clean-up

SCH/datasheet/jga25-spec.txt

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+DC12V 25GA370 Grote Koppel Speed Reductormotorgroep met Toerenteller Encoder
+Specificatie:
+Voltage: DC6V 12V 24V
+Onbelast Toerental: 12RPM, 16RPM, 35RPM, 60RPM, 77RPM, 130RPM, 170RPM, 280RPM, 620RPM, 1360RPM
+Fout: ± 5%
+Motor Diameter: 24.5mm
+Motor Lichaam Lengte: 40mm(ref)
+Uitgaande As Diameter: 4mm(D-type)
+Uitgaande As Lengte: ongeveer 9.5mm
+Versnellingsbak Diameter: 25mm
+Versnellingsbak Size Detal, zie de tabel
+Bedradingen:
+Rode Draad-positieve voeding van motor(+)(veranderen positieve en negatieve van motor de rotatie zal veranderen)
+Witte Draad-negatieve voeding van motor(-)(veranderen positieve en negatieve van motor de rotatie zal veranderen))
+Gele Draad-signaal feedback (motor een turn heeft 11 signalen)
+Groene Draad-signaal feedback (motor een turn heeft 11 signalen)
+Blauwe Draad-positieve van encoder voeding (+)(3.3-5V), kan niet worden verkeerde
+Zwarte Draad-negatieve van encoder voeding (-)(3.3-5V), kan niet worden verkeerde

blinds/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

blinds/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

blinds/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

blinds/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32-c3]
+platform = espressif32
+board = lolin_c3_mini
+framework = arduino
+monitor_speed = 115200
+lib_deps = 
+	#gyverlibs/AccelMotor@^1.3
+	#simplefoc/SimpleDCMotor@^1.0.1
+lib_ldf_mode = deep+
+build_flags = 
+	-DCORE_DEBUG_LEVEL=3
+	-DNDEF_DEBUG=1

blinds/src/main.cpp

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+#include <Arduino.h>
+
+/*
+ * Author: Automatic Addison
+ * Website: https://automaticaddison.com
+ * Description: Calculate the angular velocity in radians/second of a DC motor
+ * with a built-in encoder (forward = positive; reverse = negative) 
+ */
+ 
+// Motor encoder output pulses per 360 degree revolution (measured manually)
+#define ENC_COUNT_REV (500 * 11) //12rmp motor
+ 
+// Encoder output to Arduino Interrupt pin. Tracks the pulse count.
+#define ENC_IN_RIGHT_A 10
+ 
+// Other encoder output to Arduino to keep track of wheel direction
+// Tracks the direction of rotation.
+#define ENC_IN_RIGHT_B 9
+
+#define MOTOR_IN1      6
+#define MOTOR_IN2      7
+
+#define SPEED 92
+
+#define POWERMETER     4
+ 
+// True = Forward; False = Reverse
+bool Direction_right = true;
+ 
+// Keep track of the number of right wheel pulses
+volatile long right_wheel_pulse_count = 0;
+volatile long pulscountswap = 0;
+volatile long absPulseCount = 0;
+ 
+// One-second interval for measurements
+int interval = 1000;
+int swapdelay = 500;
+  
+// Counters for milliseconds during interval
+long previousMillis = 0;
+long currentMillis = 0;
+ 
+// Variable for RPM measuerment
+float rpm_right = 0;
+ 
+// Variable for angular velocity measurement
+float ang_velocity_right = 0;
+float ang_velocity_right_deg = 0;
+ 
+const float rpm_to_radians = 0.10471975512;
+const float rad_to_deg = 57.29578;
+bool dir = false;
+bool motorruns = false;
+ 
+void right_wheel_pulse();
+
+
+// ***** function calls ******
+float getVPP()
+{
+  float result;
+  int readValue;                // value read from the sensor
+  int maxValue = 0;             // store max value here
+  int minValue = 4096;          // store min value here ESP32 ADC resolution
+  
+   uint32_t start_time = millis();
+   while((millis()-start_time) < 1000) //sample for 1 Sec
+   {
+       readValue = analogRead(POWERMETER);
+       // see if you have a new maxValue
+       if (readValue > maxValue) 
+       {
+           /*record the maximum sensor value*/
+           maxValue = readValue;
+       }
+       if (readValue < minValue) 
+       {
+           /*record the minimum sensor value*/
+           minValue = readValue;
+       }
+   }
+   
+   // Subtract min from max
+   result = ((maxValue - minValue) * 3.3)/4096.0; //ESP32 ADC resolution 4096
+  log_i("ADC: %0.0f", result);
+   return result;
+ }
+
+void run_stop()
+{
+  digitalWrite(MOTOR_IN1, LOW);
+  digitalWrite(MOTOR_IN2, LOW);
+  analogWrite(MOTOR_IN1, 0);
+  analogWrite(MOTOR_IN2, 0);
+  motorruns = false;
+  log_i("stop");
+
+}
+
+void run_to()
+{
+
+}
+
+void run_left(int speed = SPEED)
+{
+  // run_stop();
+  // delay(swapdelay);
+  digitalWrite(MOTOR_IN1, LOW);
+  analogWrite(MOTOR_IN2, speed);
+  log_i("left");
+  motorruns = true;
+  dir = true;
+}
+
+void run_right(int speed = SPEED)
+{
+  // run_stop();
+  // delay(swapdelay);
+  digitalWrite(MOTOR_IN2, LOW);
+  analogWrite(MOTOR_IN1, speed);
+  log_i("right");
+  motorruns = true;
+  dir = false;
+}
+
+bool run_to_pos()
+{
+  return false;
+}
+
+void swap_dir()
+{
+  if(dir)
+  {
+    run_right();
+  }
+  else{
+    run_left();
+  }
+  log_i("swap");
+}
+
+long previouspulses = 0;
+
+void calibratemotor()
+{
+  delay(300);
+  
+  bool stop = false;
+  run_right();
+  previouspulses = absPulseCount;
+  while(!stop)
+  {
+    delay(100);
+    if(absPulseCount - previouspulses > 40)
+    {
+      log_i("absPulseCount (%i)- previouspulses(%i) = %i", absPulseCount, previouspulses, absPulseCount - previouspulses);
+      previouspulses = absPulseCount;
+      delay(50);
+    }
+    else
+    {
+      stop = true;
+      run_stop();
+      log_i("left done, %i", absPulseCount);
+      absPulseCount = 0;
+    }
+  }
+  stop = false;
+  delay(1000);
+  run_left();
+  previouspulses = absPulseCount;
+  while(!stop)
+  {
+    delay(100);
+    if(absPulseCount - previouspulses < -30)
+    {
+      log_i("absPulseCount (%i)- previouspulses(%i) = %i", absPulseCount, previouspulses, absPulseCount - previouspulses);
+      previouspulses = absPulseCount;
+      delay(50);
+    }
+    else
+    {
+      stop = true;
+      run_stop();
+      log_i("right done, %i", absPulseCount);
+    }
+  }
+}
+
+void setup() {
+ 
+  // Open the serial port at 9600 bps
+  Serial.begin(115200); 
+  delay(5000);
+  log_i("start sketch");
+  // Set pin states of the encoder
+  pinMode(ENC_IN_RIGHT_A , INPUT_PULLUP);
+  pinMode(ENC_IN_RIGHT_B , INPUT);
+  pinMode(MOTOR_IN1, OUTPUT);
+  pinMode(MOTOR_IN2, OUTPUT);
+  pinMode(POWERMETER, ANALOG);
+
+  
+ 
+  // Every time the pin goes high, this is a pulse
+  attachInterrupt(digitalPinToInterrupt(ENC_IN_RIGHT_A), right_wheel_pulse, RISING);
+  
+  log_i("init done");  
+  calibratemotor();
+  //run_left();
+}
+
+
+ 
+long swaptime = 0;
+
+void loop() {
+ 
+  // Record the time
+  currentMillis = millis();
+ 
+  // If one second has passed, print the number of pulses
+  if ((currentMillis - previousMillis > interval) && (motorruns = true)) 
+  {
+ 
+    previousMillis = currentMillis;
+ 
+    // Calculate revolutions per minute
+    rpm_right = (float)(right_wheel_pulse_count * 60 / ENC_COUNT_REV);
+    ang_velocity_right = rpm_right * rpm_to_radians;   
+    ang_velocity_right_deg = ang_velocity_right * rad_to_deg;
+     
+    log_i("Pulses/s: %i", right_wheel_pulse_count);
+    log_i("Speed: %0.0f", rpm_right);
+    log_i("RPM");
+    log_i("Angular Velocity: %0.00f", rpm_right);
+    log_i("rad per second \t %f deg per second", ang_velocity_right_deg);
+    log_i("powermeter %0.0f", getVPP());
+    log_i("absulote pulsecount = %i", absPulseCount);
+
+    right_wheel_pulse_count = 0;
+
+  }
+
+  // if(pulscountswap > ENC_COUNT_REV/4)
+  // {
+  //   swap_dir();
+  //   pulscountswap = 0;
+  // }
+
+  // if(millis() - swaptime > 5000)
+  // {
+  //   swaptime = millis();
+  //   swap_dir();
+
+  // }
+
+  // if(rpm_right < 1 && dir)
+  // {
+  //   run_stop();
+  // }
+}
+ 
+// Increment the number of pulses by 1
+void right_wheel_pulse() {
+   
+  // Read the value for the encoder for the right wheel
+  int val = digitalRead(ENC_IN_RIGHT_B);
+ 
+  if(val == LOW) {
+    Direction_right = false; // Reverse
+  }
+  else {
+    Direction_right = true; // Forward
+  }
+   
+  if (Direction_right) {
+    right_wheel_pulse_count++;
+    pulscountswap ++;
+    absPulseCount ++;
+  }
+  else {
+    right_wheel_pulse_count--;
+    pulscountswap ++;
+    absPulseCount --;
+  }
+}
+

blinds/test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html