80/255(max speed) for 7.4/6.0 volt supply | PWMDCMotor.h | The speed PWM value for going fixed distance. |
+| `DEFAULT_DISTANCE_TO_TIME_FACTOR` | 135/300 for 7.4/6.0 volt supply | PWMDCMotor.h | The factor used to convert distance in 5mm steps to motor on time in milliseconds using the formula:<br/>`computedMillisOf`<br/>`MotorStopForDistance = 150 + (10 * ((aDistanceCount * DistanceToTimeFactor) / DriveSpeed))` |
+| `RAMP_UP_UPDATE_INTERVAL_MILLIS` | 16 | PWMDCMotor.h | The smaller the value the steeper the ramp. |
+| `RAMP_UP_UPDATE_INTERVAL_STEPS` | 16 | PWMDCMotor.h | Results in a ramp up time of 16 steps * 16 millis = 256 milliseconds. |
 
-# Compile options for examples
-To customize the Robot Car example to cover different extensions, there are some compile options available.
 
+# Compile options for RobotCar example
+To customize the RobotCar example to cover different extensions, there are some compile options available.
 | Option | Default | File | Description |
 |-|-|-|-|
+| `USE_LAYOUT_FOR_NANO` | disabled | RobotCar.h | Use different pinout for Nano board. It has A6 and A7 available as pins. |
+| `CAR_HAS_4_WHEELS` | disabled | RobotCar.h | Use modified formula for turning the car. |
 | `USE_US_SENSOR_1_PIN_MODE` | disabled | RobotCar.h | Use modified HC-SR04 modules or HY-SRF05 ones.</br>Modify HC-SR04 by connecting 10kOhm between echo and trigger and then use only trigger pin. |
 | `CAR_HAS_IR_DISTANCE_SENSOR` | disabled | RobotCar.h | Use Sharp GP2Y0A21YK / 1080 IR distance sensor. |
 | `CAR_HAS_TOF_DISTANCE_SENSOR` | disabled | RobotCar.h | Use VL53L1X TimeOfFlight distance sensor. |
+| `DISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN` | disabled | Distance.h | The distance servo is mounted head down to detect even small obstacles. |
 | `CAR_HAS_CAMERA` | disabled | RobotCar.h | Enables the `Camera` button for the `PIN_CAMERA_SUPPLY_CONTROL` pin. |
 | `CAR_HAS_LASER` | disabled | RobotCar.h | Enables the `Laser` button for the `PIN_LASER_OUT` / `LED_BUILTIN` pin. |
 | `CAR_HAS_PAN_SERVO` | disabled | RobotCar.h | Enables the pan slider for the `PanServo` at the `PIN_PAN_SERVO` pin. |
 | `CAR_HAS_TILT_SERVO` | disabled | RobotCar.h | Enables the tilt slider for the `TiltServo` at the `PIN_TILT_SERVO` pin.. |
-| `DISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN` | disabled | Distance.h | The distance servo is mounted head down to detect small obstacles. |
+| `MONITOR_LIPO_VOLTAGE` | disabled | RobotCar.h | Shows VIN voltage and monitors it for undervoltage. Requires 2 additional resistors at pin A2. |
+| `VIN_VOLTAGE_CORRECTION` | undefined | RobotCar.h | Voltage to be subtracted from VIN voltage. E.g. if there is a series diode between LIPO and VIN set it to 0.8. |
 
 #### If you find this library useful, please give it a star.
 
 # Pictures
-2 wheel car
+2 wheel car with encoders, 2 LiPo batteries, Adafruit Motor Shield V2, Bluetooth connection, and servo mounted head down
 ![2 wheel car](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/2WheelDriveCar.jpg)
-4 wheel car
+4 wheel car, like 2 WD car before, but with servo mounted head up.
 ![4 wheel car](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/4WheelDriveCar.jpg)
 Encoder fork sensor
 ![Encoder fork sensor](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/ForkSensor.jpg)
-Servo mounting
+Servo mounted head down
 ![Servo mounting](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/ServoAtTopBack.jpg)
 VIN sensing
 ![VIN sensing](https://github.com/ArminJo/Arduino-RobotCar/blob/master/pictures/SensingVIn.jpg)

examples/RobotCarBasic/RobotCar.h

@@ -24,6 +24,8 @@
 
 //#define CAR_HAS_4_WHEELS
 
+//#define USE_LAYOUT_FOR_NANO
+
 // Modify HC-SR04 by connecting 10kOhm between echo and trigger and then use only trigger.
 //#define USE_US_SENSOR_1_PIN_MODE // Comment it out, if you use modified HC-SR04 modules or HY-SRF05 ones.
 
@@ -85,15 +87,16 @@ extern CarMotorControl RobotCarMotorControl;
  * Pins 9 + 10 are reserved for Servo
  * 2 + 3 are reserved for encoder input
  */
-#define PIN_LEFT_MOTOR_FORWARD      4
-#define PIN_LEFT_MOTOR_BACKWARD     7
-#define PIN_LEFT_MOTOR_PWM          5 // Must be PWM capable
+#define PIN_LEFT_MOTOR_FORWARD     12 // Pin 9 is already reserved for distance servo
+#define PIN_LEFT_MOTOR_BACKWARD     8
+#define PIN_LEFT_MOTOR_PWM          6 // Must be PWM capable
 
-#define PIN_RIGHT_MOTOR_FORWARD     8
-#define PIN_RIGHT_MOTOR_BACKWARD   12 // Pin 9 is already reserved for distance servo
-#define PIN_RIGHT_MOTOR_PWM         6 // Must be PWM capable
+#define PIN_RIGHT_MOTOR_FORWARD     4
+#define PIN_RIGHT_MOTOR_BACKWARD    7
+#define PIN_RIGHT_MOTOR_PWM         5 // Must be PWM capable
 #endif
 
+
 /*
  * Servo pins
  */
@@ -115,31 +118,40 @@ extern CarMotorControl RobotCarMotorControl;
  * Pins for US HC-SR04 distance sensor
  */
 #define PIN_TRIGGER_OUT         A0 // Connections on the Arduino Sensor Shield
-#ifndef USE_US_SENSOR_1_PIN_MODE
+#ifdef USE_US_SENSOR_1_PIN_MODE
+#define PIN_IR_DISTANCE_SENSOR  A1 // Otherwise available as US echo pin
+#else
 #define PIN_ECHO_IN             A1 // used by Sharp IR distance sensor
 #endif
 
-
 #ifdef CAR_HAS_LASER
 #define PIN_LASER_OUT           LED_BUILTIN
 #endif
 
 /*
- * Different pin layout for UNO and Nano (Nano hash full bridge) boards
+ * Different pin layout for UNO with Adafruit motor shield and Nano (Nano hash full bridge) boards
  */
-#ifdef USE_ADAFRUIT_MOTOR_SHIELD
-#  ifdef USE_US_SENSOR_1_PIN_MODE
-// Otherwise available as US echo pin
-#define PIN_IR_DISTANCE_SENSOR  A1
+#ifdef USE_LAYOUT_FOR_NANO
+/*
+ * Nano Layout
+ */
+#  ifdef USE_ADAFRUIT_MOTOR_SHIELD
+#error "Adafruit motor shield makes no sense for a Nano board!"
 #  endif
-#define PIN_SPEAKER             11
-
-#else // USE_ADAFRUIT_MOTOR_SHIELD
-#ifdef CAR_HAS_CAMERA
+#  ifdef CAR_HAS_CAMERA
 #define PIN_CAMERA_SUPPLY_CONTROL A7 // Not available on UNO board
-#endif
+#  endif
 #define PIN_SPEAKER               A6 // Not available on UNO board
-#endif // USE_ADAFRUIT_MOTOR_SHIELD
+
+#else
+/*
+ * UNO Layout
+ */
+#  ifdef CAR_HAS_CAMERA
+#define PIN_CAMERA_SUPPLY_CONTROL  4
+#  endif
+#define PIN_SPEAKER               11
+#endif
 
 /**************************
  * End of pin definitions
@@ -151,6 +163,9 @@ extern CarMotorControl RobotCarMotorControl;
 #define TIMOUT_AFTER_LAST_BD_COMMAND_MILLIS 240000L // move Servo after 4 Minutes of inactivity
 #define TIMOUT_BEFORE_DEMO_MODE_STARTS_MILLIS 10000 // Start demo mode 10 seconds after boot up
 
+//#define MOTOR_DEFAULT_SYNCHRONIZE_INTERVAL_MILLIS 500
+#define MOTOR_DEFAULT_SYNCHRONIZE_INTERVAL_MILLIS 100
+
 /*
  * Servo timing correction.
  * Values are for my SG90 servo. Servo is mounted head down, so values must be swapped!
@@ -191,7 +206,6 @@ extern float sVINVoltage;
 void readVINVoltage();
 #endif
 
-
 void resetServos();
 int doUserCollisionDetection();
 

examples/RobotCarBlueDisplay/AutonomousDrive.cpp

@@ -575,7 +575,7 @@ void driveFollowerModeOneStep() {
         RobotCarMotorControl.stopMotors();
 
         clearPrintedForwardDistancesInfos();
-        // show current distance
+        // show current distance (as US distance), which triggers the rescan
         showUSDistance(tCentimeter);
 
         /*
@@ -594,7 +594,7 @@ void driveFollowerModeOneStep() {
         }
         for (uint8_t i = 0; i < 3; ++i) {
             DistanceServoWriteAndDelay(tDegreeForSearch, true);
-            tCentimeter = getDistanceAsCentiMeter();
+            tCentimeter = getDistanceAsCentiMeter(false);
             if (sCurrentPage == PAGE_AUTOMATIC_CONTROL && BlueDisplay1.isConnectionEstablished()) {
                 /*
                  * Determine color
@@ -669,17 +669,14 @@ void driveFollowerModeOneStep() {
 //        Serial.println(F("Stop"));
         RobotCarMotorControl.stopMotors();
     }
-
-    // show distance bars
-    showUSDistance(tCentimeter);
     delayAndLoopGUI(40); // the IR sensor takes 39 ms for one measurement
 }
 
 unsigned int __attribute__((weak)) getDistanceAndPlayTone() {
     /*
      * Get distance; timeout is 1 meter
      */
-    unsigned int tCentimeter = getDistanceAsCentiMeter();
+    unsigned int tCentimeter = getDistanceAsCentiMeter(true);
     /*
      * play tone
      */

examples/RobotCarBlueDisplay/Distance.cpp

@@ -284,38 +284,41 @@ void readAndShowDistancePeriodically(uint16_t aPeriodMillis) {
         long tMillis = millis();
         if (sLastUSMeasurementMillis + aPeriodMillis < tMillis) {
             sLastUSMeasurementMillis = tMillis;
-#ifdef CAR_HAS_IR_DISTANCE_SENSOR
-            showIRDistance(getIRDistanceAsCentimeter());
-#elif CAR_HAS_TOF_DISTANCE_SENSOR
-            showIRDistance(getToFDistanceAsCentimeter());
-#endif
-            // feedback as slider length
-            showUSDistance(getUSDistanceAsCentiMeterWithCentimeterTimeout(300));
+            getDistanceAsCentiMeter(true);
         }
     }
 }
 
 /*
  * Timeout is DISTANCE_TIMEOUT_CM (1 meter)
  */
-unsigned int getDistanceAsCentiMeter() {
+unsigned int getDistanceAsCentiMeter(bool doShow) {
 #ifdef CAR_HAS_TOF_DISTANCE_SENSOR
     if (sScanMode != SCAN_MODE_US) {
         sToFDistanceSensor.VL53L1X_StartRanging();
     }
 #endif
 
     unsigned int tCentimeter = getUSDistanceAsCentiMeterWithCentimeterTimeout(DISTANCE_TIMEOUT_CM);
+    if (doShow) {
+        showUSDistance(tCentimeter);
+    }
 #if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
     unsigned int tIRCentimeter;
     if (sScanMode != SCAN_MODE_US) {
 #  if defined(CAR_HAS_IR_DISTANCE_SENSOR)
         if (sScanMode != SCAN_MODE_US) {
             tIRCentimeter = getIRDistanceAsCentimeter();
+            if (doShow) {
+                showIRDistance(tIRCentimeter);
+            }
         }
 #  elif defined(CAR_HAS_TOF_DISTANCE_SENSOR)
         if (sScanMode != SCAN_MODE_US) {
             tIRCentimeter = readToFDistanceAsCentimeter();
+            if(doShow){
+                showIRDistance(tIRCentimeter);
+            }
         }
 #  endif
         if (sScanMode == SCAN_MODE_IR) {

examples/RobotCarBlueDisplay/Distance.h

@@ -36,6 +36,11 @@ extern Servo DistanceServo;
 #define STEPS_PER_SCAN      (NUMBER_OF_DISTANCES - 1) // -> 162 degrees for 18 DEGREES_PER_STEP, 153 for 17 degrees
 #define START_DEGREES       ((180 - (DEGREES_PER_STEP * STEPS_PER_SCAN)) / 2) // 9 for 18, 13,5 for 17 - we need it symmetrical in the 180 degrees range
 
+// for future use maybe
+//#define SERVO_CURRENT_LOW_THRESHOLD 100
+//#define SERVO_INITIAL_DELAY 5
+//#define SERVO_CURRENT_LOW_MILLIS_FOR_SERVO_STOPPED 12
+
 /*
  * Index definitions for ForwardDistancesInfoStruct
  */
@@ -69,7 +74,7 @@ extern int sLastDegreesTurned;
 
 void initDistance();
 void DistanceServoWriteAndDelay(uint8_t aValue, bool doDelay = false);
-unsigned int getDistanceAsCentiMeter();
+unsigned int getDistanceAsCentiMeter(bool doShow = false);
 bool fillAndShowForwardDistancesInfo(bool aDoFirstValue, bool aForceScan = false);
 void postProcessDistances();
 

examples/RobotCarBlueDisplay/HomePage.cpp

@@ -138,6 +138,8 @@ void drawHomePage(void) {
     TouchButtonDirection.drawButton();
 #ifdef USE_ENCODER_MOTOR_CONTROL
     TouchButtonCalibrate.drawButton();
+#else
+    TouchButtonCompensation.drawButton();
 #endif
 
     SliderUSPosition.setValueAndDrawBar(sLastServoAngleInDegrees);
@@ -168,6 +170,8 @@ void startHomePage(void) {
     TouchButtonDirection.setPosition(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_4);
 #ifdef USE_ENCODER_MOTOR_CONTROL
     TouchButtonCalibrate.setPosition(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_4);
+#else
+    TouchButtonCompensation.setPosition(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_4);
 #endif
     TouchButtonNextPage.setCaption(F("Automatic\nControl"));
 
@@ -181,6 +185,8 @@ void stopHomePage(void) {
     TouchButtonDirection.setPosition(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_5);
 #ifdef USE_ENCODER_MOTOR_CONTROL
     TouchButtonCalibrate.setPosition(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_2);
+#else
+    TouchButtonCompensation.setPosition(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_2);
 #endif
     startStopRobotCar(false);
 }