How to get sensor angles values using Interrupts in arudin mega ?

Other Hardware Sensors
1

NEW_hep.ino (14.5 KB)

i want to control the vfd motor rotation movement based on the angle values from sensors and previously in this i tried using delay in function sensors don 't get values during delay so it misses that position it starts to rotate continuously and i want to stop the vfd motor when it reaches the exact position let s say 90 degree s how to achieve this ??? please help with this .........
code is there in the above ino file

///// sensor 1 pins const int ClockPin = 6; //output to clock const int CSnPin = 5; //output to chip select const int InputPin = 4; //read AS5040 //////////////////////////////////////////////

/////////sensor 2 pins
const int ClockPin2 = 11; //output to clock
const int CSnPin2 = 12; //output to chip select
const int InputPin2 = 10; //read AS5040
/////////////////////////////////////////////////////////////////////////////////////////
int enablePin2 = 8;
int enablePin1 = 9;

// slave 1 COMMANDS
byte FWD1[] = {0x01, 0x06, 0x11, 0x00, 0x00, 0x01, 0x4D, 0x36};
byte REV1[] = {0x01, 0x06, 0x11, 0x00, 0x00, 0x02, 0x0D, 0x37};
byte STOP1[]= {0x01, 0x06, 0x11, 0x00, 0x00, 0x06, 0x0C, 0xF4};
byte SPD01[] = {0x01, 0x06, 0x10, 0x00, 0x00, 0x00, 0x8D, 0x0A}; // 0 % OF MAX SPEED AT SLAVE 1
byte SPD101[]= {0x01, 0x06, 0x10, 0x00, 0x03, 0xE8, 0x8D, 0xB4}; // 10 % OF MAX SPEED AT SLAVE 1
byte SPD251[]= {0x01, 0x06, 0x10, 0x00, 0x09, 0xC4, 0x8A, 0xC9}; // 25 % OF MAX SPEED AT SLAVE 1
byte SPD501[]= {0x01, 0x06, 0x10, 0x00, 0x13, 0x88, 0x80, 0x5C}; // 50 % OF MAX SPEED AT SLAVE 1
byte SPD751[]= {0x01, 0x06, 0x10, 0x00, 0x1D, 0x4C, 0x85, 0xAF}; // 75 % OF MAX SPEED AT SLAVE 1
byte SPD1001[]= {0x01, 0x06, 0x10, 0x00, 0x27, 0x10, 0x97, 0x36}; // 100 % OF MAX SPEED AT SLAVE 1

// slave 2
byte FWD2[] = {0x02, 0x06, 0x11, 0x00, 0x00, 0x01, 0x4D, 0x05}; // FWD : 02 06 11 00 00 01 4D 05
byte REV2[] = {0x02, 0x06, 0x11, 0x00, 0x00, 0x02, 0x0D, 0x04}; // REV : 02 06 11 00 00 02 0D 04
byte STOP2[]= {0x02, 0x06, 0x11, 0x00, 0x00, 0x06, 0x0C, 0xC7}; // STOP : 02 06 11 00 00 06 0C C7
byte SPD02[] = {0x02, 0x06, 0x10, 0x00, 0x00, 0x00, 0x8D, 0x039}; // SPEED0 : 02 06 10 00 00 00 8D 39
byte SPD102[]= {0x02, 0x06, 0x10, 0x00, 0x03, 0xE8, 0x8D, 0x87}; // SPEED10 : 02 06 10 00 03 E8 8D 87
byte SPD252[]= {0x02, 0x06, 0x10, 0x00, 0x09, 0xC4, 0x8A, 0xFA}; // SPEED25 : 02 06 10 00 09 C4 8A FA
byte SPD502[]= {0x02, 0x06, 0x10, 0x00, 0x13, 0x88, 0x80, 0x6F}; // SPEED50 : 02 06 10 00 13 88 80 6F
byte SPD752[]= {0x02, 0x06, 0x10, 0x00, 0x1D, 0x4C, 0x85, 0x9C}; // SPEED75 : 02 06 10 00 1D 4C 85 9C
byte SPD1002[]={0x02, 0x06, 0x10, 0x00, 0x27, 0x10, 0x97, 0x05}; // SPEED100 : 02 06 10 00 27 10 97 05

// value of runcom is 1 then it indicates fwd
// value of runcom is 2 then it indicates rev // speedcontrol is given in percentage basically four values can be chosen 25% ,50% , 75% ,100%
// this function is to run motor 1
///////////////////////////////////////////////////////
// defining the range of motor's rotation
// every value is in angle value of degree
const long potMini=0; //450;
const long potMaxi=360; //723;

// sets value to 562
// inital posn value
long axis1=206,prev_axis1=206,inv_axis1=206; //middle position 0-1024 val=586
long axis2=206,prev_axis2=206,inv_axis2=206; //middle position 0-1024 val=586

static long brakingDistance=7;
static unsigned long sensor1,sensor2;

////////////////////////////////////////////////////////////////
void Run_motor1( int runCom, int speedControl)
{
if (runCom==1 )// it indicates fwd
{
Serial1.write(SPD01, sizeof(SPD01));
delay(20);
Serial1.write(FWD1, sizeof(FWD1));
delay(20);
if (speedControl==25)
{
Serial1.write(SPD251, sizeof(SPD251));
delay(20);
}
else if (speedControl==50)
{
Serial1.write(SPD501, sizeof(SPD501));
delay(20);
}
else if (speedControl==75)
{
Serial1.write(SPD751, sizeof(SPD751));
delay(20);
}
else if (speedControl==100)
{
Serial1.write(SPD1001, sizeof(SPD1001));
delay(20);
}
}
///////////////////////////////////////////////////////////////////
if (runCom== 2)// it indicates rev
{
Serial1.write(SPD01, sizeof(SPD01));
delay(20);
Serial1.write(REV1, sizeof(REV1));
delay(20);

////////////////////////////////////////////
 if (speedControl==25)
{
  Serial1.write(SPD251, sizeof(SPD251));
  delay(20);
}
 else if (speedControl==50)
{
  Serial1.write(SPD501, sizeof(SPD501));
  delay(20);
}
 else if (speedControl==75)
{
  Serial1.write(SPD751, sizeof(SPD751));
  delay(20);
}
 else if (speedControl==100)
{
  Serial1.write(SPD1001, sizeof(SPD1001));
  delay(20);
}

}
}

// this function is to run motor 2
void Run_motor2( int runCom, int speedControl)
{
if (runCom==1 )// it indicates fwd
{
Serial2.write(SPD02, sizeof(SPD02));
delay(20);
Serial2.write(FWD2, sizeof(FWD2));
delay(20);
if (speedControl==25)
{
Serial2.write(SPD252, sizeof(SPD252));
delay(20);
}
else if (speedControl==50)
{
Serial2.write(SPD502, sizeof(SPD502));
delay(20);
}
else if (speedControl==75)
{
Serial2.write(SPD752, sizeof(SPD752));
delay(20);
}
else if (speedControl==100)
{
Serial2.write(SPD1002, sizeof(SPD1002));
delay(20);
}
}
///////////////////////////////////////////////////////////////////
if (runCom== 2)// it indicates rev
{
Serial2.write(SPD02, sizeof(SPD02));
delay(20);
Serial2.write(REV2, sizeof(REV2));
delay(20);

////////////////////////////////////////////
 if (speedControl==25)
{
  Serial2.write(SPD252, sizeof(SPD252));
  delay(20);
}
 else if (speedControl==50)
{
  Serial2.write(SPD502, sizeof(SPD502));
  delay(20);
}
 else if (speedControl==75)
{
  Serial2.write(SPD752, sizeof(SPD752));
  delay(20);
}
 else if (speedControl==100)
{
  Serial2.write(SPD1002, sizeof(SPD1002));
  delay(20);
}

}
}

// to stop both motor 1 and 2

void Stop ()
{
Serial2.write(SPD02, sizeof(SPD02));
delay(20);
Serial1.write(SPD01, sizeof(SPD01));
delay(20);
Serial2.write(STOP2, sizeof(STOP2));
delay(20);
Serial1.write(STOP1, sizeof(STOP1));
delay(20);
}

// to stop motor 2

void Stop_2()
{

Serial2.write(STOP2, sizeof(STOP2));
delay(20);
Serial2.write(SPD02, sizeof(SPD02));
delay(20);
}

// to stop motor 1
void Stop_1()
{
Serial1.write(STOP1, sizeof(STOP2));
delay(20);
Serial1.write(SPD01, sizeof(SPD01));
delay(20);
}

// this func is to get the angle from sensor

unsigned int GetSensorValue(uint8_t CS,uint8_t CLK,uint8_t SerD){
static unsigned long angle = 0;
digitalWrite(CS, LOW); // CSn low: start of transfer
delayMicroseconds(1);
digitalWrite(CLK, LOW); // CLK goes low: start clocking
delayMicroseconds(1);
angle = 0;
for (int x = 0; x < 10; x++) // clock signal, 16 transitions, output to clock pin
{
digitalWrite(CLK, HIGH); //clock goes high
delayMicroseconds(1);
angle = ((angle << 1) | digitalRead(SerD));// left-shift summing variable, add pin value
digitalWrite(CLK, LOW);
delayMicroseconds(1);
}
digitalWrite(CS, HIGH); // CSn high
digitalWrite(CLK, HIGH); //clock goes high

return uint16_t((angle * 45) >> 7) ;
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void motorMotion(int motor_num, long actualPos,long targetPos)
{
// here i am using two while loop to run please check the logic
while (actualPos != targetPos)
{

   if (motor_num ==1)
  {
  // actualPos= sen1();
  }
  else 
  {
 // actualPos= sen2();
  }
//

int Tol=2;
// 2 degree no order to move will be sent to the motor if the target is close to the actual position
// this prevents short jittering moves

int gap;
int pwm=50;

// security concern : targetPos has to be within the mechanically authorized range
targetPos=constrain(targetPos,potMini+brakingDistance,potMaxi-brakingDistance);

gap=abs(targetPos-actualPos);

if (gap<= Tol)
{

   if (motor_num==1)
  {
   Stop_1();
   delay(20);
          
  }
  else 
  {
   Stop_2();//too near to move: stop motor 
  delay(20);
  }

}

else
{
// PID : calculates speed according to distance
pwm=25;
if (gap>17) pwm=50;
if (gap>26) pwm=75;
if (gap>35) pwm=100;

// pwm=map(pwm, 0, 255, 0, pwmMax);  //adjust the value according to pwmMax for mechanical debugging purpose !
Serial3.println("Moving MOTOR"+String(motor_num)+" PWM:"+String(pwm)+" | APOS:"+String(actualPos)+" | GAP:"+String(gap)+" | TPOS:"+String(targetPos));

// if motor is outside from the range, send motor back to the limit !
// below condition is to check to rotation of motor if it is nearer to clockwise then rotate clockwise or else rotate anti clockiwise

// please check here
if ( ( ( (actualPos<potMini) || (actualPos<targetPos) )*1-( (actualPos>potMaxi) || (actualPos>targetPos) )*1)==1 )
{
if ( motor_num==1)
{
delay(20);
while (actualPos != targetPos){
Run_motor1(1,pwm);// motor 1 rotates in clk wise ( 1 inside the paramter indiactes forward dirn )
// actualPos= sen1();
}

   }
   else 
   {
       delay(20);
           while (actualPos != targetPos){
         Run_motor2(1,pwm);// motor 2 rotates in clk wise ( 1 inside the paramter indiactes forward dirn )
         // actualPos= sen2();
        }
    
   }    
 }
 if ( ( ( (actualPos<potMini) || (actualPos<targetPos) )*1-((actualPos>potMaxi) || (actualPos>targetPos))*1)==-1)
{  if ( motor_num==1)
   {
       delay(20);
           while (actualPos != targetPos){
       Run_motor1(2,pwm);// motor 1 rotates in anticlk wise ( 2 inside the paramter indiactes revr dirn )
       //actualPos= sen1();
        }
   }
   else 
   {
     //Run_motor2(2,pwm); 

       while (actualPos != targetPos){
       Run_motor2(2,pwm); // motor 2 rotates in anticlk wise ( 2 inside the paramter indiactes revr dirn )
      // actualPos= sen2();
        }
   }
}

}

}
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void setup()
{
Serial3.begin(115200);
pinMode(ClockPin, OUTPUT); // SCK
pinMode(CSnPin, OUTPUT); // CSn -- has to toggle high and low to signal chip to start data transfer
pinMode(InputPin, INPUT); // SDA
//////////////////////////////////////////
pinMode(ClockPin2, OUTPUT); // SCK
pinMode(CSnPin2, OUTPUT); // CSn -- has to toggle high and low to signal chip to start data transfer
pinMode(InputPin2, INPUT); // SDA
///////////////////////////////////////////////////
/// setup for vfds
Serial1.begin(19200); // slave 2
Serial2.begin(19200); // slave 1
pinMode(enablePin2, OUTPUT);
pinMode(enablePin1, OUTPUT);
delay(10);
digitalWrite(enablePin2, HIGH); // Always high as Master Writes data to Slave
digitalWrite(enablePin1, HIGH);
}

void loop()
{

sensor1=GetSensorValue( CSnPin, ClockPin, InputPin);
sensor2=GetSensorValue( CSnPin2, ClockPin2, InputPin2);
Serial3.print("the angle from the motor 1 is ");
Serial3.println(sensor1);
delay (50);
Serial3.print("the angle from the motor 2 is ");
Serial3.println(sensor2);
}
2

no communication is possible while interrupt.

3

actually i want to get continuous sensor values from as5040 sensors and if it rotates target angle then i want to stop the vfd motor

4

how to achieve this ??
i am new to this field please help with this

5

You better know how to handle the device before buying it.

6

anyway thanks for the help

7

if you interested, you should help us to help you: edit the first post. use proper tag or attach INO file.

8

yeah sure ready to help at present i am newbie here, i have edited the first post .

9 
(actualPos < targetPos) ) * 1 - ( (actualPos > potMaxi) || (actualPos > targetPos) ) * 1)

* 1 ? really ?
pls delete unneccecery lines from the code. or better make code which only read sensor.

10

i have changed the file and also i have added some comments to understand

11

try this. if it work proper then we go further

//   sensor 1 pins
const int clockPin = 6; //output to clock
const int CSnPin = 5; //output to chip select
const int inputPin = 4; //read AS5040

void setup() {
  Serial3.begin(115200);
  pinMode(clockPin, OUTPUT); // SCK
  pinMode(CSnPin, OUTPUT); // CSn -- has to toggle high and low to signal chip to start data transfer
  pinMode(inputPin, INPUT); // SDA
  pinMode(enablePin1, OUTPUT);
}

void loop() {
  static unsigned long angle = 0; //holds processed angle value
  // CSn needs to cycle from high to low to initiate transfer. Then clock cycles. As it goes high
  // again, data will appear on sda
  digitalWrite(CSnPin, HIGH); // CSn high
  digitalWrite(clockPin, HIGH); // CLK high
  delay(10);// wait for 0.2 second for no particular reason
  digitalWrite(CSnPin, LOW); // CSn low: start of transfer
  delay(10); // delay for chip -- 1000x as long as it needs to be
  digitalWrite(clockPin, LOW); // CLK goes low: start clocking
  delay(10); // hold low for 10 ms
  angle = 0;
  for (int x = 0; x < 10; x++) // clock signal, 16 transitions, output to clock pin
  {
    digitalWrite(clockPin, HIGH); //clock goes high
    delay(10); // wait 10ms
    angle = ((angle << 1) | digitalRead(inputPin));// left-shift summing variable, add pin value
    digitalWrite(clockPin, LOW);
    delay(10); // end of one clock cycle
  }
  // mask rightmost 6 digits of packeddata to zero, into angle.// shift 16-digit angle right 6 digits to form 10-digit value//
  angle = (angle * 45) >> 7 ;
  Serial3.print("angle from sensor 1 : ");
  Serial3.println(angle, DEC);
}
12

it works fine sensor angles are coming correct ..

13

show.

14

image
as you can see the values are coming perfect, i have changed the dirn and checked the values are fine
image

15

here sensor checking as a function

unsigned int GetSensorValue(uint8_t CS,uint8_t CLK,uint8_t SerD) {
  static unsigned long angle = 0;
  digitalWrite(CS, LOW); // CSn low: start of transfer
  delayMicroseconds(1);
  digitalWrite(CLK, LOW); // CLK goes low: start clocking
  delayMicroseconds(1);
  angle = 0;
  for (int x = 0; x < 10; x++) // clock signal, 16 transitions, output to clock pin
  {
    digitalWrite(CLK, HIGH); //clock goes high
    delayMicroseconds(1);
    angle = ((angle << 1) | digitalRead(SerD));// left-shift summing variable, add pin value
    digitalWrite(CLK, LOW);
    delayMicroseconds(1);
  }
  digitalWrite(CS, HIGH); // CSn high
  digitalWrite(CLK, HIGH); //clock goes high
  
  return  uint16_t((angle * 45) >> 7) ;
}
16

image
image1531×756 52 KB

okay thanks it is working very good values are accurate after getting value from the senor i want to make rotation of lets say 90 give a me path or way to rotating without using any delay how to do this

17

what do you mean?

18

sorry i mean to say this how to go ahead .
for controlling the motor

19

Is this what you mean? Do you have a program that controls the rotation and that is all it does?

20

motorMotion function is the func i have written for controlling the vfd motor . but i unable to control it starts continuously to rotate,
to avoid this situation what should i do in the code is the correct approach ?? please help with this .
i have attached the code in the first post please check that ..