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Fast Forward.... 4 years later... (#13)
* hopefully more accurate * some spellchecking and cleaning, also fixing CLI * fixed whitespace * testing new functionality for motor drivers and automatic current setting * squashing bugs * bug fixin * no functionality added, just cleaning code * added sensor reset for magnetometer * works pretty well, needs some control theory and finishing touches * hopefully didn't break anything, hopefully made system faster/more responsive * Updated Updated with previous edits to remove unnecessary branches. * Added Arduino Code and README Added new folder that includes code and README description for Arduino. The purpose is for the Arduino to interact with the magnetometer. --------- Co-authored-by: PandnotPthereforeQ <[email protected]> Co-authored-by: jejor <[email protected]> Co-authored-by: Cordet <[email protected]>
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| *.so | ||
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| # Distribution / packaging | ||
| .vscode | ||
| .Python | ||
| build/ | ||
| develop-eggs/ | ||
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| COMMS_README.TXT | ||
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| This document is the decode key to "ArduinoComms.py" and "PSAS_HHCage.ino" | ||
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| General: | ||
| The arduino will initialize the magnetic sensor (if present) and listen on USB-Serial (115200) for one byte messages from the Raspberry PI / Python. The Arduino will control 3 H-bridges (X,Y,Z) and interact with a magnetometer (MMC5603). Some commands from the PI will recieve a serial data return. | ||
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| Note that decode values are case sensitive.The following are the commands the arduino is listening for without any serial data returned: | ||
| x - Activate X H-bridge in Positive Polarity | ||
| y - Activate Y H-bridge in Positive Polarity | ||
| z - Activate Z H-bridge in Positive Polarity | ||
| X - Activate X H-bridge in Negative Polarity | ||
| Y - Activate Y H-bridge in Negative Polarity | ||
| Z - Activate Z H-bridge in Negative Polarity | ||
| a - De-activate all H-Bridges (X,Y,Z) | ||
| b - De-activate X H-Bridge | ||
| c - De-activate Y H-Bridge | ||
| d - De-activate Z H-Bridge | ||
| The following are the commands the arduino is listening for with a serial data return: | ||
| m - Request current magnetic field reading | ||
| Data return is "X,Y,Z" magnetic field in uT. | ||
| The values of each value X,Y,Z can be positive or negative | ||
| Here is an example return: "1000.05,-200.33,500.79" | ||
| Note: Refer to the nomen on the magnetometer to interpret positive and negative field directions | ||
| q - Request magnetometer status | ||
| Data return is "0" -- magnetometer not initialized | ||
| "1" -- magnetometer is initialized | ||
| note: magnetometer is initialized on setup/startup of arduino script. Restarting the serial interface will reset the arduino and will attempt re-initialization. If failures persist inspect wiring to sensor and the physical sensor. | ||
| s - Request H-Bridge Status: | ||
| Data return is "XYZ" where | ||
| X is X axis H-Bridge status | ||
| Y is Y axis H-Bridge status | ||
| Z is Z axis H-Bridge status | ||
| Each position can be 0, 1, or 2: | ||
| 0: Bridge is de-activated | ||
| 1: Bridge is activated in positive polarity | ||
| 2: Bridge is activated in negative polarity | ||
| Example: | ||
| 021 | ||
| X axis H-Bridge is de-activated | ||
| Y axis H-Bridge is activated in negative polarity | ||
| Z axis H-Bridge is activated in positive polarity | ||
| t - Request Ambient Temperature from Magnetometer: | ||
| The magnetometer has a temperature sensor built in, might as well provide the ability to read it. | ||
| The Serial data return is in degrees Celsius: | ||
| ##.## | ||
| Example: 17.80 | ||
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| # Credit to Christian Bennett (2022) for assisting with Arduino code and testing |
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| #include <Adafruit_MMC56x3.h> | ||
| /* Assign a unique ID to this sensor at the same time */ | ||
| Adafruit_MMC5603 mmc = Adafruit_MMC5603(12345); | ||
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| int xina = 6; | ||
| int xinb = 7; | ||
| int yina = 4; | ||
| int yinb = 5; | ||
| int zina = 2; | ||
| int zinb = 3; | ||
| int xstat = 0; | ||
| int ystat = 0; | ||
| int zstat = 0; | ||
| int magstat = 0; | ||
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| int incomingByte = 0; // for incoming serial data | ||
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| void setup() { | ||
| // put your setup code here, to run once: | ||
| pinMode(xina, OUTPUT); | ||
| pinMode(xinb, OUTPUT); | ||
| pinMode(yina, OUTPUT); | ||
| pinMode(yinb, OUTPUT); | ||
| pinMode(zina, OUTPUT); | ||
| pinMode(zinb, OUTPUT); | ||
| digitalWrite(xina,LOW); | ||
| digitalWrite(xinb,LOW); | ||
| digitalWrite(yina,LOW); | ||
| digitalWrite(yinb,LOW); | ||
| digitalWrite(zina,LOW); | ||
| digitalWrite(zinb,LOW); | ||
| Serial.begin(115200); | ||
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| // Initialise the mag sensor */ | ||
| if (mmc.begin(MMC56X3_DEFAULT_ADDRESS, &Wire)) { // I2C mode | ||
| magstat = 1; | ||
| //mmc.printSensorDetails(); | ||
| } | ||
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| } | ||
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| void loop() { | ||
| // put your main code here, to run repeatedly: | ||
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| // reply only when you receive data: | ||
| if (Serial.available() > 0) { | ||
| // read the incoming byte: | ||
| incomingByte = Serial.read(); | ||
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| // say what you got: | ||
| // Serial.print("I received: "); | ||
| // Serial.println(incomingByte, DEC); | ||
| } | ||
| if (incomingByte != 0){ | ||
| //Shutdown | ||
| if (incomingByte == 97){ | ||
| digitalWrite(xina,LOW); | ||
| digitalWrite(xinb,LOW); | ||
| digitalWrite(yina,LOW); | ||
| digitalWrite(yinb,LOW); | ||
| digitalWrite(zina,LOW); | ||
| digitalWrite(zinb,LOW); | ||
| xstat = 0; | ||
| ystat = 0; | ||
| zstat = 0; | ||
| } | ||
| //X Bridge Off | ||
| if (incomingByte == 98){ | ||
| digitalWrite(xina,LOW); | ||
| digitalWrite(xinb,LOW); | ||
| xstat = 0; | ||
| } | ||
| //Y Bridge Off | ||
| if (incomingByte == 99){ | ||
| digitalWrite(yina,LOW); | ||
| digitalWrite(yinb,LOW); | ||
| ystat = 0; | ||
| } | ||
| //Z Bridge Off | ||
| if (incomingByte == 100){ | ||
| digitalWrite(zina,LOW); | ||
| digitalWrite(zinb,LOW); | ||
| zstat = 0; | ||
| } | ||
| //H-Bridge Status message | ||
| if (incomingByte == 115){ | ||
| Serial.print(xstat); | ||
| Serial.print(ystat); | ||
| Serial.println(zstat); | ||
| } | ||
| //mag Status message | ||
| if (incomingByte == 113){ | ||
| Serial.println(magstat); | ||
| } | ||
| //positive "x" | ||
| if (incomingByte == 120){ | ||
| digitalWrite(xinb,LOW); | ||
| digitalWrite(xina,HIGH); | ||
| xstat = 1; | ||
| } | ||
| //negative "X" | ||
| if (incomingByte == 88){ | ||
| digitalWrite(xina,LOW); | ||
| digitalWrite(xinb,HIGH); | ||
| xstat = 2; | ||
| } | ||
| //positive "y" | ||
| if (incomingByte == 121){ | ||
| digitalWrite(yinb,LOW); | ||
| digitalWrite(yina,HIGH); | ||
| ystat = 1; | ||
| } | ||
| //negative "Y" | ||
| if (incomingByte == 89){ | ||
| digitalWrite(yina,LOW); | ||
| digitalWrite(yinb,HIGH); | ||
| ystat = 2; | ||
| } | ||
| //positive "z" | ||
| if (incomingByte == 122){ | ||
| digitalWrite(zinb,LOW); | ||
| digitalWrite(zina,HIGH); | ||
| zstat = 1; | ||
| } | ||
| //negative "Z" | ||
| if (incomingByte == 90){ | ||
| digitalWrite(zina,LOW); | ||
| digitalWrite(zinb,HIGH); | ||
| zstat = 2; | ||
| } | ||
| //mag reading | ||
| if (incomingByte == 109){ | ||
| sensors_event_t event; | ||
| mmc.getEvent(&event); | ||
| Serial.print(event.magnetic.x); | ||
| Serial.print(","); | ||
| Serial.print(event.magnetic.y); | ||
| Serial.print(","); | ||
| Serial.println(event.magnetic.z); | ||
| } | ||
| //temp reading | ||
| if (incomingByte == 116){ | ||
| sensors_event_t event; | ||
| mmc.getEvent(&event); | ||
| float temp_c = mmc.readTemperature(); | ||
| Serial.println(temp_c); | ||
| } | ||
| //end of loop | ||
| incomingByte = 0; | ||
| Serial.flush(); | ||
| } | ||
| } |
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| ## oresat-helmholtz | ||
| # oresat-helmholtz | ||
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|  | ||
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| ## Magnetic Environment Simulator for CubeSats | ||
| ## Magnetic Environment Simulator for CubeSats | ||
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| SOP can be found [here](http://psu-epl.github.io/doc/equip/testing/ETL/) at the Electronics Prototyping Lab website | ||
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|  | ||
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| MCECS BETA Project 2018 |
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