DC Motor 2 Click Board

Description

This is an example of using Red Pitaya with the Red Pitaya Click Shield and DC Motor 2 Click Board. The program is used to control the DC motor.

Required hardware

• Red Pitaya device

• Red Pitaya Click Shield

• DC Motor 2 click board

Required software

• 2.00-23 or higher OS

Note

This code is written for 2.00-23 or higher OS. For older OS versions, please check when specific commands were released (a note is added to each command introduced in 2.00 or higher verisons).

Code C

The code should be copied to the Red Pitaya using the “scp” or similar command and compiled on the board.

Note

Instructions on how to compile the code are here.

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>

#include "rp.h"

// Choose a microbus depending on where the click board is
#define MIKROBUS 1    // 1 == Microbus 1, 2 == Microbus 2

#if MIKROBUS == 1
    #define PWM_PIN RP_DIO1_P    // Microbus 1
    #define IN1_PIN RP_DIO1_N
    #define IN2_PIN RP_DIO2_N
    #define SLP_PIN RP_DIO2_P
#else
    #define PWM_PIN RP_DIO3_P    // Microbus 2
    #define IN1_PIN RP_DIO3_N
    #define IN2_PIN RP_DIO4_N
    #define SLP_PIN RP_DIO4_P
#endif


void pwm(int pin, int duty_cycle,int num_seconds)
{
    int period_us = 875;
    int num_periods = 0;
    int pulse_us = (duty_cycle * period_us) / 100;

    rp_DpinSetDirection(pin, RP_OUT);    // Set pin as output

    while (num_periods !=  num_seconds *1000 ) {
        rp_DpinSetState(pin, RP_HIGH);  // Set pin state high
        usleep(pulse_us);               // Delay for pulse duration

        rp_DpinSetState(pin, RP_LOW);    // set pin state low
        usleep(period_us - pulse_us);    // delay for the remaining period

        num_periods++;                   // increment the number of periods
        }
}

void pwm_sweep(int pin, int sweep_time, const char* up_or_down)
{
    int period_us = 875;
    int num_steps = sweep_time * 1000;   // Convert sweep time to milliseconds

    rp_DpinSetDirection(pin, RP_OUT);    // Set pin as output

    // Increase or decrease speed
    if (strcmp(up_or_down, "up") == 0){
        // The motor starts spinning at 15% (0.15)
        for (int i = 0.15 * num_steps; i <= num_steps; i++) {
            int duty_cycle = (i * 100) / num_steps;           // percentage of power,  0 to 100
            int pulse_us = (duty_cycle * period_us) / 100;

            rp_DpinSetState(pin, RP_HIGH);  // Set pin state high
            usleep(pulse_us);               // Delay for pulse duration

            rp_DpinSetState(pin, RP_LOW);    // set pin state low
            usleep(period_us - pulse_us);    // delay for the remaining period
        }
    }
    else{
        // The motor starts spinning at 15% (0.15)
        for (int i = num_steps; i >= 0.15 * num_steps ; i--) {
            int duty_cycle = (i * 100) / num_steps;         // percentage of power,  0 to 100
            int pulse_us = (duty_cycle * period_us) / 100;

            rp_DpinSetState(pin, RP_HIGH);  // Set pin state high
            usleep(pulse_us);               // Delay for pulse duration

            rp_DpinSetState(pin, RP_LOW);    // set pin state low
            usleep(period_us - pulse_us);    // delay for the remaining period
        }
    }
}

void setMotorMode(const char* motorMode) {

    if (strcmp(motorMode, "MODE_CCW") == 0) {
        rp_DpinSetState(IN1_PIN, RP_LOW);
        rp_DpinSetState(IN2_PIN, RP_HIGH);
        rp_DpinSetState(SLP_PIN, RP_HIGH);
    } else if (strcmp(motorMode, "MODE_CW") == 0) {
        rp_DpinSetState(IN1_PIN, RP_HIGH);
        rp_DpinSetState(IN2_PIN, RP_LOW);
        rp_DpinSetState(SLP_PIN, RP_HIGH);
    } else if (strcmp(motorMode, "MODE_STOP") == 0) {
        rp_DpinSetState(IN1_PIN, RP_LOW);
        rp_DpinSetState(IN2_PIN, RP_LOW);
        rp_DpinSetState(SLP_PIN, RP_HIGH);
    } else if (strcmp(motorMode, "MODE_STANDBY") == 0) {
        rp_DpinSetState(IN1_PIN, RP_LOW);
        rp_DpinSetState(IN2_PIN, RP_LOW);
        rp_DpinSetState(SLP_PIN, RP_LOW);
    } else {
        // Handle the default case
    }
}


int main (int argc, char **argv) {

    // Initialization of API
    if (rp_Init() != RP_OK) {
        fprintf(stderr, "Red Pitaya API init failed!\n");
        return EXIT_FAILURE;
    }

    // Set digital pins as outputs
    rp_DpinSetDirection(IN1_PIN, RP_OUT);
    rp_DpinSetDirection(IN2_PIN, RP_OUT);
    rp_DpinSetDirection(SLP_PIN, RP_OUT);

    // Set motor direction
    setMotorMode("MODE_CCW");

    pwm_sweep(PWM_PIN, 10, "up");      // set sweep ramp up to 10 seconds
    pwm_sweep(PWM_PIN, 10, "down");    // set motor to increase speed (up) or decrease it

    while(1){

        setMotorMode("MODE_CCW");       // Set motor mode to counter-clockwise
        pwm(PWM_PIN, 50, 3);            // Run motor at 50% duty cycle for 3 seconds

        setMotorMode("MODE_STOP");      // Set motor mode to stop

        pwm(PWM_PIN, 50, 3);            // Run motor at 50% duty cycle for 3 seconds

        setMotorMode("MODE_CW");        // Set motor mode to clockwise
        pwm(PWM_PIN, 50, 3);            // Run motor at 50% duty cycle for 3 seconds

        setMotorMode("MODE_STANDBY");   // Set motor mode to standby
        pwm(PWM_PIN, 50, 3);            // Run motor at 50% duty cycle for 3 seconds
    }

    // Releasing resources
    rp_Release();

    return EXIT_SUCCESS;
}