![]() Or Sl.) but is only refreshed when a movement is requested by the joystick. Note: the position of the switch is displayed on the LCD screen (Lin. A 3-position switch now allows the choice between 3 equations. In some situations the speed increase is growing too quickly at the end of the joystick stroke.The formula is now corrected and the factors are updated (the curve is the same than before) There was error in the formula: value was first divided and then squared instead of the reverse.Serial.print are commented out in the "loop" to gain compute time.Only changed the file "Pan_and_Tilt_Head.ino".The file " PrintAlign.ino " remain the same. I also increased the joystick deadzone in tilt.īefore compiling the arduino software, you must copy to a subdirectory "Pan_and_Tilt_Head" these both files: I mainly changed the setPinsInverted () of the two stepper motors because with the TMC2208 the direction of rotation is reversed. Commented out you can find there two other equations I tested. You only need to change the equation in the function "CalculateSpeed". But you can choose which you like most or create your own one. The second degree equation was the one that seemed to me to were the most pleasant in the proportionality of the displacements. I have tried several equations for the calculation of displacement according to the position of the joystick (linear, exponential, first degree, second degree, cubic). This allow smooth and "fast" running of the stepper motors without hicking. Because of time consuming exponential calculations (something like ((x/40)^2)+ 0.1x), AccelStepper is not called in "loop()" but in a timer interrupt. The software itself is a little bit tricky. ![]() I can't recommend the use of these AT2100 drivers: there is no documentation on this chip and, on the other side, the micro-step ratio of 1/16 can not be modified if faster mooving shall be required. ![]() I worked without mechanical plans, with what I could find to recycle.Īs a final improvement, I replaced the too noisy two DRV8825 by two AT2100 while waiting for the delivery of new TMC2208 (I had broken the first ones with a reverse polarity power supply). With the assembly of plastic plates and aluminum profiles of recovery, the aesthetics is a little "DIY" but it works rather well. Thus, the required torque of the motors has been minimized. The centers of gravity of the moving assemblies, with the camera mounted, are placed as close as possible to the axes of rotation. Adjustable stop with lock on the hinged plate
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