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Code for the pendulum bot you can find here: https://youtu.be/UL99bJTtESk
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#define ENCODER_OPTIMIZE_INTERRUPTS | |
#include <AccelStepper.h> | |
#include <PID_v1.h> | |
#include <Encoder.h> | |
const bool inverted = false; | |
const int stepMode = 3; | |
const int stepModes[6][5] = { | |
{5, 1, 0, 0, 0}, | |
{10, 2, 1, 0, 0}, | |
{20, 4, 0, 1, 0}, | |
{40, 8, 1, 1, 0}, | |
{80, 16, 0, 0, 1}, | |
{160, 32, 1, 1, 1} | |
}; | |
double stepsPerMM; | |
int outputDir; | |
AccelStepper stepper(AccelStepper::DRIVER, 4, 5); | |
double setPoint, input, output, scaleFactor; | |
double kp, ki, kd; | |
PID pid(&input, &output, &setPoint, kp, ki, kd, DIRECT); | |
Encoder encoder(2, 3); | |
long counter = 0; | |
void setup() { | |
if (inverted) { | |
outputDir = 1; | |
kp = 100.00; | |
ki = 10500.00; | |
kd = 0.00; | |
scaleFactor = -1/37.5; | |
} else { | |
outputDir = -1; | |
kp = 250.00; | |
ki = 0.00; | |
kd = 5.00; | |
scaleFactor = -1/100; | |
} | |
pid = PID(&input, &output, &setPoint, kp, ki, kd, DIRECT); | |
stepsPerMM = stepModes[stepMode][0]; | |
stepper.setMaxSpeed(5000000); | |
stepper.setMinPulseWidth(5); | |
pinMode(6, OUTPUT); | |
pinMode(7, OUTPUT); | |
pinMode(8, OUTPUT); | |
digitalWrite(6, stepModes[stepMode][2]); | |
digitalWrite(7, stepModes[stepMode][3]); | |
digitalWrite(8, stepModes[stepMode][4]); | |
setPoint = 0; | |
pid.SetMode(AUTOMATIC); | |
pid.SetOutputLimits(-5000000, 5000000); | |
if (inverted) { | |
encoder.write(-1006); | |
} else { | |
encoder.write(0); | |
} | |
while(encoder.read() < 0) { | |
// NOOP | |
} | |
} | |
void loop() { | |
while(abs(input) < 150) { | |
int count = encoder.read(); | |
double ang = count * (360.00 / 2000.00); | |
input = scaleFactor*stepper.currentPosition()/stepsPerMM + 200*sin(ang*(PI/180)); | |
pid.Compute(); | |
stepper.setSpeed(outputDir*output); | |
stepper.runSpeed(); | |
} | |
} |
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