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Derivation of the original Mechaduino code from jcchurch13.

Firmware

Changes:

  • added an enable pin (pin 2, only 3.3 V compatible)
  • Menu entry for generating a step response
  • Menu entry for generating a dirac delta function
  • deleted all modes other than position
  • changed all float to integer operations
  • added some filtering to the effort and D-Term
  • Changed the frequency of the PID loop to 5 kHz
  • Encoder readings are placed in its own ISR that runs with 10 kHz (oversampling)
  • maximal step frequency = 40 kHz
  • changed the PWM resolution from 8 bit to 9 bit
  • PID auto tuning
  • The lookup table is now in its own file (lookup_table.cpp)
  • The Parameters are now in Configuration.cpp
  • Added Language file for easy translation
  • added an invert direction setting
  • simple error register to save if an error occurred
  • LED shows errors by different blinking patterns
  • downhill simplex algorithm to fine tune the pid settings

LED blink pattern:

If an error occures the led will switch from constant on to different patterns. These patterns are separated from each other by a longer pause. After this pause one pattern will be shown and then after the pause the next pattern will be shown.

Pattern Error
Fast blinking Timing error. This can occur if the mechaduino receives too much steps. Consider lowering your microsteps or limit the maximal speed
Long on maximal error was reached
Long on, one flash the maximal current was reached
Long on, two flashs the lookup table shows some errors

List of commands

To get an list of the possible commands send help over the serial monitor

Command Description Arguments
help prints this menu
calibrate starts the calibration routine
diagnose read Encoder Diagnostics
state shows and sets the motor state -on, -off
stream streams servo parameters -f {int}, -on, -off
parameter Get or set parameter -set {-parameter} {value}, -get
error get or reset the error register -reset
dirac generates a Delta-Distribution -f {int}
response generates a step response -f {int}, -s {int}
error get or reset the error register -reset
autotune PID auto tune -c {byte}, -d
downhill Downhhill simplex algorithm -f {int}, -v {int}, -o
testmove Starts a testmove for the servo -f {int}, -v {int}, -o
interrupt Starts or stops the ISR -TC5 {bool}, -TC4 {bool}

Examples

Command Description
parameter -set -Kp 1.095 Sets the proportional gain of the servo to 1.095
testmove -f 2500 -v 60 Starts a test move with the velocity of 60 mm/s and a sampling rate of 2500 Hz
testmove -v 60 -o Starts a test move with the velocity of 60 mm/s and the default sampling rate of 5000 Hz. Outputs the sampled points to the serial monitor

Windows GUI

image

  • Live view/stream motor parameter (angle, error, effort, ...)
  • generate and analyze different test moves with different sampling rates (step response, dirac delta function, ...)
  • change parameters without the need of serial commands
  • generate a configuration file
  • Log streamed motor parameter as txt or csv file

License

All Mechaduino related materials are released under the Creative Commons Attribution Share-Alike 4.0 License https://creativecommons.org/licenses/by-sa/4.0/

Much of the work is based on Mechaduino project: https://github.com/jcchurch13/Mechaduino-Firmware

Support

If you want to support me for further improvements and things like that, you can send me a small kickback with PayPal

Donate