chuchuigbokwe / stepper_motor_controller Goto Github PK

This Stepper Controller class models how a stepper motor would be driven using a trapezoidal curve.

It calculates the time required to hit the goal position while not exceeding the max velocity and acceleration. It then calculates the trajectories of the position, velocity and acceleration at each time step. These values are logged to a .csv file and are also graphed in real time with the receive_and_plot_real_time_values.py script.

• This class assumes that the goal position is always positive and only handles positive goal positions.
• This class assumes that not exceeding the max velocities and max acceleration are more important than hitting the goal position. The other condition was that the motor should stop moving (velocity = 0) at the end of it's trajectory. There are some edge cases where in order to maintain those conditions, the goal position will be overshot or not reached.
• The python script for graphing must be run before the stepper motor class
• There are two constructors.
  • One with 5 parameters(initial_position, initial_velocity, goal_position, max_velocity, max_acceleration).
  • The other has 2 parameters (inital_position, initial_velocity). The latter constructor needs the set_goal() method to set the remaining values.
  • Both use float values.
• The second constructor isn't being used because of the requirements for a command line interface. However, it can be used in by making changes to main.cpp
• There are some tests in the tests folder.
• MotorController.cpp is a short generic abstract class.

clone the repository

https://github.com/ChuChuIgbokwe/stepper_motor_controller.git

Go to the folder you cloned this in and create a build folder

mkdir build

Go to the build directory and run cmake

cd build

run cmake

cmake ..

Build the code

make

You'll happen to open a new terminal and go the directory where you cloned this repo in. Run the receive_and_plot_real_time_values.py script first

python3 scripts/receive_and_plot_real_time_values.py

This will open the graphing socket and have it listening for incoming messages In the second tab go your build directory and run

./sim_motor --initial-pos -50 --initial-vel -50 --goal-pos 350 --max-vel 75 --max-acc 20

You can change those values to whatever you want. If it's not a feasible trajectory, you'll see and error message on screen explaining what's wrong.

This will run the Stepper Motor class and start sending messages to the python script.

This video shows what it should look like

Once both commands have been sent, you should be able to see the output of the motor displayed on screen

When it's done sending messages, it will display two graphs

• A subplot with each of the position, velocity and acceleration trajectories

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• A graph with the position, velocity and acceleration trajectories superimposed on each other

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