bdubois / stm32upy

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software/servo/servo2to1/servo2to1_mcp_vnh.py 2.02 KB
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  # -*- coding: utf-8 -*-
  
  """
  author  Benoit Dubois
  licence GPL v3+
  brief   Specific controller composed of 2 inputs 2 servo and 1 output:
  details
              -------
     MCP1 >---|PID 1|---|
              -------   |
                        |-----> VNH509
              -------   |
     MCP2 >---|PID 2|---|
              -------
  """
  import pyb
  
  from serial_com import SerialCom
  from mcp3551 import Mcp3551
  from pid import PIDfixed
  from vnh5019 import Vnh5019
  from servo2to1_core import Servo2to1, Servo2to1Core
  
  # Avoid use of timer 2, 3, 5 and 6
  # see http://docs.micropython.org/en/latest/pyboard/library/pyb.Timer.html
  TIMER_PWM_ID = 2
  TIMER_SERVO_ID = 4
  
  TIMER_PWM_FREQ = 1000
  TIMER_SERVO1_FREQ = 1
  TIMER_SERVO2_FREQ = 10
  
  TIMER_PWM_CH = 1
  
  ADC1_SPI_CH = 1
  ADC2_SPI_CH = 2
  ADC1_V_REF = 2.5
  ADC2_V_REF = 2.5
  ADCx_SPI_BAUDRATE = 1000000
  
  ADC1_PIN_CS = 'PA4'
  ADC2_PIN_CS = 'PB12'
  #ADC1_PIN_RDY_B = 'PA6' # MISO SPI 1
  #ADC2_PIN_RDY_B = 'PB14' # MISO SPI 2
  
  PIN_INA = 'PD6'
  PIN_INB = 'PD2'
  PIN_PWM = 'PA15'
  
  #----------------------------------------------------------
  def build_servo():
      in_1 = Mcp3551(bus=ADC1_SPI_CH, baudrate=ADCx_SPI_BAUDRATE,
                     rdy_b_pin=ADC1_PIN_RDY_B, cs_pin=ADC1_PIN_CS,
                     v_ref=ADC1_V_REF)
      in_2 = Mcp3551(bus=ADC2_SPI_CH, baudrate=ADCx_SPI_BAUDRATE,
                     rdy_b_pin=ADC2_PIN_RDY_B, cs_pin=ADC2_PIN_CS,
                     v_ref=ADC2_V_REF)
      pid_1 = PIDfixed()
      pid_2 = PIDfixed()
      out = Vnh5019(in_a=PIN_INA, in_b=PIN_INB, pwm=PIN_PWM,
                      timer=TIMER_PWM_ID, freq=TIMER_PWM_FREQ,
                      ch=TIMER_PWM_CH)
      timer = pyb.Timer(TIMER_SERVO_ID, freq=TIMER_SERVO1_FREQ)
      servo = Servo2to1(in_1, in_2, pid_1, pid_2, out, timer,
                        TIMER_SERVO1_FREQ)
      servo.ctrl = 0
      return servo
  
  #----------------------------------------------------------
  def main():
      servo = build_servo()
      servo_core = Servo2to1Core(servo)
      servo_core.run()
  
  #----------------------------------------------------------
  if __name__ == '__main__':
      main()