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dcservo_IBT-2.ino

/* This one is not using any PinChangeInterrupt library */

/*
   This program uses an Arduino for a closed-loop control of a DC-motor. 
   Motor motion is detected by a quadrature encoder.
   Two inputs named STEP and DIR allow changing the target position.
   Serial port prints current position and target position every second.
   Serial input can be used to feed a new location for the servo (no CR LF).
   
   Pins used:
   Digital inputs 8 & 9 are connected to the two encoder signals (AB).
   Digital input 3 is the STEP input.
   Analog input 0 is the DIR input.
   Digital outputs 5 & 6 control the PWM outputs for the motor (I am using an IBT-2 43amp peak DC motor driver).
   Digital outputs 4 and 7 are enable pins for dual-H-bridge
   Please note PID gains kp, ki, kd need to be tuned to each different setup. 
*/
#include <EEPROM.h>
#include <PID_v1.h>
#define encoder0PinA  2  // PD2; 
#define encoder0PinB  8  // PC0;
#define M1            5
#define M2            6  // motor's PWM outputs
#define ENABLE_1      4
#define ENABLE_2      7

byte pos[1000]; int p=0;

double kp=3,ki=0,kd=0.0;
double input=0, output=0, setpoint=0;
PID myPID(&input, &output, &setpoint,kp,ki,kd, DIRECT);
volatile long encoder0Pos = 0;
boolean auto1=false, auto2=false,counting=false;
long previousMillis = 0;        // will store last time LED was updated

long target1=0;  // destination location at any moment

//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
bool dir = false;
byte skip=0;

// Install Pin change interrupt for a pin, can be called multiple times
void pciSetup(byte pin) 
{
    *digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin));  // enable pin
    PCIFR  |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
    PCICR  |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group 
}

void setup() { 
  pinMode(encoder0PinA, INPUT); 
  pinMode(encoder0PinB, INPUT); 
  pinMode(ENABLE_1, OUTPUT);
  pinMode(ENABLE_2, OUTPUT);
  digitalWrite(ENABLE_1, 1);
  digitalWrite(ENABLE_2, 1); 
  pciSetup(encoder0PinB);
  attachInterrupt(0, encoderInt, CHANGE);  // encoder pin on interrupt 0 - pin 2
  attachInterrupt(1, countStep      , RISING);  // step  input on interrupt 1 - pin 3
  TCCR1B = TCCR1B & 0b11111000 | 1; // set 31Kh PWM
  Serial.begin (115200);
  help();
  recoverPIDfromEEPROM();
  //Setup the pid 
  myPID.SetMode(AUTOMATIC);
  myPID.SetSampleTime(1);
  myPID.SetOutputLimits(-255,255);
} 

void loop(){
    input = encoder0Pos; 
    setpoint=target1;
    while(!myPID.Compute()); // wait till PID is actually computed
    if(Serial.available()) process_line(); // it may induce a glitch to move motion, so use it sparingly 
    pwmOut(output); 
    if(auto1) if(millis() % 3000 == 0) target1=random(2000); // that was for self test with no input from main controller
    if(auto2) if(millis() % 1000 == 0) printPos();
    //if(counting && abs(input-target1)<15) counting=false; 
    if(counting &&  (skip++ % 5)==0 ) {pos[p]=encoder0Pos; if(p<999) p++; else counting=false;}
}

void pwmOut(int out) {
   if(out<0) { analogWrite(M1,0); analogWrite(M2,abs(out)); }
   else {  analogWrite(M2,0); analogWrite(M1,abs(out)); }
  }

const int QEM [16] = {0,-1,1,2,1,0,2,-1,-1,2,0,1,2,1,-1,0};               // Quadrature Encoder Matrix
static unsigned char New, Old;
ISR (PCINT0_vect) { // handle pin change interrupt for D8
  Old = New;
  New = (PINB & 1 )+ ((PIND & 4) >> 1); //
  encoder0Pos+= QEM [Old * 4 + New];
}

void encoderInt() { // handle pin change interrupt for D2
  Old = New;
  New = (PINB & 1 )+ ((PIND & 4) >> 1); //
  encoder0Pos+= QEM [Old * 4 + New];
}


void countStep(){ if (PINC&B0000001) target1--;else target1++; } // pin A0 represents direction

void process_line() {
 char cmd = Serial.read();
 if(cmd>'Z') cmd-=32;
 switch(cmd) {
  case 'P': kp=Serial.parseFloat(); myPID.SetTunings(kp,ki,kd); break;
  case 'D': kd=Serial.parseFloat(); myPID.SetTunings(kp,ki,kd); break;
  case 'I': ki=Serial.parseFloat(); myPID.SetTunings(kp,ki,kd); break;
  case '?': printPos(); break;
  case 'X': target1=Serial.parseInt(); p=0; counting=true; for(int i=0; i<300; i++) pos[i]=0; break;
  case 'T': auto1 = !auto1; break;
  case 'A': auto2 = !auto2; break;
  case 'Q': Serial.print("P="); Serial.print(kp); Serial.print(" I="); Serial.print(ki); Serial.print(" D="); Serial.println(kd); break;
  case 'H': help(); break;
  case 'W': writetoEEPROM(); break;
  case 'K': eedump(); break;
  case 'R': recoverPIDfromEEPROM() ; break;
  case 'S': for(int i=0; i<p; i++) Serial.println(pos[i]); break;
 }
 while(Serial.read()!=10); // dump extra characters till LF is seen (you can use CRLF or just LF)
}

void printPos() {
  Serial.print(F("Position=")); Serial.print(encoder0Pos); Serial.print(F(" PID_output=")); Serial.print(output); Serial.print(F(" Target=")); Serial.println(setpoint);
}
void help() {
 Serial.println(F("\nPID DC motor controller and stepper interface emulator"));
 Serial.println(F("by misan"));
 Serial.println(F("Available serial commands: (lines end with CRLF or LF)"));
 Serial.println(F("P123.34 sets proportional term to 123.34"));
 Serial.println(F("I123.34 sets integral term to 123.34"));
 Serial.println(F("D123.34 sets derivative term to 123.34"));
 Serial.println(F("? prints out current encoder, output and setpoint values"));
 Serial.println(F("X123 sets the target destination for the motor to 123 encoder pulses"));
 Serial.println(F("T will start a sequence of random destinations (between 0 and 2000) every 3 seconds. T again will disable that"));
 Serial.println(F("Q will print out the current values of P, I and D parameters")); 
 Serial.println(F("W will store current values of P, I and D parameters into EEPROM")); 
 Serial.println(F("H will print this help message again")); 
 Serial.println(F("A will toggle on/off showing regulator status every second\n")); 
}

void writetoEEPROM() { // keep PID set values in EEPROM so they are kept when arduino goes off
  eeput(kp,0);
  eeput(ki,4);
  eeput(kd,8);
  double cks=0;
  for(int i=0; i<12; i++) cks+=EEPROM.read(i);
  eeput(cks,12);
  Serial.println("\nPID values stored to EEPROM");
  //Serial.println(cks);
}

void recoverPIDfromEEPROM() {
  double cks=0;
  double cksEE;
  for(int i=0; i<12; i++) cks+=EEPROM.read(i);
  cksEE=eeget(12);
  //Serial.println(cks);
  if(cks==cksEE) {
    Serial.println(F("*** Found PID values on EEPROM"));
    kp=eeget(0);
    ki=eeget(4);
    kd=eeget(8);
    myPID.SetTunings(kp,ki,kd); 
  }
  else Serial.println(F("*** Bad checksum"));
}

void eeput(double value, int dir) { // Snow Leopard keeps me grounded to 1.0.6 Arduino, so I have to do this :-(
  char * addr = (char * ) &value;
  for(int i=dir; i<dir+4; i++)  EEPROM.write(i,addr[i-dir]);
}

double eeget(int dir) { // Snow Leopard keeps me grounded to 1.0.6 Arduino, so I have to do this :-(
  double value;
  char * addr = (char * ) &value;
  for(int i=dir; i<dir+4; i++) addr[i-dir]=EEPROM.read(i);
  return value;
}

void eedump() {
 for(int i=0; i<16; i++) { Serial.print(EEPROM.read(i),HEX); Serial.print(" "); }Serial.println(); 
}

init.coffee

# Your init script
#
# Atom will evaluate this file each time a new window is opened. It is run
# after packages are loaded/activated and after the previous editor state
# has been restored.
#
# An example hack to log to the console when each text editor is saved.
#
# atom.workspace.observeTextEditors (editor) ->
#   editor.onDidSave ->
#     console.log "Saved! #{editor.getPath()}"

keymap.cson

# Your keymap
#
# Atom keymaps work similarly to style sheets. Just as style sheets use
# selectors to apply styles to elements, Atom keymaps use selectors to associate
# keystrokes with events in specific contexts. Unlike style sheets however,
# each selector can only be declared once.
#
# You can create a new keybinding in this file by typing "key" and then hitting
# tab.
#
# Here's an example taken from Atom's built-in keymap:
#
# 'atom-text-editor':
#   'enter': 'editor:newline'
#
# 'atom-workspace':
#   'ctrl-shift-p': 'core:move-up'
#   'ctrl-p': 'core:move-down'
#
# You can find more information about keymaps in these guides:
# * http://flight-manual.atom.io/using-atom/sections/basic-customization/#_customizing_keybindings
# * http://flight-manual.atom.io/behind-atom/sections/keymaps-in-depth/
#
# If you're having trouble with your keybindings not working, try the
# Keybinding Resolver: `Cmd+.` on macOS and `Ctrl+.` on other platforms. See the
# Debugging Guide for more information:
# * http://flight-manual.atom.io/hacking-atom/sections/debugging/#check-the-keybindings
#
# This file uses CoffeeScript Object Notation (CSON).
# If you are unfamiliar with CSON, you can read more about it in the
# Atom Flight Manual:
# http://flight-manual.atom.io/using-atom/sections/basic-customization/#_cson

packages.json

[
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settings.json

{
	"core": {
		"ignoredNames": [
			".git",
			".hg",
			".svn",
			".DS_Store",
			"._*",
			"Thumbs.db",
			"desktop.ini",
			".pioenvs",
			".piolibdeps",
			".clang_complete",
			".gcc-flags.json"
		],
		"telemetryConsent": "limited"
	},
	"exception-reporting": {
		"userId": "0e26c4e2-be88-4917-b67a-1086cff56038"
	},
	"file-icons": {
		"coloured": false
	},
	"linter-ui-default": {
		"panelHeight": 69,
		"useBusySignal": false
	},
	"sync-settings": {
		"quietUpdateCheck": true
	},
	"tool-bar": {
		"position": "Left"
	},
	"tree-view": {
		"hideIgnoredNames": true
	}
}

snippets.cson

# Your snippets
#
# Atom snippets allow you to enter a simple prefix in the editor and hit tab to
# expand the prefix into a larger code block with templated values.
#
# You can create a new snippet in this file by typing "snip" and then hitting
# tab.
#
# An example CoffeeScript snippet to expand log to console.log:
#
# '.source.coffee':
#   'Console log':
#     'prefix': 'log'
#     'body': 'console.log $1'
#
# Each scope (e.g. '.source.coffee' above) can only be declared once.
#
# This file uses CoffeeScript Object Notation (CSON).
# If you are unfamiliar with CSON, you can read more about it in the
# Atom Flight Manual:
# http://flight-manual.atom.io/using-atom/sections/basic-customization/#_cson

styles.less

/*
 * Your Stylesheet
 *
 * This stylesheet is loaded when Atom starts up and is reloaded automatically
 * when it is changed and saved.
 *
 * Add your own CSS or Less to fully customize Atom.
 * If you are unfamiliar with Less, you can read more about it here:
 * http://lesscss.org
 */


/*
 * Examples
 * (To see them, uncomment and save)
 */

// style the background color of the tree view
.tree-view {
  // background-color: whitesmoke;
}

// style the background and foreground colors on the atom-text-editor-element itself
atom-text-editor {
  // color: white;
  // background-color: hsl(180, 24%, 12%);
}

// style UI elements inside atom-text-editor
atom-text-editor .cursor {
  // border-color: red;
}