diff --git a/CHANGELOG.md b/CHANGELOG.md
index 19584eb9eb00f99d9b10e35aebe1db83fb775dfc..207bd21a4378fe37eca56d1ed324df1c878a400f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@ to [Semantic Versioning][sem_ver].
- **Doc**: Changelog
- **Controller**: Complete control over Serial
- **Acquisition**: Angle sensor acquisition
+- **Acquisition**: PSU current and tension monitoring
### Changed
diff --git a/README.md b/README.md
index 6ee3569ff667da4bd351adb51d02f7af87220222..84c21aeaa58ec436a37749bdb85129f1a8eddefe 100644
--- a/README.md
+++ b/README.md
@@ -51,14 +51,22 @@ the motor.
## Data logging and visualization
-The controller returns the important data through the serial connection.
+Besides controlling the system, the Arduino also logs the input data and some
+measurements. The most important data are:
+
+- ESC input setting
+- Wing angles (for each wing)
+- PSU current and tension
+
+These logged data are transmitted through the serial connection in order to be
+saved on a separate laptop and analyzed later.
A [_json_ configuration file](controller/mechaRaptor.json) is provided in order
to visualize the output stream in real time with [serial-studio]. This also
allows the logging and retention of all data in _csv_ spreadsheets for future
analysis.
-## Material
+## Bill of Materials
The system consists in two completely independent sets of wings, powered
separately.
@@ -79,6 +87,8 @@ wing, which is measured using absolute magnetic rotary encoders.
| **Encoders** | [Broadcom AEAT 6012][AEAT612] | Flapping angle measurement |
| **Potentiometer** | N/A | Manual control of RPM|
| **ON/OFF switch** | N/A | Switch between `Serial` and `Manual` control |
+| **Resistors** | N/A | Voltage divider, noise reduction |
+| **Current sensor** | [Allegro SEN0098][SEN0098] | PSU current logging |
## Schematics
@@ -91,3 +101,4 @@ To Do (January 2023)
[arduino]: <https://store.arduino.cc/products/arduino-uno-rev3>
[elektro]: <https://elektroautomatik.de>
[AEAT612]: <https://docs.broadcom.com/doc/AV02-0188EN>
+[SEN0098]: https://www.allegromicro.com/~/media/Files/Datasheets/ACS758-Datasheet.ashx
diff --git a/controller/controller.ino b/controller/controller.ino
index cf4d79e6bb206f05d107136fdbd3aa8d2e3cddbb..06d7a83c69edd7aeebdc44019978d51cc8bf5094 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -21,30 +21,54 @@ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
#include <Servo.h> // Control ESC by sending appropriate PWM signal
/*******************************************************************************
- Macros (use for pins only)
+ Macros (for pins and fixed components only!)
*******************************************************************************/
+
+// Pins
#define ESC1_PIN 10 // ESC Front motor
#define ESC2_PIN 9 // ESC Aft motor
#define SWITCH_PIN 7 // ON/OFF switch (mode control)
-#define CLK_PIN 2 // Encoder CLK
-#define DO_PIN 8 // Encoder Digital Output
+#define POT_PIN A0 // Potentiometer
+
+#define CLK_PIN 2 // Encoder CLK
+#define DO_PIN 8 // Encoder Digital Output
+#define CSN_PINS { 3, 4, 5, 6 } // Encoder Chip Select pins
+
+#define CUR1_PIN A1 // Current measurement for Front motor
+#define CUR2_PIN A2 // Current measurement for Aft motor
+#define TENS1_PIN A3 // Tension measurement for Front motor
+#define TENS2_PIN A4 // Tension measurement for Aft motor
+
+// Values
+#define DIV_RES1 9000.0 // Resistance of R1 in the voltage dividers
+#define DIV_RES2 1000.0 // Resistance of R2 in the voltage dividers
+
+#define SEN0098_VCC 5 // Supply voltage of the current sensors
+#define SEN0098_SENSI 20.0 // [FIXME] VERIFY!
+#define SEN0098_VIOUT 0.12 // [FIXME] VERIFY!
+#define SEN0098_OFFSET 0.12 // [FIXME] VERIFY!
+
+#define GEAR_RATIO 0.1 // Gear ratio between motor and wings
/*******************************************************************************
- Globals
+ Globals (for things that I can change manually)
*******************************************************************************/
-const uint8_t gCSN_PINS[] = { 3, 4, 5, 6 }; // Encoder Chip Select pins
-
+// Constant values that can be tweaked here or in the ESC before run
const int gMAX_SIG = 2000; // Max signal to the ESC [ms]
const int gMIN_SIG = 1000; // Min signal to the ESC [ms]
-const int gMAX_RPM = 3000; // Motor maximum RPM (set in ESC)
-const int gMIN_RPM = 750; // Motor minimum RPM (set in ESC)
-const float gGEAR_RATIO = 0.1; // Gear ratio between motor and wings
-const int gMAX_ESC_VAL = 160; // Value at which motor is at max RPM
-const int gMIN_ESC_VAL = 40; // Min value for ESC to start motor (trial-error)
+const int gMAX_RPM = 3000; // Motor maximum RPM (set in ESC)
+const int gMIN_RPM = 750; // Motor minimum RPM (set in ESC)
+const int gMAX_ESC_VAL = 160; // Value at which motor is at max RPM
+const int gMIN_ESC_VAL = 40; // Min value for ESC to start motor (trial-error)
+
+const uint8_t gCSN_PINS[] = CSN_PINS; // Encoder Chip Select pins
+const float gCUR_FACT = SEN0098_SENSI / 1000.0; // Factor for current measurement
+const float gCUR_QOV = SEN0098_VIOUT * SEN0098_VCC;
+// Other
Servo gEsc1; // ESC for front motor
Servo gEsc2; // ESC for aft motor
@@ -59,23 +83,24 @@ void setup() {
//Serial.begin(9600); //[DEBUG]: For debugging only
Serial.begin(115200); // Need for good precision
+ // 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);
-
- // [DEBUG] Comment all that as long as PCB not properly soldered
- //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);
+ // 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);
@@ -107,8 +132,8 @@ void setup() {
*******************************************************************************/
void loop() {
- int potent = analogRead(A0); // Potentiometer value
- unsigned int wing_angles[4]; // 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()) {
@@ -132,7 +157,12 @@ void loop() {
wing_angles[i] = ReadSensor(gCSN_PINS[i]);
}
- SerialPrint(gMode, potent, gEsc_val, wing_angles);
+ // Read current and power
+ 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]);
+
+ SerialPrint(gMode, potent, gEsc_val, wing_angles, psu_vol, psu_cur);
}
@@ -193,7 +223,7 @@ int FreqToEsc(float freq) {
// Converts RPM to Flapping frequency
float RpmToFreq(int rpm) {
- return rpm * gGEAR_RATIO / 60.0;
+ return rpm * GEAR_RATIO / 60.0;
}
@@ -241,7 +271,7 @@ unsigned int ReadSensor(uint8_t csn) {
// Output data to use with serial-studio
-void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[]) {
+void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[], float psu_vol[], float psu_cur[]) {
float freq = map(esc_val, 0, 180, 0, RpmToFreq(gMAX_RPM) * 100.0) / 100.0;
Serial.print("/*");
@@ -258,5 +288,33 @@ void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[
Serial.print(",");
Serial.print(wing_angles[i]);
}
+ 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("*/");
}
+
+// Measure current consumed by module
+float GetCurrent(byte cur_pin) {
+ float cur_raw = (5.0 / 1023.0) * analogRead(cur_pin);
+
+ float cur = cur_raw * -gCUR_QOV + 0.007; //Trimming vale to make current equal to 0 when no current
+ return cur / gCUR_FACT; // get actual current
+}
+
+// Measure the tension provided by the PSU
+float GetTension(byte vol_pin) {
+ int vol_raw = analogRead(vol_pin) * (5.0 / 1023.0);
+
+ return vol_raw * (DIV_RES1 + DIV_RES2) / (DIV_RES2);
+}
+
+// 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);
+
+}
diff --git a/controller/mechaRaptor.json b/controller/mechaRaptor.json
index 5ff4418aa4d648c68ce4df5126a1864a4753ac6d..1d4802fbcbda7ad7718c12ac911ab9e1e7686a3c 100644
--- a/controller/mechaRaptor.json
+++ b/controller/mechaRaptor.json
@@ -62,7 +62,7 @@
"max": 180,
"min": 0,
"title": "ESC val",
- "units": "",
+ "units": "°",
"value": "%4",
"widget": "gauge"
},
@@ -84,6 +84,68 @@
"title": "Inputs",
"widget": ""
},
+ {
+ "datasets": [
+ {
+ "alarm": 0,
+ "fft": false,
+ "fftSamples": 1024,
+ "graph": false,
+ "led": false,
+ "log": false,
+ "max": 0,
+ "min": 0,
+ "title": "1 - Tension",
+ "units": "V",
+ "value": "%10",
+ "widget": ""
+ },
+ {
+ "alarm": 0,
+ "fft": false,
+ "fftSamples": 1024,
+ "graph": false,
+ "led": false,
+ "log": false,
+ "max": 0,
+ "min": 0,
+ "title": "1 - Current",
+ "units": "A",
+ "value": "%11",
+ "widget": ""
+ },
+ {
+ "alarm": 0,
+ "fft": false,
+ "fftSamples": 1024,
+ "graph": false,
+ "led": false,
+ "log": false,
+ "max": 0,
+ "min": 0,
+ "title": "2 - Tension",
+ "units": "V",
+ "value": "%12",
+ "widget": ""
+ },
+ {
+ "alarm": 40,
+ "fft": false,
+ "fftSamples": 1024,
+ "graph": false,
+ "led": false,
+ "log": false,
+ "max": 360,
+ "min": 0,
+ "title": "2 - Current",
+ "units": "A",
+ "value": "%13",
+ "widget": ""
+ }
+ ],
+ "title": "Power Supplies",
+ "widget": ""
+ },
{
"datasets": [
{
@@ -96,7 +158,7 @@
"max": 0,
"min": 0,
"title": "Left",
- "units": "deg",
+ "units": "°",
"value": "%6",
"widget": ""
},
@@ -110,7 +172,7 @@
"max": 0,
"min": 0,
"title": "Right",
- "units": "deg",
+ "units": "°",
"value": "%7",
"widget": ""
}
@@ -130,7 +192,7 @@
"max": 0,
"min": 0,
"title": "Left",
- "units": "deg",
+ "units": "°",
"value": "%8",
"widget": ""
},
@@ -144,7 +206,7 @@
"max": 0,
"min": 0,
"title": "Right",
- "units": "deg",
+ "units": "°",
"value": "%9",
"widget": ""
}