more work to get motor spinning in open loop

source_code/Teensy32/src/main.cpp

@@ -15,11 +15,18 @@ void setup()
     Serial.begin(9600);//Serial.begin(2000000); //FASTER!
     // Hit space bar to start calibration
     // Hit 'z' to run get hard coded offset
-    Serial.println("SPACE TO START CALIBRATION, Z TO GET HARDCODED OFFSET");
-    int choice = get_input();
+    char prompt[] = ("\
+SPACE TO START CALIBRATION, \n\
+Z TO GET HARDCODED OFFSET \n\
+O TO START OPEN LOOP CONTROL\n");
+    int choice = get_input(prompt);
     if(choice == 2){
         do_hard_coded_offset();// run the set zero
     }
+    if(choice == 3)
+    {
+        open_loop_control();
+    }
     // if the choice==1 just continue...
     // while(1){
     //     Serial.println("AROUND THE WORLD");

source_code/Teensy32/src/motor_ctrl.cpp

 #include <Arduino.h>
 #include "motor_ctrl.h"
+#include "utils.h"
 
 #define H1  6  //greenH
 #define H2  21 //yellowH
@@ -111,6 +112,31 @@ void set_phase(int high1, int high2, int high3, int low1, int low2, int low3)
     analogWrite(H3, high3);
 }
 
+//This just spins the motor using speed (potentiometer on pin A1)
+//and torque (potentiometer on pin A0)
+void open_loop_control(void)
+{
+    while(1)
+    {
+        for(int p = 1; p <= 6; p++)
+        {
+            set_block_phase(p);
+            //What's going on with this math, explination:
+            // The get_speed will return an int 0-100
+            // We want the minimum speed to be 1 sec per phase
+            // we want the maximum speed to be 2800 us per phase
+            // the max speed corresponds to 5 rev/sec 
+            // we know we need to go faster but this is just testing
+            volatile int myDelay = 1500 + (get_speed() * 300);
+            // Serial.println("my delay:");  
+            // Serial.println(myDelay);  
+            // Serial.println("my speed:");  
+            // Serial.println(get_speed());  
+            delayMicroseconds(myDelay);
+        }
+    }
+}
+
 void debug_motor(void) {
     while(1)
     {

source_code/Teensy32/src/motor_ctrl.h

@@ -5,6 +5,7 @@ void motor_setup(void);
 void turn_all_off();
 void set_block_phase(int phase);
 void debug_motor(void);
+void open_loop_control(void);
 void set_phase(int high1, int high2, int high3, int low1, int low2, int low3);
 
 

source_code/Teensy32/src/utils.cpp

@@ -21,15 +21,25 @@ void block_until_spacebar(void)
     }
 }
 
+//reads potentiometer on pin A1 and scales it 0-100
+int get_speed(void)
+{
+    volatile float potval = analogRead(A1);
+    potval = potval/1024;
+    potval = 1 - potval;
+    potval = potval * 100;
+    return (int)potval; //read from pot
+}
+
 
 // returns 1 if user sends space bar
 // returns 2 if user sends 'z'
-int get_input(void)
+int get_input(char * prompt)
 {
     short incomingByte = 0;
     while(1)
     {
-        Serial.println("SPACE TO START CALIBRATION, Z TO GET HARDCODED OFFSET");  
+        Serial.println(prompt);  
         delay(200);  // do not go too fast!
         if (Serial.available()) {
             incomingByte = Serial.read();
@@ -42,6 +52,10 @@ int get_input(void)
         {
             return 2;
         }
+        else if(incomingByte == 111)
+        {
+            return 3;
+        }
     }
 }
 

source_code/Teensy32/src/utils.h

@@ -2,8 +2,10 @@
 #define UTILS_H_
 
 void block_until_spacebar(void);
-int get_input(void);
+int get_input(char * prompt);
 void do_hard_coded_offset(void);
+int get_speed(void);
+