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Arduino code for simple 3 motor prototype

Hello

Looking for someone to write up some arduino code for a fairly simple prototype. Hoping for completion ASAP and a few small iterations/changes over the next few weeks after I see how it runs.

Full details of program below. I've tried to keep it as simple and straightforward as possible, and questions are very welcome.

----

Components:

Arduino Uno

DC - DC motor driven by l298n H-bridge

- enable (high = enable, low = disable, pwm = speed)

- input A (high = CW)

- input B (high = CCW)

- 2 external limit switches (Limit1, Limit2 - both normally high)

S1 - clearpath servo motor

- enable (high = enable, low = disable)

- input A (high = CW, low = CCW)

- input B (pwm for RPM, 100-200KHz)

SZ - clearpath servo motor

- enable (high = enable, low = disable)

- input A (high/low)

- input B (high = home)

- 1 external limit switch (Limit3, normally low)

Safety Switch

- (low = disable, high = enable)

All variables (italics) should be easily discernible and editable at top of code.

Boot up (positions unknown)

1. Check safety switch = high. (If safety switch = low, wait.)

2. Home DC - DC input A high, DC pwm w duty cycle (duty time, duty on, duty off, %pwm)

3. When Limit1 = low, DC disable, DC input A low.

4. Home SZ - SZ enable high, SZ input A high. Wait for self homing (wait time). Keep enable and input A high.

5. Startup complete, wait for “Go” button

On “Go” button press

1. DC input B high, enable pwm (pwm%), wait (waittime)

2. DC input B high, enable pwm (lowpwm%) with pulsing duty cycle between pwm0% and lowpwm%(duty time, duty on, duty off)

3. When Limit2 = low: DC disable, DC input A low.

4. S1 enable and input A high, input B pwm (RPM pwm%)

5. Wait (wait time)

6. SZ input A low

7. DC input A high, DC enable pwm w duty cycle (duty time, duty on, duty off, %pwm)

8. S1 input A cycle between high and low (cycle time)

9. Once DC is @ Limit1 - S1 disable, input B pulse stop

10. SZ input A low

11. Wait for “go” button again.

Additional Details:

- If motor enable switch is low at any time, all 3 enable inputs pulled low instantly. Wait for motor enable switch high for boot up sequence.

- 
SZ begins internal homing sequence on first “enable = high” after power up.

- Limit 3 is normally closed, but the software in the servo motor responds to a low signal for homing. We need to switch that around in software so the servo motor receives the opposite signals.

- l298N apparently has fast braking but I haven't looked that deeply at the docs. It would be great if the DC motor is hard braking when it hits a limit switch instead of relying on the pulsed duty cycle.

- All low/high for switches/enables/direction should be easily switchable at the start of the code in case it's the wrong way around.

Taidot: Arduino, elektroniikka, Mikrocontroller, sähkötekniikka

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Tietoa työnantajasta:
( 3 arvostelua ) South Melbourne, Australia

Projektin tunnus: #23764332

Myönnetty käyttäjälle:

mos3d

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onpost

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hemedmechanical

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