servo2to1_mcp_vnh.py
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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()