represents rev07 feeder controller, rev03 indexing wheel, rev03 feeder floor. also checks in lots of cad work for feeder design and feeder floor design

This commit is contained in:
Stephen Hawes
2022-08-23 12:11:06 -04:00
parent 32e2dc15f8
commit ed79c04cdd
93 changed files with 124982 additions and 34123 deletions

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Id Description Qty Unit Designators
1 Cable, 6 x 22 AWG 0.1 m W1
2 Connector, Molex PicoBlade 53261-0671 1x06, female, 6 pins 1 X1
3 Connector, Stripped Wire 6
1 Id Description Qty Unit Designators
2 1 Cable, 6 x 22 AWG 0.1 m W1
3 2 Connector, Molex PicoBlade 53261-0671 1x06, female, 6 pins 1 X1
4 3 Connector, Stripped Wire 6

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After

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26
cad/CHA/drive-motor.yml Normal file
View File

@@ -0,0 +1,26 @@
connectors:
X1: #motherboard side
pinlabels: [M1, GND, C1, C2, VCC, M2] # pincount implicit in pinou
type: Molex PicoBlade 53261-0671 1x06
subtype: female
F1: #motor side
pinlabels: [A, B, C, D, E, F] # pincount implicit in pinout
style: simple
show_name: false
type: Stripped Wire
autogenerate: true
cables:
W1:
wirecount: 6
length: 0.1
gauge: 22 AWG
show_equiv: true
notes: Stranded - PVC Insulation
colors: [WH, BU, GN, YE, BK, RD]
connections:
-
- X1: [1-6]
- W1: [1-6]
- [F1, F1, F1, F1, F1, F1]

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@@ -2,20 +2,14 @@
#include "IndexFeeder.h"
#define TENTH_MM_PER_PIP 40
#define DELAY_FORWARD_DRIVE 10
#define DELAY_BACKWARD_DRIVE 10
#define DELAY_PAUSE 50
#define DRIVE_LEVEL 200
#define TICKS_PER_TENTH_MM 10
#define TIMEOUT_PER_PIP
#define TICKS_PER_TENTH_MM 11.3
#define TENSION_TIMEOUT 400
//pid settings and gains
#define OUTPUT_MIN 0
#define OUTPUT_MAX 255
#define KP .12
#define KI .0003
#define KD 0
// Unit Tests Fail Because This Isn't Defined In ArduinoFake for some reason
#ifndef INPUT_ANALOG
@@ -69,7 +63,7 @@ bool IndexFeeder::moveInternal(uint32_t timeout, bool forward, uint8_t tenths_mm
ticks_to_move = tenths_mm * TICKS_PER_TENTH_MM;
start_pos = _encoder->getPosition();
if (forward != true) {
if (forward == true) {
ticks_to_move = ticks_to_move * -1;
}
@@ -79,7 +73,7 @@ bool IndexFeeder::moveInternal(uint32_t timeout, bool forward, uint8_t tenths_mm
bool ret = false;
float Kp=0.1, Ki=0.5, Kd=0, Hz=10;
float Kp=200, Ki=5, Kd=0, Hz=60;
int output_bits = 8;
bool output_signed = true;
FastPID pid(Kp, Ki, Kd, Hz, output_bits, output_signed);
@@ -89,31 +83,6 @@ bool IndexFeeder::moveInternal(uint32_t timeout, bool forward, uint8_t tenths_mm
signed long current_pos = _encoder->getPosition();
// Dumb if statement implementation
// if(fabs(current_pos - goal_pos) < 3){
// break;
// }
// if(goal_pos > current_pos + 100){
// analogWrite(_drive1_pin, 0);
// analogWrite(_drive2_pin, 255);
// }
// else if (goal_pos < current_pos - 100){
// analogWrite(_drive1_pin, 255);
// analogWrite(_drive2_pin, 0);
// }
// else if (goal_pos > current_pos){
// analogWrite(_drive1_pin, 0);
// analogWrite(_drive2_pin, 100);
// }
// else if (goal_pos < current_pos){
// analogWrite(_drive1_pin, 100);
// analogWrite(_drive2_pin, 0);
// }
// PID implementation
signed long output = pid.step(goal_pos, current_pos);
@@ -149,6 +118,14 @@ bool IndexFeeder::tension(uint32_t timeout) {
unsigned long start_millis, current_millis;
//tension film
digitalWrite(PA8, LOW);
analogWrite(_peel1_pin, 255);
analogWrite(_peel2_pin, 0);
delay(500);
analogWrite(_peel1_pin, 0);
analogWrite(_peel2_pin, 0);
digitalWrite(PA8, HIGH);
return true;
}
@@ -157,11 +134,23 @@ bool IndexFeeder::moveForward(uint8_t tenths_mm) {
// First, ensure everything is stopped
stop();
//peel film
tension(TENSION_TIMEOUT);
analogWrite(_peel1_pin, 255);
analogWrite(_peel2_pin, 0);
//move tape
moveInternal(2000, true, tenths_mm);
moveInternal(5000, true, tenths_mm);
analogWrite(_peel1_pin, 0);
analogWrite(_peel2_pin, 0);
// move film
return tension(TENSION_TIMEOUT);
//return tension(TENSION_TIMEOUT);
return true;
}
bool IndexFeeder::moveBackward(uint8_t tenths_mm) {
@@ -171,8 +160,9 @@ bool IndexFeeder::moveBackward(uint8_t tenths_mm) {
// Next, unspool some film to give the tape slack. imprecise amount because we retention later
// move tape backward
moveInternal(2000, false, tenths_mm);
moveInternal(5000, false, tenths_mm);
stop();
//tension film again
return tension(TENSION_TIMEOUT);

View File

@@ -13,7 +13,7 @@
#define DRIVE1 PB5
#define DRIVE2 PB6
#define PEEL1 PB7
#define PEEL2 PB_8
#define PEEL2 PA7
#define ONE_WIRE PA0

View File

@@ -246,8 +246,8 @@ void loop() {
}
else{
//we've got a long press, lets go speedy
analogWrite(DRIVE1, 0);
analogWrite(DRIVE2, 255);
analogWrite(DRIVE1, 255);
analogWrite(DRIVE2, 0);
while(!digitalRead(SW1)){
//do nothing
@@ -276,8 +276,8 @@ void loop() {
}
else{
//we've got a long press, lets go speedy
analogWrite(DRIVE1, 255);
analogWrite(DRIVE2, 0);
analogWrite(DRIVE1, 0);
analogWrite(DRIVE2, 255);
while(!digitalRead(SW2)){
//do nothing

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@@ -0,0 +1,36 @@
(kicad_symbol_lib (version 20211014) (generator kicad_symbol_editor)
(symbol "DS28E05" (in_bom yes) (on_board yes)
(property "Reference" "U" (id 0) (at -6.35 3.81 0)
(effects (font (size 1.27 1.27)))
)
(property "Value" "DS28E05" (id 1) (at 0 -1.27 0)
(effects (font (size 1.27 1.27)))
)
(property "Footprint" "" (id 2) (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "" (id 3) (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(symbol "DS28E05_0_1"
(rectangle (start -7.62 5.08) (end 7.62 -5.08)
(stroke (width 0) (type default) (color 0 0 0 0))
(fill (type none))
)
)
(symbol "DS28E05_1_1"
(pin passive line (at -6.35 -7.62 90) (length 2.54)
(name "IO" (effects (font (size 1.27 1.27))))
(number "1" (effects (font (size 1.27 1.27))))
)
(pin passive line (at 6.35 -7.62 90) (length 2.54)
(name "NC" (effects (font (size 1.27 1.27))))
(number "2" (effects (font (size 1.27 1.27))))
)
(pin passive line (at 0 7.62 270) (length 2.54)
(name "GND" (effects (font (size 1.27 1.27))))
(number "3" (effects (font (size 1.27 1.27))))
)
)
)
)

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@@ -0,0 +1,24 @@
(footprint "1TS003B-1400-3500A-CT" (version 20211014) (generator pcbnew)
(layer "F.Cu")
(tedit 62EA7D60)
(attr smd)
(fp_text reference "REF**" (at 0 5.2 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 3e0b373c-bb25-432b-805f-ddc9885664ff)
)
(fp_text value "1TS003B-1400-3500A-CT" (at 0 1 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp c6048279-edb3-4a27-af90-5062f9caabc5)
)
(fp_text user "${REFERENCE}" (at 0 2.5 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 52dcad74-89f3-4525-879e-dc27e73d7aa6)
)
(fp_rect (start -0.9 -1.2) (end 0.9 -2.3) (layer "F.SilkS") (width 0.12) (fill none) (tstamp 39e826fb-d1e2-4e8c-9b30-76d0dd52edfe))
(fp_circle (center 0.85 0) (end 1.2 0) (layer "Edge.Cuts") (width 0.12) (fill none) (tstamp 69c9038b-b535-4e81-b64e-81de50565e94))
(fp_circle (center -0.85 0) (end -0.5 0) (layer "Edge.Cuts") (width 0.12) (fill none) (tstamp c4155011-1907-40ed-8647-8c2e03340629))
(pad "1" smd roundrect (at -1.7 1.4 180) (size 0.9 0.8) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.125) (tstamp aee1c113-38db-4c3e-8163-7136c5806d06))
(pad "2" smd roundrect (at 1.7 1.4 180) (size 0.9 0.8) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.125) (tstamp bf9c7c99-d592-4099-af77-44f4e9dc7236))
(pad "3" smd roundrect (at 2.3 -0.6) (size 0.6 1.2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.125) (tstamp b3cfcc4e-b509-402b-9352-32ba1b98e98c))
(pad "4" smd roundrect (at -2.3 -0.6) (size 0.6 1.2) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.125) (tstamp 3c2e41a2-69c3-4b0f-8f8c-821502fd04a9))
)

View File

@@ -0,0 +1,30 @@
(footprint "AVX-915-005-541-Contact-Surface" (version 20211014) (generator pcbnew)
(layer "F.Cu")
(tedit 62FAA66D)
(attr smd)
(fp_text reference "REF**" (at 0.15 5.35 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 44f01fce-6b63-4406-bc07-0fadaf6c33bc)
)
(fp_text value "AVX-915-005-541-Contact-Surface" (at -0.15 8.4 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp ca50395a-c374-4dc0-b2a7-0fb58f67fbd8)
)
(fp_text user "PCB" (at -1.2 1.8 unlocked) (layer "F.SilkS")
(effects (font (size 0.5 0.5) (thickness 0.1)))
(tstamp c100bd91-3ed5-433a-bf8c-05e3c2e395f6)
)
(fp_text user "${REFERENCE}" (at 0 2.5 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 3ddb5eab-55cd-49e1-be8f-5701625e9ee4)
)
(fp_line (start -2 -1.7) (end -2 2.1) (layer "F.SilkS") (width 0.12) (tstamp 0cae029c-545a-44c0-82fc-fd2e13237755))
(fp_line (start -2 2.1) (end 12 2.1) (layer "F.SilkS") (width 0.12) (tstamp 14bb577a-822a-4e0b-b836-fc28c4bc4a6a))
(fp_line (start -2 -1.7) (end 12 -1.7) (layer "F.SilkS") (width 0.12) (tstamp 418fb29a-7024-4965-bd75-0be67185814a))
(fp_line (start 12 -1.7) (end 12 2.1) (layer "F.SilkS") (width 0.12) (tstamp afac1468-53c1-4bc6-8608-05c27e675c3f))
(pad "1" smd roundrect (at 0 0) (size 2 3) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 9b146445-17f9-4dab-af8f-31430951e92f))
(pad "2" smd roundrect (at 2.5 0) (size 2 3) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 31cb6cc6-01ec-4c13-abe3-8008bd45745c))
(pad "3" smd roundrect (at 5 0) (size 2 3) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp c9bdf896-75ab-44a6-82ee-7dce7e91d14f))
(pad "4" smd roundrect (at 7.5 0) (size 2 3) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 528ec50e-9c40-4b69-9ee0-3cc539418a8f))
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)

View File

@@ -0,0 +1,32 @@
(footprint "AVX-9155-005-541" (version 20211014) (generator pcbnew)
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(tedit 62FA91AE)
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(property "Sheetname" "")
(attr smd)
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)
(fp_text value "Conn_01x07_Female" (at 0 -1.35 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 8c6937c1-0e83-4893-ac70-e4e93231b93c)
)
(fp_text user "${REFERENCE}" (at 0 2.5 unlocked) (layer "F.Fab")
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(tstamp 8303f986-54b0-4bcb-b378-b99e41d14b97)
)
(fp_rect (start -6 4.15) (end 6 0.7) (layer "F.SilkS") (width 0.12) (fill none) (tstamp a0f684e4-9c3f-46c1-8faa-31c989bfcd70))
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(model "/Users/stephen/feeder/lib/kicad/feeder.pretty/AVX-9155-005-541.step"
(offset (xyz 0 -4.1 0))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
)

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@@ -45,7 +45,7 @@
"silk_text_upright": false,
"zones": {
"45_degree_only": false,
"min_clearance": 0.508
"min_clearance": 0.3
}
},
"diff_pair_dimensions": [],

View File

@@ -5,11 +5,11 @@
(paper "A4")
(lib_symbols
(symbol "Connector:Conn_01x10_Female" (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
(property "Reference" "J" (id 0) (at 0 12.7 0)
(symbol "Connector:Conn_01x05_Female" (pin_names (offset 1.016) hide) (in_bom yes) (on_board yes)
(property "Reference" "J" (id 0) (at 0 7.62 0)
(effects (font (size 1.27 1.27)))
)
(property "Value" "Conn_01x10_Female" (id 1) (at 0 -15.24 0)
(property "Value" "Conn_01x05_Female" (id 1) (at 0 -7.62 0)
(effects (font (size 1.27 1.27)))
)
(property "Footprint" "" (id 2) (at 0 0 0)
@@ -21,25 +21,13 @@
(property "ki_keywords" "connector" (id 4) (at 0 0 0)
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View File

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0 Add a 4 corners polygon primitive as box body*
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M02*

View File

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G04 #@! TF.FilePolarity,Positive*
%FSLAX46Y46*%
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%MOMM*%
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M02*

View File

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G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,(6.0.1-0)*
G04 #@! TF.CreationDate,2022-08-23T11:47:09-04:00*
G04 #@! TF.ProjectId,mobo,6d6f626f-2e6b-4696-9361-645f70636258,rev?*
G04 #@! TF.SameCoordinates,Original*
G04 #@! TF.FileFunction,Legend,Bot*
G04 #@! TF.FilePolarity,Positive*
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
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%MOMM*%
%LPD*%
G01*
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M02*

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G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,(6.0.1-0)*
G04 #@! TF.CreationDate,2022-08-23T11:47:09-04:00*
G04 #@! TF.ProjectId,mobo,6d6f626f-2e6b-4696-9361-645f70636258,rev?*
G04 #@! TF.SameCoordinates,Original*
G04 #@! TF.FileFunction,Profile,NP*
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
G04 Created by KiCad (PCBNEW (6.0.1-0)) date 2022-08-23 11:47:09*
%MOMM*%
%LPD*%
G01*
G04 APERTURE LIST*
G04 #@! TA.AperFunction,Profile*
%ADD10C,0.050000*%
G04 #@! TD*
G04 #@! TA.AperFunction,Profile*
%ADD11C,0.120000*%
G04 #@! TD*
G04 APERTURE END LIST*
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M02*

14417
pcb/mobo/rev07/mobo-F_Cu.gbr Normal file

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15477
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@@ -0,0 +1,371 @@
G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,(6.0.1-0)*
G04 #@! TF.CreationDate,2022-08-23T11:47:08-04:00*
G04 #@! TF.ProjectId,mobo,6d6f626f-2e6b-4696-9361-645f70636258,rev?*
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G04 #@! TF.FileFunction,Paste,Top*
G04 #@! TF.FilePolarity,Positive*
%FSLAX46Y46*%
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
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%MOMM*%
%LPD*%
G01*
G04 APERTURE LIST*
G04 Aperture macros list*
%AMRoundRect*
0 Rectangle with rounded corners*
0 $1 Rounding radius*
0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners*
0 Add a 4 corners polygon primitive as box body*
4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0*
0 Add four circle primitives for the rounded corners*
1,1,$1+$1,$2,$3*
1,1,$1+$1,$4,$5*
1,1,$1+$1,$6,$7*
1,1,$1+$1,$8,$9*
0 Add four rect primitives between the rounded corners*
20,1,$1+$1,$2,$3,$4,$5,0*
20,1,$1+$1,$4,$5,$6,$7,0*
20,1,$1+$1,$6,$7,$8,$9,0*
20,1,$1+$1,$8,$9,$2,$3,0*%
G04 Aperture macros list end*
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