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PR: Add support for L298N driver #54

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PR: Add support for L298N driver #54

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fc4e187
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RuairiSpain May 1, 2020
dace91d
Fixed Clang YAML
RuairiExitGames May 1, 2020
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Merge branch 'master' into WIP-L298N-motor-driver-1
RuairiSpain May 2, 2020
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2 changes: 1 addition & 1 deletion 3-Software/Arduino/.clang-format
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Original file line number Diff line number Diff line change
Expand Up @@ -181,7 +181,7 @@ PenaltyReturnTypeOnItsOwnLine: 200
# Note: see DerivePointerAlignment too, as it takes precedence
PointerAlignment: Left
RawStringFormats:
- Delimiter: pb
- Delimiters: [pb]
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@ElectricRCAircraftGuy ElectricRCAircraftGuy May 7, 2020

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What does this change do and why was it required?

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@Arie001 Arie001 May 10, 2020 •
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Not my change but let me explain the pwm driver used up until now is a 40$ part the LM298N module is is a 2$ part it is not 10amps but even if you use a https://www.cytron.io/p-10amp-5v-30v-dc-motor-driver it is 10$ . To me dropping bom cost by 30$ or 35$ is a good reason.

As this is community Funded you need to Lower the BOM as far as possible.

Using 20$ pcbs for the TI sensor not 60$ Using PWM PCB that are High Volume not made
for REX Robotics for kids

https://www.cytron.io/p-10amp-5v-30v-dc-motor-driver 10$ (My option)
https://www.4project.co.il/product/l298n-module 5$ ( I do not know if 2amp will do)
2$ from Aliexpress type places.
https://www.revrobotics.com/rev-11-1200/ 40$

Note The Two Top option need PWM on 2 pins and care to create dead time . It Saves 30-35$ on the BOM . The Two Top options are far more of the Shelf Items.

Sorry For the Slow reply. Take a good look at this Project and the BOM costs
https://scitechdaily.com/easy-to-build-75-open-source-arduino-ventilator-with-high-quality-performance/ (it is CPAP I doubt the include the mask in 75$)

Note Today the funds to make 20 units stands on 4260$ Just over 200$ .two weeks into the campaign. To save 600$ on the 20 units for me is worth while and also off the mass produced if they get made.

Note 3v Level shift has been added to the pcb

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56 changes: 50 additions & 6 deletions 3-Software/Arduino/ventilation_machine/ventilation_machine.ino
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Expand Up @@ -124,11 +124,12 @@ Use the Rate potentiometer to move the arm up/down.
# define pin_AD 13 // Amp Down - not used when you have potentiometers
# define pin_AU 13 // Amp Up - not used when you have potentiometers
# define curr_sense false // o no current sensor
# define control_with_pot true // 1 = control with potentiometers 0 = with push buttons
# define control_with_pot true // 1 = control with potentiometers 0 = with push butto
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@nimrod46 nimrod46 May 5, 2020

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Revert

# define FF 10 // motion control feed forward
# define KP 3 // motion control propportional gain
#>>>>>>> master
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@nimrod46 nimrod46 May 5, 2020

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Conflicts leftovers

# define KI 1 // motion control integral gain
# define integral_limit 5 // limits the integral of error
# efine integral_limit 5 // limits the integral of error
# define f_reduction_up_val 0.80 // reduce feedforward by this factor when moving up
#else
// FULL_CONFIGURATION == false: no potentiometers for User Interface, feedback pot on pulley.
Expand Down Expand Up @@ -161,7 +162,13 @@ Use the Rate potentiometer to move the arm up/down.
#define pin_FRQ 3 // analog pin of rate potentiometer control
#define pin_PRE 6 // analog pin of pressure potentiometer control

// Talon SR or SPARK controller PWM settings ("angle" for Servo library)
// L298N specific
#define L298N false
#define pin_SPEED 7 // analog
#define pin_FORWARD 5 // digital
#define pin_BACK 3 // digital

// Talon SR or SPARK controller PWM settings ("angle" for Servo library
#define PWM_mid 93 // was 93 - mid value for PWM 0 motion - higher pushes up
#define PWM_max 85
#define PWM_min -85
Comment on lines +165 to 174
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@nimrod46 nimrod46 May 5, 2020

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Insert the motor's def to #if statement so the unnecessary definitions won't be compiled

Expand Down Expand Up @@ -362,19 +369,32 @@ enum main_states state;
/// @return None
void setup()
{
if (L298N)
{
pinMode(pin_SPEED, OUTPUT);
pinMode(pin_FORWARD, OUTPUT);
pinMode(pin_BACK, OUTPUT);
}

pinMode(pin_PWM, OUTPUT);
pinMode(pin_FD, INPUT_PULLUP);
pinMode(pin_FU, INPUT_PULLUP);
pinMode(pin_AD, INPUT_PULLUP);
pinMode(pin_AU, INPUT_PULLUP);
pinMode(PIN_SW2, INPUT_PULLUP);
pinMode(pin_TST, INPUT_PULLUP);
pinMode(pin_LED_AMP, OUTPUT);
pinMode(pin_LED_FREQ, OUTPUT);
pinMode(pin_LED_Fail, OUTPUT);
pinMode(pin_USR, OUTPUT);
Comment on lines +386 to +389
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@nimrod46 nimrod46 May 5, 2020

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Those aren't supposed to exist anymore

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@Arie001 Arie001 May 6, 2020

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Nimrod Nimrod
Pin 5 is defined a Alarm reset It cannot be a PWM output .

define pin_RST 5
define pin_FORWARD 5

if (!L298N)
{
motor.attach(pin_PWM);
}
pinMode(pin_LED_RED, OUTPUT);
pinMode(pin_LED_GREEN, OUTPUT);
// pinMode(pin_LED_BLUE, OUTPUT); //TODO: Return if needed
pinMode(pin_LED_USR, OUTPUT);
motor.attach(pin_PWM);

Serial.begin(115200);
Serial.print("\nAmboVent Version: ");
Serial.println(VERSION_STR);
Expand Down Expand Up @@ -1009,7 +1029,31 @@ void set_motor_PWM(float wanted_vel_PWM)
if (wanted_vel_PWM < PWM_min)
wanted_vel_PWM = PWM_min; // limit PWM
motorPWM = PWM_mid + int(wanted_vel_PWM);
motor.write(motorPWM);

if (L298N)
{
if (motorPWM > PWM_mid + 3)
{ // leave a -3 to +3 stop range
digitalWrite(pin_FORWARD, HIGH);
digitalWrite(pin_BACK, LOW);
}
else if (motorPWM < PWM_mid - 3)
{ // leave a -3 to +3 stop range
digitalWrite(pin_FORWARD, LOW);
digitalWrite(pin_BACK, HIGH);
}
else
{
digitalWrite(pin_FORWARD, LOW);
digitalWrite(pin_BACK, LOW);
}

analogWrite(pin_SPEED, map(motorPWM, PWM_min, PWM_max, 0, 25));
}
else
{
motor.write(motorPWM);
}
}

int read_motion_for_calib()
Expand Down