DC Motor Position Control

1  #include <Arduino.h>
2  #include <ESP8266WiFi.h>
3  #include <Hash.h>
4  #include <ESPAsyncTCP.h>
5  #include <ESPAsyncWebServer.h>
6  #include "FS.h"
7
8//  Replace with your network credentials
9const char* ssid = "NguyenTuong";
10const  char* password = "064897435";
11
12#define LED 16
13
14int rotation_value;  //value of rotation from local web
15//-----------------------position control
16const  byte pin_a = 4;   //for encoder pulse A
17const byte pin_b = 5;   //for encoder  pulse B
18const byte pin_fwd = 12; //for H-bridge: run motor forward
19const byte  pin_bwd = 13; //for H-bridge: run motor backward
20const byte pin_pwm = 14; //for  H-bridge: motor speed
21int encoder_r = 0;
22int encoder_f = 0;
23int position_pv  = 0;
24int position_sv = 0;
25int m_direction = 0;
26
27// Create AsyncWebServer  object on port 80
28AsyncWebServer server(80);
29
30const char index_html[] PROGMEM  = R"rawliteral(
31<!DOCTYPE HTML><html>
32<head>
33  <script src="jquery.min.js"></script>
34  <script src="knob.js"></script>
35        
36  <meta name="viewport" content="width=device-width,  initial-scale=1">
37  
38</head>
39
40<body>
41  <center>
42  <h2>Motor position  control</h2>
43  <input type="text" class="dial" value="1" data-displayPrevious=true  data-fgColor="#00A8A9" data-thickness=.6>
44  </center>
45
46  <script>
47    $(".dial").knob({
48        'change' : function (v) { console.log(Math.round(v,0));    
49    $.ajax({url: "/setLOCATION?rotation="+Math.round(v,0), success: function(result){
50            $("#div1").html(result);
51        }});
52  }
53    });
54  </script>
55
56</body>
57</html>)rawliteral";
58
59
60void  setup(){
61  //---------declaration for position control
62  pinMode(pin_a,INPUT_PULLUP);
63  pinMode(pin_b,INPUT_PULLUP);
64  pinMode(pin_fwd,OUTPUT);
65  pinMode(pin_bwd,OUTPUT);
66  pinMode(pin_pwm,OUTPUT);
67  attachInterrupt(digitalPinToInterrupt(pin_a), detect_a_r,  RISING);
68
69  digitalWrite(pin_fwd,0);  //stop motor
70  digitalWrite(pin_bwd,0);  //stop motor
71  
72  // Serial port for debugging purposes
73  Serial.begin(115200);
74  
75  // Connect to Wi-Fi
76  WiFi.begin(ssid, password);
77  while (WiFi.status()  != WL_CONNECTED) {
78    delay(1000);
79    Serial.println("Connecting to WiFi..");
80  }
81  if(!SPIFFS.begin()){
82        Serial.println("An Error has occurred  while mounting SPIFFS");
83        return;
84  }
85
86  // Print ESP32 Local  IP Address
87  Serial.println(WiFi.localIP());
88
89  // Route for root / web  page
90
91  server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
92    request->send_P(200, "text/html", index_html);
93  });
94  server.on("/jquery.min.js",  HTTP_GET, [](AsyncWebServerRequest *request){
95    request->send(SPIFFS, "/jquery.min.js",  "text/javascript");
96  });
97  server.on("/knob.js", HTTP_GET, [](AsyncWebServerRequest  *request){
98    request->send(SPIFFS, "/knob.js", "text/javascript");
99  });
100  server.on("/setLOCATION",HTTP_GET, [](AsyncWebServerRequest *request){
101    String ROTATION = request->getParam("rotation")->value();
102    rotation_value  = 1024 - (ROTATION.toInt())*10;
103    Serial.print("rotation_value ");
104    Serial.println(rotation_value);
105    analogWrite(LED,rotation_value);  //adjust LED light on NodeMCU
106    request->send(200,  "text/plane","");
107    
108  });
109  // Start server
110  server.begin();
111}
112  
113void loop(){
114  analogWrite(pin_pwm,650); //set motor speed = 650/1024
115  position_sv = (1024 - rotation_value)/10; //unit: % (e.g. 0% ~ 0dg; 100% ~ 360dg)
116  position_pv = ((encoder_r+encoder_f)/2); //unit: %; encoder pulse per revolution:  200ppr
117  if(position_pv-position_sv < 0){
118      digitalWrite(pin_fwd,1);
119      digitalWrite(pin_bwd,0);
120    }
121    else{
122      if(position_pv-position_sv  > 0){
123        digitalWrite(pin_fwd,0);
124        digitalWrite(pin_bwd,1);
125      }
126      else{
127        //stop motor if position between +0 ~ -0
128        digitalWrite(pin_fwd,0);  //stop motor
129        digitalWrite(pin_bwd,0);  //stop motor
130      }
131    }
132}
133
134void detect_a_r() {
135  m_direction = digitalRead(pin_b); //read  direction of motor
136  if(!m_direction){
137    encoder_r += 1;   //increasing  encoder at forward run
138  }
139  else{
140    encoder_r += -1;  //decreasing encoder  at backward run
141  }
142  attachInterrupt(digitalPinToInterrupt(pin_a), detect_a_f,  FALLING); //change interrupt to Falling edge
143}
144void detect_a_f() {
145  m_direction  = digitalRead(pin_b); //read direction of motor
146  if(m_direction){
147    encoder_f  += 1; //increasing encoder at forward run
148  }
149  else{
150    encoder_f +=  -1; //decreasing encoder at backward run
151  }
152  attachInterrupt(digitalPinToInterrupt(pin_a),  detect_a_r, RISING);  //change interrupt to Rising edge
153}
154

  #include <Arduino.h>
  #include <ESP8266WiFi.h>
  #include <Hash.h>
  #include <ESPAsyncTCP.h>
  #include <ESPAsyncWebServer.h>
  #include "FS.h"

//  Replace with your network credentials
const char* ssid = "NguyenTuong";
const  char* password = "064897435";

#define LED 16

int rotation_value;  //value of rotation from local web
//-----------------------position control
const  byte pin_a = 4;   //for encoder pulse A
const byte pin_b = 5;   //for encoder  pulse B
const byte pin_fwd = 12; //for H-bridge: run motor forward
const byte  pin_bwd = 13; //for H-bridge: run motor backward
const byte pin_pwm = 14; //for  H-bridge: motor speed
int encoder_r = 0;
int encoder_f = 0;
int position_pv  = 0;
int position_sv = 0;
int m_direction = 0;

// Create AsyncWebServer  object on port 80
AsyncWebServer server(80);

const char index_html[] PROGMEM  = R"rawliteral(
<!DOCTYPE HTML><html>
<head>
  <script src="jquery.min.js"></script>
  <script src="knob.js"></script>
        
  <meta name="viewport" content="width=device-width,  initial-scale=1">
  
</head>

<body>
  <center>
  <h2>Motor position  control</h2>
  <input type="text" class="dial" value="1" data-displayPrevious=true  data-fgColor="#00A8A9" data-thickness=.6>
  </center>

  <script>
    $(".dial").knob({
        'change' : function (v) { console.log(Math.round(v,0));    
    $.ajax({url: "/setLOCATION?rotation="+Math.round(v,0), success: function(result){
            $("#div1").html(result);
        }});
  }
    });
  </script>

</body>
</html>)rawliteral";


void  setup(){
  //---------declaration for position control
  pinMode(pin_a,INPUT_PULLUP);
  pinMode(pin_b,INPUT_PULLUP);
  pinMode(pin_fwd,OUTPUT);
  pinMode(pin_bwd,OUTPUT);
  pinMode(pin_pwm,OUTPUT);
  attachInterrupt(digitalPinToInterrupt(pin_a), detect_a_r,  RISING);

  digitalWrite(pin_fwd,0);  //stop motor
  digitalWrite(pin_bwd,0);  //stop motor
  
  // Serial port for debugging purposes
  Serial.begin(115200);
  
  // Connect to Wi-Fi
  WiFi.begin(ssid, password);
  while (WiFi.status()  != WL_CONNECTED) {
    delay(1000);
    Serial.println("Connecting to WiFi..");
  }
  if(!SPIFFS.begin()){
        Serial.println("An Error has occurred  while mounting SPIFFS");
        return;
  }

  // Print ESP32 Local  IP Address
  Serial.println(WiFi.localIP());

  // Route for root / web  page

  server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
    request->send_P(200, "text/html", index_html);
  });
  server.on("/jquery.min.js",  HTTP_GET, [](AsyncWebServerRequest *request){
    request->send(SPIFFS, "/jquery.min.js",  "text/javascript");
  });
  server.on("/knob.js", HTTP_GET, [](AsyncWebServerRequest  *request){
    request->send(SPIFFS, "/knob.js", "text/javascript");
  });
  server.on("/setLOCATION",HTTP_GET, [](AsyncWebServerRequest *request){
    String ROTATION = request->getParam("rotation")->value();
    rotation_value  = 1024 - (ROTATION.toInt())*10;
    Serial.print("rotation_value ");
    Serial.println(rotation_value);
    analogWrite(LED,rotation_value);  //adjust LED light on NodeMCU
    request->send(200,  "text/plane","");
    
  });
  // Start server
  server.begin();
}
  
void loop(){
  analogWrite(pin_pwm,650); //set motor speed = 650/1024
  position_sv = (1024 - rotation_value)/10; //unit: % (e.g. 0% ~ 0dg; 100% ~ 360dg)
  position_pv = ((encoder_r+encoder_f)/2); //unit: %; encoder pulse per revolution:  200ppr
  if(position_pv-position_sv < 0){
      digitalWrite(pin_fwd,1);
      digitalWrite(pin_bwd,0);
    }
    else{
      if(position_pv-position_sv  > 0){
        digitalWrite(pin_fwd,0);
        digitalWrite(pin_bwd,1);
      }
      else{
        //stop motor if position between +0 ~ -0
        digitalWrite(pin_fwd,0);  //stop motor
        digitalWrite(pin_bwd,0);  //stop motor
      }
    }
}

void detect_a_r() {
  m_direction = digitalRead(pin_b); //read  direction of motor
  if(!m_direction){
    encoder_r += 1;   //increasing  encoder at forward run
  }
  else{
    encoder_r += -1;  //decreasing encoder  at backward run
  }
  attachInterrupt(digitalPinToInterrupt(pin_a), detect_a_f,  FALLING); //change interrupt to Falling edge
}
void detect_a_f() {
  m_direction  = digitalRead(pin_b); //read direction of motor
  if(m_direction){
    encoder_f  += 1; //increasing encoder at forward run
  }
  else{
    encoder_f +=  -1; //decreasing encoder at backward run
  }
  attachInterrupt(digitalPinToInterrupt(pin_a),  detect_a_r, RISING);  //change interrupt to Rising edge
}

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12_circuit_1_Qufw6p0DGe.png

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