plots

Author: Michał Pełka

README.md

@@ -3,16 +3,29 @@ Simple DC Motor Servo using Arduino
 
 ## Motivation
 
-Very, very, very large RC Servo
+Building very, very, very large RC Servo
 
 ## Input signal
 Standard PPM signal (like classic RC Servo)
+- D1 Output of servo tester or RC reciever
 
 ## Output
 Driving signal for H-Bridge
+D9 - PWM output
+D6 - direction Left
+D7 - direction Right
 
 ## Feedback
 Rotary Potentiometr
+A1 - signal from rotary potentiometer
 
 ## Regulation
-P-controller with saturation
+ch1_interrupt is called when state of reciever input is changed. Than pulse width is measured. That value is mapped to input value of P controller. That P controller works output mapped to PWM generator and two direction output. Those outputs are controlling motor H-Bridge IC (like VNH 5019)
+
+## Plots
+Arduino sends over port controll setpoint and measurment. Thus it can be plotted.
+
+# Issues
+If you experience contant movement, please check if feedback (rotary encoder is connected in right direction).
+
+

plots/sin.png

@@ -4,10 +4,6 @@
     #define button 4
     #define CH1 3
     #define RANGE 10000
-    const byte ledPin = 13;
-    volatile byte state = LOW;
-    int rotDirection = 0;
-    int pressed = false;
     void setup() {
       pinMode(enA, OUTPUT);
       pinMode(in1, OUTPUT);
@@ -18,7 +14,7 @@
       // Set initial rotation direction
       digitalWrite(in1, LOW);
       digitalWrite(in2, HIGH);
-      attachInterrupt(digitalPinToInterrupt(CH1), blink, CHANGE);
+      attachInterrupt(digitalPinToInterrupt(CH1), ch1_interrupt, CHANGE);
 
       Serial.begin(9600);
     }
@@ -31,7 +27,7 @@
     volatile int oldCh;
     volatile int microsStart=0;
     volatile int readout =0; 
-    void blink() {
+    void ch1_interrupt() {
       volatile int ch = digitalRead(CH1);
       if (ch==1 && oldCh==0)
       {
@@ -44,18 +40,17 @@
 
       }
       oldCh = ch;
-      state = !state;
     }
 
 
 
     void loop() {
 
-      int setPoint = map(readout, 1200, 1700, -RANGE, RANGE);
+      int setPoint = map(readout, 1000, 1700, -RANGE, RANGE);
       //Serial.println(setPoint);
 
-      int potValue = analogRead(A0); // Read potentiometer value    
-      int input = map(potValue, 100, 900, -RANGE , RANGE);     
+      int potValue = analogRead(A1); // Read potentiometer value    
+      int input = map(potValue, 200, 750, -RANGE , RANGE);     
       //Serial.println(input);
 
       int error = input - setPoint;