diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000000000000000000000000000000000000..e608f4ed0b0b1979cc186b71a585d0cfbab2a18c
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,190 @@
+# Source: https://github.com/arduino/tooling-project-assets/tree/main/other/clang-format-configuration
+---
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignArrayOfStructures: None
+AlignConsecutiveAssignments: None
+AlignConsecutiveBitFields: None
+AlignConsecutiveDeclarations: None
+AlignConsecutiveMacros: None
+AlignEscapedNewlines: DontAlign
+AlignOperands: Align
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Always
+AllowShortCaseLabelsOnASingleLine: true
+AllowShortEnumsOnASingleLine: true
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: AllIfsAndElse
+AllowShortLambdasOnASingleLine: Empty
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: No
+AttributeMacros:
+ - __capability
+BasedOnStyle: LLVM
+BinPackArguments: true
+BinPackParameters: true
+BitFieldColonSpacing: Both
+BraceWrapping:
+ AfterCaseLabel: false
+ AfterClass: false
+ AfterControlStatement: Never
+ AfterEnum: false
+ AfterFunction: false
+ AfterNamespace: false
+ AfterObjCDeclaration: false
+ AfterStruct: false
+ AfterUnion: false
+ AfterExternBlock: false
+ BeforeCatch: false
+ BeforeElse: false
+ BeforeLambdaBody: false
+ BeforeWhile: false
+ IndentBraces: false
+ SplitEmptyFunction: true
+ SplitEmptyRecord: true
+ SplitEmptyNamespace: true
+BreakAfterJavaFieldAnnotations: false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Attach
+BreakBeforeConceptDeclarations: false
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeColon
+BreakConstructorInitializersBeforeComma: false
+BreakInheritanceList: BeforeColon
+BreakStringLiterals: false
+ColumnLimit: 0
+CommentPragmas: ''
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 2
+Cpp11BracedListStyle: false
+DeriveLineEnding: true
+DerivePointerAlignment: true
+DisableFormat: false
+EmptyLineAfterAccessModifier: Leave
+EmptyLineBeforeAccessModifier: Leave
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: false
+ForEachMacros:
+ - foreach
+ - Q_FOREACH
+ - BOOST_FOREACH
+IfMacros:
+ - KJ_IF_MAYBE
+IncludeBlocks: Preserve
+IncludeCategories:
+ - Regex: '^"(llvm|llvm-c|clang|clang-c)/'
+ Priority: 2
+ SortPriority: 0
+ CaseSensitive: false
+ - Regex: '^(<|"(gtest|gmock|isl|json)/)'
+ Priority: 3
+ SortPriority: 0
+ CaseSensitive: false
+ - Regex: '.*'
+ Priority: 1
+ SortPriority: 0
+ CaseSensitive: false
+IncludeIsMainRegex: ''
+IncludeIsMainSourceRegex: ''
+IndentAccessModifiers: false
+IndentCaseBlocks: true
+IndentCaseLabels: true
+IndentExternBlock: Indent
+IndentGotoLabels: false
+IndentPPDirectives: None
+IndentRequires: true
+IndentWidth: 2
+IndentWrappedFunctionNames: false
+InsertTrailingCommas: None
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+LambdaBodyIndentation: Signature
+Language: Cpp
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 100000
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PPIndentWidth: -1
+PackConstructorInitializers: BinPack
+PenaltyBreakAssignment: 1
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 1
+PenaltyBreakFirstLessLess: 1
+PenaltyBreakOpenParenthesis: 1
+PenaltyBreakString: 1
+PenaltyBreakTemplateDeclaration: 1
+PenaltyExcessCharacter: 1
+PenaltyIndentedWhitespace: 1
+PenaltyReturnTypeOnItsOwnLine: 1
+PointerAlignment: Right
+QualifierAlignment: Leave
+ReferenceAlignment: Pointer
+ReflowComments: false
+RemoveBracesLLVM: false
+SeparateDefinitionBlocks: Leave
+ShortNamespaceLines: 0
+SortIncludes: Never
+SortJavaStaticImport: Before
+SortUsingDeclarations: false
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: false
+SpaceAroundPointerQualifiers: Default
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeParensOptions:
+ AfterControlStatements: true
+ AfterForeachMacros: true
+ AfterFunctionDefinitionName: false
+ AfterFunctionDeclarationName: false
+ AfterIfMacros: true
+ AfterOverloadedOperator: false
+ BeforeNonEmptyParentheses: false
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceBeforeSquareBrackets: false
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: Leave
+SpacesInCStyleCastParentheses: false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: false
+SpacesInLineCommentPrefix:
+ Minimum: 0
+ Maximum: -1
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Auto
+StatementAttributeLikeMacros:
+ - Q_EMIT
+StatementMacros:
+ - Q_UNUSED
+ - QT_REQUIRE_VERSION
+TabWidth: 2
+UseCRLF: false
+UseTab: Never
+WhitespaceSensitiveMacros:
+ - STRINGIZE
+ - PP_STRINGIZE
+ - BOOST_PP_STRINGIZE
+ - NS_SWIFT_NAME
+ - CF_SWIFT_NAME
diff --git a/controller/calibration.ino b/controller/calibration.ino
index afde8ded3b053818bd379530c40f5175a080b889..4b6167a1e6d0f092a4c87ebb000487ff4c402fc0 100644
--- a/controller/calibration.ino
+++ b/controller/calibration.ino
@@ -1,18 +1,18 @@
/*******************************************************************************
-Calibration
-
-'Calibrate' the wing absolute rotary encoders.
-First we unwrap the measured position by shifting the bits in order to avoid
-wrapping if this is needed.
-Then we determine the maximum position so we can make it match the maximum angle
-attainable.
-
---------------------------------------------------------------------------------
-(c) Copyright 2022 University of Liege
-Author: Thomas Lambert <t.lambert@uliege.be>
-ULiege - Aeroelasticity and Experimental Aerodynamics
-MIT License
-Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
+ Calibration
+
+ 'Calibrate' the wing absolute rotary encoders.
+ First we unwrap the measured position by shifting the bits in order to avoid
+ wrapping if this is needed.
+ Then we determine the maximum position so we can make it match the maximum angle
+ attainable.
+
+ --------------------------------------------------------------------------------
+ (c) Copyright 2022 University of Liege
+ Author: Thomas Lambert <t.lambert@uliege.be>
+ ULiege - Aeroelasticity and Experimental Aerodynamics
+ MIT License
+ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
*******************************************************************************/
void Calibrate() {
@@ -48,26 +48,19 @@ void Calibrate() {
Serial.println("[INFO]: Calibration done.");
Serial.println("Maxium wing posiions are: ");
- for (int i = 0; i < sizeof(gCSN_PINS); i++) {
- Serial.print(gMaxWingPos[i]);
- if (i < sizeof(gCSN_PINS)-1){
- Serial.print(", ");
- }
- Serial.println("Offsets are: ");
- for (int i = 0; i < sizeof(gCSN_PINS); i++) {
- Serial.print(gAngleOffset[i]);
- if (i < sizeof(gCSN_PINS)-1){
- Serial.print(", ");
- }
- }
+ PrintArray(gMaxWingPos);
+ Serial.println("Offsets are: ");
+ PrintArray(gAngleOffset);
} else {
Serial.println("[INFO]: Calibration aborted. Using default values.");
}
}
// Flush Serial before continuing
- while(Serial.available()){Serial.read();}
+ while (Serial.available()) {
+ Serial.read();
+ }
}
// Determine if wing position needs to be offset to prevent wrap-around
@@ -79,7 +72,7 @@ void GetAngleOffset() {
unsigned int minPos[4];
unsigned int newPos;
- for (uint32_t tStart = millis(); (millis()-tStart) < calibTime; ) {
+ for (uint32_t tStart = millis(); (millis() - tStart) < calibTime;) {
// Find max and min wing position
for (int i = 0; i < sizeof(gCSN_PINS); i++) {
@@ -87,12 +80,10 @@ void GetAngleOffset() {
if (i == 0) {
maxPos[i] = newPos;
minPos[i] = newPos;
- }
- else {
+ } else {
if (newPos > maxPos[i]) {
maxPos[i] = newPos;
- }
- else if (newPos < minPos[i]) {
+ } else if (newPos < minPos[i]) {
minPos[i] = newPos;
}
}
@@ -101,7 +92,7 @@ void GetAngleOffset() {
// Determine if offset is needed
for (int i = 0; i < sizeof(gCSN_PINS); i++) {
- else if (maxPos[i] - minPos[i] > ENC_PRECISION/2) {
+ if (maxPos[i] - minPos[i] > ENC_PRECISION / 2) {
gAngleOffset[i] = 1;
}
}
@@ -116,7 +107,7 @@ unsigned int GetMaxWingPos() {
unsigned int minPos[4];
unsigned int newPos;
- for (uint32_t tStart = millis(); (millis()-tStart) < calibTime; ) {
+ for (uint32_t tStart = millis(); (millis() - tStart) < calibTime;) {
// Find max and min wing position
for (int i = 0; i < sizeof(gCSN_PINS); i++) {
@@ -126,5 +117,4 @@ unsigned int GetMaxWingPos() {
}
}
}
-
}
diff --git a/controller/controller.ino b/controller/controller.ino
index 4317a67beea9792477d5da62a6991bf645928c89..7354fbcbf4bcf7778033969c88d27510d6c53b85 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -1,17 +1,17 @@
/*******************************************************************************
-Controller
-
-Controller for the MechaRaptor tandem flapping wing system.
-
-Currently, both ESC are fed the same signal, which means that the two sets of
-wings flap at the same frequency. The phase between the two sets will be
-adjusted manually by setting their initial positions as desired.
---------------------------------------------------------------------------------
-(c) Copyright 2022 University of Liege
-Author: Thomas Lambert <t.lambert@uliege.be>
-ULiege - Aeroelasticity and Experimental Aerodynamics
-MIT License
-Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
+ Controller
+
+ Controller for the MechaRaptor tandem flapping wing system.
+
+ Currently, both ESC are fed the same signal, which means that the two sets of
+ wings flap at the same frequency. The phase between the two sets will be
+ adjusted manually by setting their initial positions as desired.
+ ------------------------------------------------------------------------------
+ (c) Copyright 2022 University of Liege
+ Author: Thomas Lambert <t.lambert@uliege.be>
+ ULiege - Aeroelasticity and Experimental Aerodynamics
+ MIT License
+ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
*******************************************************************************/
@@ -23,8 +23,7 @@ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
/*******************************************************************************
Macros (for pins and fixed components only!)
*******************************************************************************/
-
-#define BAUD_RATE 115200 // baud rate for serial
+#define BAUD_RATE 115200 // baud rate for serial
// Pins
#define ESC1_PIN 10 // ESC Front motor
@@ -44,34 +43,35 @@ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
// Values
#define DIV_RES1 47800.0 // Resistance of R1 in the voltage dividers
-#define DIV_RES2 6800.0 // Resistance of R2 in the voltage dividers
+#define DIV_RES2 6800.0 // Resistance of R2 in the voltage dividers
#define SEN0098_VCC 5 // Supply voltage of the current sensors
#define SEN0098_SENSI 40.0 // Chip ACS758LCB-050B-PFF-T
#define SEN0098_VIOUT 0.12 // [FIXME] VERIFY!
#define SEN0098_OFFSET 0.007 // [FIXME] VERIFY!
-
#define GEAR_RATIO 0.1 // Gear ratio between motor and wings
// Calibration of encoders (NEEDS TO BE REDONE WHEN ENCODERS ARE MOVED)
-#define ENC_PRECISION 4096 // 12-Bits encoders (nb of points per rot)
-#define ENC_ORIENT {1, -1, 1, -1} // Encoder orientation
-#define MAX_WING_POS {222.1, 117.77, 117, 117} // Maximum wing angle (returned by encoder value)
-#define TRUE_MAX_ANGLE 38.07 // Maximum wing angle (measured on setup)
+#define ENC_PRECISION 4096 // 12-Bits encoders (nb of points per rot)
+#define ENC_ORIENT \
+ { 1, -1, 1, -1 } // Encoder orientation
+#define MAX_WING_POS \
+ { 222.1, 117.77, 117, 117 } // Maximum wing angle (returned by encoder value)
+#define TRUE_MAX_ANGLE 38.07 // Maximum wing angle (measured on setup)
+
/*******************************************************************************
Globals (for things that I can change manually)
-*******************************************************************************/
-
-const boolean gSKIP_CALIB = true; // Skip calibration or not
+ *******************************************************************************/
+const boolean gSKIP_CALIB = true; // Skip calibration or not
// Constant values that can be tweaked here or in the ESC before run
const uint16_t gMAX_SIG = 2000; // Max signal to the ESC [ms]
const uint16_t gMIN_SIG = 1000; // Min signal to the ESC [ms]
-const uint16_t gMAX_RPM = 3000; // Motor maximum RPM (set in ESC)
-const uint16_t gMIN_RPM = 750; // Motor minimum RPM (set in ESC)
+const uint16_t gMAX_RPM = 3000; // Motor maximum RPM (set in ESC)
+const uint16_t gMIN_RPM = 750; // Motor minimum RPM (set in ESC)
const uint8_t gMAX_ESC_VAL = 160; // Value at which motor is at max RPM
const uint8_t gMIN_ESC_VAL = 40; // Min value for ESC to start motor (trial-error)
@@ -84,167 +84,166 @@ const float gCUR_QOV = SEN0098_VIOUT * SEN0098_VCC; // [FIXME] Verify
Servo gEsc1; // ESC for front motor
Servo gEsc2; // ESC for aft motor
-uint8_t gEsc_val = 0; // ESC angle (to use with the Servo library) [0-180]
-String gMode; // Mode of operation
-uint16_t gAngleOffset[] = {0, 0, 0, 0}; // Encoder offset (prevent wrap-around)
-uint16_t gMaxWingPos[] = MAX_WING_POS; // Encoder maximum recorder position
-
+uint8_t gEsc_val = 0; // ESC angle (to use with the Servo library) [0-180]
+String gMode; // Mode of operation
+uint16_t gAngleOffset[] = { 0, 0, 0, 0 }; // Encoder offset (prevent wrap-around)
+uint16_t gMaxWingPos[] = MAX_WING_POS; // Encoder maximum recorder position
/*******************************************************************************
ARDUINO SETUP
-*******************************************************************************/
+ *******************************************************************************/
void setup() {
- Serial.begin(BAUD_RATE);
-
- // Init ESCs
- Serial.print("[INFO]: Attaching ESCs ... ");
- delay(5000); // Prevents motor from starting automatically with serial
- gEsc1.attach(ESC1_PIN, gMIN_SIG, gMAX_SIG);
- gEsc2.attach(ESC2_PIN, gMIN_SIG, gMAX_SIG);
- Serial.println("done!");
-
- // Init switch
- pinMode(SWITCH_PIN, INPUT);
-
- // Init angle sensors
- for (int i = 0; i < sizeof(gCSN_PINS); i++) {
- pinMode(gCSN_PINS[i], OUTPUT);
- digitalWrite(gCSN_PINS[i], HIGH);
- }
- pinMode(CLK_PIN, OUTPUT);
- pinMode(DO_PIN, INPUT);
- digitalWrite(CLK_PIN, HIGH);
-
- // Initialize modes
- int switch_state = digitalRead(SWITCH_PIN);
- if (switch_state == LOW) {
- gMode = "MANUAL";
- Serial.println("[WARNING]: Control motors using potentiometer");
-
- } else {
- gEsc1.write(0); // Must be initialized at 0 otherwise will not start
- gEsc2.write(0);
+ Serial.begin(BAUD_RATE);
+
+ // Init ESCs
+ Serial.print("[INFO]: Attaching ESCs ... ");
+ delay(5000); // Prevents motor from starting automatically with serial
+ gEsc1.attach(ESC1_PIN, gMIN_SIG, gMAX_SIG);
+ gEsc2.attach(ESC2_PIN, gMIN_SIG, gMAX_SIG);
+ Serial.println("done!");
+
+ // Init switch
+ pinMode(SWITCH_PIN, INPUT);
+
+ // Init angle sensors
+ for (int i = 0; i < sizeof(gCSN_PINS); i++) {
+ pinMode(gCSN_PINS[i], OUTPUT);
+ digitalWrite(gCSN_PINS[i], HIGH);
+ }
+ pinMode(CLK_PIN, OUTPUT);
+ pinMode(DO_PIN, INPUT);
+ digitalWrite(CLK_PIN, HIGH);
+
+ // Initialize modes
+ int switch_state = digitalRead(SWITCH_PIN);
+ if (switch_state == LOW) {
+ gMode = "MANUAL";
+ Serial.println("[WARNING]: Control motors using potentiometer");
+
+ } else {
+ gEsc1.write(0); // Must be initialized at 0 otherwise will not start
+ gEsc2.write(0);
- gMode = "SERIAL";
- Serial.println("[WARNING]: Control motors using serial");
+ gMode = "SERIAL";
+ Serial.println("[WARNING]: Control motors using serial");
- gEsc_val = SetupSerial();
- }
+ gEsc_val = SetupSerial();
+ }
- // Calibrate angle sensors
- if (!gSKIP_CALIB) {
- SetupCalibration();
- }
+ // Calibrate angle sensors
+ if (!gSKIP_CALIB) {
+ Calibrate();
+ }
- Serial.println("[INFO]: Setup OK, starting now...");
- delay(1000); // Ensure all is properly initialized
+ Serial.println("[INFO]: Setup OK, starting now...");
+ delay(1000); // Ensure all is properly initialized
}
/*******************************************************************************
ARDUINO LOOP
- Control the system
- - In serial mode, we impose values based on serial inputs
- - In manual mode, we use the potentiometer
- Acquisition
- - Get values from the 4 rotary encoders
-*******************************************************************************/
+ Control the system
+ - In serial mode, we impose values based on serial inputs
+ - In manual mode, we use the potentiometer
+ Acquisition
+ - Get values from the 4 rotary encoders
+ *******************************************************************************/
void loop() {
- int potent = analogRead(POT_PIN); // Potentiometer value
- unsigned int wing_angles[sizeof(gCSN_PINS)]; // Wing angles (1L, 1R, 2L, 2R)
+ int potent = analogRead(POT_PIN); // Potentiometer value
+ unsigned int wing_angles[sizeof(gCSN_PINS)]; // Wing angles (1L, 1R, 2L, 2R)
- if (gMode == "SERIAL" and Serial.available()) {
+ if (gMode == "SERIAL" and Serial.available()) {
- float input = Serial.parseFloat();
- if (input <= 0) {
- StopMotor(gEsc_val);
- } else {
- gEsc_val = FreqToEsc(input);
- }
-
- } else if (gMode == "MANUAL") {
- gEsc_val = map(potent, 0, 1023, 0, 180);
+ float input = Serial.parseFloat();
+ if (input <= 0) {
+ StopMotor(gEsc_val);
+ } else {
+ gEsc_val = FreqToEsc(input);
}
- // Write value to ESCs
- gEsc1.write(gEsc_val);
- gEsc2.write(gEsc_val);
+ } else if (gMode == "MANUAL") {
+ gEsc_val = map(potent, 0, 1023, 0, 180);
+ }
- // Read value from rotary encoders
- for (int i = 0; i < sizeof(gCSN_PINS); i++) {
- wing_angles[i] = ReadSensor(gCSN_PINS[i], gENC_ORIENT[i], gAngleOffset[i]);
- }
+ // Write value to ESCs
+ gEsc1.write(gEsc_val);
+ gEsc2.write(gEsc_val);
+
+ // Read value from rotary encoders
+ for (int i = 0; i < sizeof(gCSN_PINS); i++) {
+ wing_angles[i] = ReadSensor(gCSN_PINS[i], gENC_ORIENT[i], gAngleOffset[i]);
+ }
- // Read tension and current from PSU
- float psu_cur[2], psu_vol[2];
- GetPsu(TENS1_PIN, CUR1_PIN, psu_vol[0], psu_cur[0]);
- GetPsu(TENS2_PIN, CUR2_PIN, psu_vol[1], psu_cur[1]);
+ // Read tension and current from PSU
+ float psu_cur[2], psu_vol[2];
+ GetPsu(TENS1_PIN, CUR1_PIN, psu_vol[0], psu_cur[0]);
+ GetPsu(TENS2_PIN, CUR2_PIN, psu_vol[1], psu_cur[1]);
- // Output all to serial for treatment with serial-studio
- SerialPrint(gMode, potent, gEsc_val, wing_angles, psu_vol, psu_cur);
+ // Output all to serial for treatment with serial-studio
+ SerialPrint(gMode, potent, gEsc_val, wing_angles, psu_vol, psu_cur);
}
/*******************************************************************************
OTHER FUNCTIONS
-*******************************************************************************/
+ *******************************************************************************/
// Setup serial
// Get the initial value for the ESCs in serial mode
float SetupSerial() {
- float input;
-
- float min_freq = RpmToFreq(gMIN_RPM);
- float max_freq = RpmToFreq(gMAX_RPM);
-
- Serial.print("[INPUT]: Input a flapping frequency between ");
- Serial.print(min_freq);
- Serial.print(" and ");
- Serial.print(max_freq);
- Serial.println(" [Hz]");
-
- while (input > max_freq or input < min_freq) {
- while (Serial.available() == 0) {} // Wait for serial input
-
- input = Serial.parseFloat();
- if (input > max_freq or input < min_freq) {
- Serial.print("[ERROR]: Frequency must be between ");
- Serial.print(min_freq);
- Serial.print(" and ");
- Serial.print(max_freq);
- Serial.print(" [Hz]. Entered: ");
- Serial.println(input);
- }
+ float input;
+
+ float min_freq = RpmToFreq(gMIN_RPM);
+ float max_freq = RpmToFreq(gMAX_RPM);
+
+ Serial.print("[INPUT]: Input a flapping frequency between ");
+ Serial.print(min_freq);
+ Serial.print(" and ");
+ Serial.print(max_freq);
+ Serial.println(" [Hz]");
+
+ while (input > max_freq or input < min_freq) {
+ while (Serial.available() == 0) {} // Wait for serial input
+
+ input = Serial.parseFloat();
+ if (input > max_freq or input < min_freq) {
+ Serial.print("[ERROR]: Frequency must be between ");
+ Serial.print(min_freq);
+ Serial.print(" and ");
+ Serial.print(max_freq);
+ Serial.print(" [Hz]. Entered: ");
+ Serial.println(input);
}
- Serial.print("[INFO]: Frequency correctly set to ");
- Serial.print(input);
- Serial.println(" Hz.");
+ }
+ Serial.print("[INFO]: Frequency correctly set to ");
+ Serial.print(input);
+ Serial.println(" Hz.");
- return FreqToEsc(input);
+ return FreqToEsc(input);
}
// Gracefully stops the motor in serial mode
void StopMotor(int old_esc_val) {
- Serial.println("[INFO] MOTOR STOP INITIATED");
+ Serial.println("[INFO] MOTOR STOP INITIATED");
- if (old_esc_val > gMIN_ESC_VAL) {
- Serial.println("[INFO] Slowing down motor for 3 sec...");
- gEsc1.write(gMIN_ESC_VAL);
- gEsc2.write(gMIN_ESC_VAL);
- delay(3000);
- }
+ if (old_esc_val > gMIN_ESC_VAL) {
+ Serial.println("[INFO] Slowing down motor for 3 sec...");
+ gEsc1.write(gMIN_ESC_VAL);
+ gEsc2.write(gMIN_ESC_VAL);
+ delay(3000);
+ }
- gEsc1.write(0);
- gEsc2.write(0);
- Serial.println("[INFO] Motor stopped completely");
+ gEsc1.write(0);
+ gEsc2.write(0);
+ Serial.println("[INFO] Motor stopped completely");
- // Lock system in infinite loop to prevent any restart
- delay(1000);
- while (1) {}
+ // Lock system in infinite loop to prevent any restart
+ delay(1000);
+ while (1) {}
}
@@ -252,27 +251,27 @@ void StopMotor(int old_esc_val) {
// Output data to use with serial-studio
void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[], float psu_vol[], float psu_cur[]) {
- float freq = esc_val * (RpmToFreq(gMAX_RPM) / 180.0);
-
- Serial.print("/*"); // Beginning of data stream
- Serial.print(mode);
+ float freq = esc_val * (RpmToFreq(gMAX_RPM) / 180.0);
+
+ Serial.print("/*"); // Beginning of data stream
+ Serial.print(mode);
+ Serial.print(",");
+ Serial.print(millis() / 1000.0);
+ Serial.print(",");
+ Serial.print(potent * 5.0 / 1023.0); // Converts pot val into proper tension
+ Serial.print(",");
+ Serial.print(esc_val);
+ Serial.print(",");
+ Serial.print(freq);
+ for (int i = 0; i < sizeof(gCSN_PINS); i++) {
Serial.print(",");
- Serial.print(millis() / 1000.0);
+ Serial.print(PosToDeg(wing_angles[i]) - gMaxWingPos[i] + TRUE_MAX_ANGLE);
+ }
+ for (int i = 0; i < sizeof(psu_vol); i++) {
Serial.print(",");
- Serial.print(potent * 5.0 / 1023.0); // Converts pot val into proper tension
+ Serial.print(psu_vol[i]);
Serial.print(",");
- Serial.print(esc_val);
- Serial.print(",");
- Serial.print(freq);
- for (int i = 0; i < sizeof(gCSN_PINS); i++) {
- Serial.print(",");
- Serial.print(PosToDeg(wing_angles[i])-gMaxWingPos[i] + TRUE_MAX_ANGLE);
- }
- for (int i = 0; i < sizeof(psu_vol); i++) {
- Serial.print(",");
- Serial.print(psu_vol[i]);
- Serial.print(",");
- Serial.print(psu_cur[i]);
- }
- Serial.println("*/"); // End of data stream
+ Serial.print(psu_cur[i]);
+ }
+ Serial.println("*/"); // End of data stream
}
diff --git a/controller/sensors.ino b/controller/sensors.ino
index dfa641eda62a018e281eb8d31110ff7aa3e20fc0..b3d3bb402ec24ec1db421a1c1bf6576066b37b6d 100644
--- a/controller/sensors.ino
+++ b/controller/sensors.ino
@@ -1,55 +1,55 @@
/*******************************************************************************
-Sensors
+ Sensors
-Functions for sensors and acquisition.
+ Functions for sensors and acquisition.
---------------------------------------------------------------------------------
-(c) Copyright 2022 University of Liege
-Author: Thomas Lambert <t.lambert@uliege.be>
-ULiege - Aeroelasticity and Experimental Aerodynamics
-MIT License
-Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
+ --------------------------------------------------------------------------------
+ (c) Copyright 2022 University of Liege
+ Author: Thomas Lambert <t.lambert@uliege.be>
+ ULiege - Aeroelasticity and Experimental Aerodynamics
+ MIT License
+ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
*******************************************************************************/
//Read 12-bit rotary encoder (RobinL modified by linarism on forum.arduino.cc)
unsigned int ReadSensor(uint8_t csn, int8_t orient, int8_t offset) {
- unsigned int ret = 0;
-
- digitalWrite(csn, LOW);
- delayMicroseconds(1); //Waiting for Tclkfe
-
- //Passing 12 times, from 0 to 11
- for (int x = 0; x < 12; x++) {
- digitalWrite(CLK_PIN, LOW);
- delayMicroseconds(1); //Tclk/2
- digitalWrite(CLK_PIN, HIGH);
- delayMicroseconds(1); //Tdo valid, like Tclk/2
- ret = (ret << 1) | digitalRead(DO_PIN); //shift all the entering data to the left and past the pin state to it. 1e bit is MSB
- }
-
- digitalWrite(csn, HIGH); //deselects the encoder from reading
- return (1-orient)/2 * ENC_PRECISION + orient*ret - offset * ENC_PRECISION/2;
+ unsigned int ret = 0;
+
+ digitalWrite(csn, LOW);
+ delayMicroseconds(1); //Waiting for Tclkfe
+
+ //Passing 12 times, from 0 to 11
+ for (int x = 0; x < 12; x++) {
+ digitalWrite(CLK_PIN, LOW);
+ delayMicroseconds(1); //Tclk/2
+ digitalWrite(CLK_PIN, HIGH);
+ delayMicroseconds(1); //Tdo valid, like Tclk/2
+ ret = (ret << 1) | digitalRead(DO_PIN); //shift all the entering data to the left and past the pin state to it. 1e bit is MSB
+ }
+
+ digitalWrite(csn, HIGH); //deselects the encoder from reading
+ return (1 - orient) / 2 * ENC_PRECISION + orient * ret - offset * ENC_PRECISION / 2;
}
// Get the tension and current of a PSU
void GetPsu(byte vol_pin, byte cur_pin, float &vol, float &cur) {
- vol = GetTension(vol_pin);
- cur = GetCurrent(cur_pin);
+ vol = GetTension(vol_pin);
+ cur = GetCurrent(cur_pin);
}
// Measure current consumed by module
// https://www.youtube.com/watch?v=SiHfjzcqnU4
// [FIXME] Check properly
float GetCurrent(byte cur_pin) {
- float volt_raw = (5.0 / 1023.0) * analogRead(cur_pin);
+ float volt_raw = (5.0 / 1023.0) * analogRead(cur_pin);
- float volt = volt_raw * -gCUR_QOV + SEN0098_OFFSET; // Trimming value to make current equal to 0 when no current
- return volt / gCUR_FACT; // Actual current
+ float volt = volt_raw * -gCUR_QOV + SEN0098_OFFSET; // Trimming value to make current equal to 0 when no current
+ return volt / gCUR_FACT; // Actual current
}
// Measure the tension provided by the PSU
float GetTension(byte vol_pin) {
- float vol_raw = analogRead(vol_pin) * (5.0 / 1023.0);
+ float vol_raw = analogRead(vol_pin) * (5.0 / 1023.0);
- return vol_raw * (DIV_RES1 + DIV_RES2) / (DIV_RES2);
+ return vol_raw * (DIV_RES1 + DIV_RES2) / (DIV_RES2);
}
diff --git a/controller/utils.ino b/controller/utils.ino
index 562ec985666fc7fd4050dcc4e9adb08509be6dd4..344f6c67cb0498cac6ddd5b5c3dd750cd8b836ee 100644
--- a/controller/utils.ino
+++ b/controller/utils.ino
@@ -1,34 +1,34 @@
/*******************************************************************************
-Utils
+ Utils
-Miscellaneous utilities.
+ Miscellaneous utilities.
---------------------------------------------------------------------------------
-(c) Copyright 2022 University of Liege
-Author: Thomas Lambert <t.lambert@uliege.be>
-ULiege - Aeroelasticity and Experimental Aerodynamics
-MIT License
-Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
+ --------------------------------------------------------------------------------
+ (c) Copyright 2022 University of Liege
+ Author: Thomas Lambert <t.lambert@uliege.be>
+ ULiege - Aeroelasticity and Experimental Aerodynamics
+ MIT License
+ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
*******************************************************************************/
// Converts frequence to ESC angle to use with Servo library
int FreqToEsc(float freq) {
- // Need to scale times 100 so we can have better precision
- int esc_val = freq * (180.0 / RpmToFreq(gMAX_RPM));
+ // Need to scale times 100 so we can have better precision
+ int esc_val = freq * (180.0 / RpmToFreq(gMAX_RPM));
- if (esc_val < gMIN_ESC_VAL) {
- esc_val = gMIN_ESC_VAL;
- } else if (esc_val > gMAX_ESC_VAL) {
- esc_val = gMAX_ESC_VAL;
- }
+ if (esc_val < gMIN_ESC_VAL) {
+ esc_val = gMIN_ESC_VAL;
+ } else if (esc_val > gMAX_ESC_VAL) {
+ esc_val = gMAX_ESC_VAL;
+ }
- return esc_val;
+ return esc_val;
}
// Converts RPM to Flapping frequency
float RpmToFreq(int rpm) {
- return rpm * GEAR_RATIO / 60.0;
+ return rpm * GEAR_RATIO / 60.0;
}
@@ -37,3 +37,11 @@ float PosToDeg(unsigned int pos) {
return pos * 360.0 / ENC_PRECISION;
}
+void PrintArray(int array[]) {
+ for (int i = 0; i < sizeof(array); i++) {
+ Serial.print(array[i]);
+ if (i < sizeof(array) - 1) {
+ Serial.print(", ");
+ }
+ }
+}