faster moving speed

Makefile

@@ -4,9 +4,9 @@ FILES   = $(SRCS:%.c=%) #main uart avrIOhelper/io-helper #uart#hier alle c-Datei
 MCU     = atmega2560
 PROGC	= m2560
 CC      = avr-gcc
-#TOOL    = atmelice_isp
+TOOL    = atmelice_isp
 #TOOL    = avrispmkii
-TOOL    = usbasp-clone
+#TOOL    = usbasp-clone
 
 BUILDDIR = Builds
 

pid_controller.h

@@ -25,8 +25,8 @@ typedef struct {
 } PID_vars;
 
 
-#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.0,.Ki=0.00,.Kd=0.1,.output_max=15000.0, \
-                       .output_min=-15000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
+#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.3,.Ki=0.00,.Kd=0.0,.output_max=20000.0, \
+                       .output_min=-20000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
 
 /* Function Prototypes */
 double pid(PID_vars *vars, double current_err);

spule.c

@@ -33,7 +33,6 @@ void timer5_init()
     OCR5C = 500;
 
     DDRL |= 1 << 5;
-
 }
 
 void do_spule(){
@@ -58,6 +57,10 @@ void do_spule(){
     else{
         /* speed regulation - keep taenzer at 10% */
         int32_t tmp = (100 - (int32_t)taenzer_state.pos/1000)*10;
+
+        if(tmp < -75000/abzug_speed/2)
+            tmp = -75000/abzug_speed/2;
+
         ICR5=75000/abzug_speed + tmp;
         OCR5C = ICR5/2;
 
@@ -75,6 +78,8 @@ void do_spule(){
 
         if (read_Input(BTN_INIT, RISING)) {
             spule_trans_homed = 0;
+            taenzer_state.homed = 0;
+            taenzer_state.active = 0;
         }
     }
 }
@@ -82,23 +87,52 @@ void do_spule(){
 ISR(TIMER1_OVF_vect) {
     if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
         spule_trans_pos -= 1;
+        if(spule_trans_homed && spule_trans_pos == 84999){
+            TCCR1B &= ~(_BV(CS11));
+            TIMSK5 |= 1<<TOIE5;
+            printf("nachlauf aufbauen");
+        }
+        if(spule_trans_homed && spule_trans_pos == 4*3540){
+            ICR1 = 0.5*(ICR5/0.7);
+            OCR1A = ICR1/2;
+            printf("nachlauf abbauen");
+        }
         if(spule_trans_homed && spule_trans_pos <= 0){
-            //TCCR1B &= ~(_BV(CS11));
-            //TIMSK5 |= 1<<TOIE5;
+            ICR1 = ICR5/0.7;
+            OCR1A = ICR1/2;
             printf("front stop\n");
             set_Output(MOTOR_TRANS_DIR, 0); // direction: back
         }
     }
     else{
         spule_trans_pos += 1;
+        if(spule_trans_homed && spule_trans_pos == 3540){
+            TCCR1B &= ~(_BV(CS11));
+            TIMSK5 |= 1<<TOIE5;
+            printf("nachlauf aufbauen");
+        }
+        if(spule_trans_homed && spule_trans_pos == (85000 - (4*3540)) ){
+            ICR1 = 0.5*(ICR5/0.7);
+            OCR1A = ICR1/2;
+            printf("nachlauf abbauen");
+        }
         if(spule_trans_pos >= 85000){
-            //TCCR1B &= ~(_BV(CS11));
-            //TIMSK5 |= 1<<TOIE5;
+            ICR1 = ICR5/0.7;
+            OCR1A = ICR1/2;
             printf("end stop\n");
             set_Output(MOTOR_TRANS_DIR, 1); // direction: front
         }
     }
+
 }
 
 ISR(TIMER5_OVF_vect) {
+    static int16_t cnt = 0;
+    cnt++;
+
+    if(cnt >= 2*4000){
+        cnt = 0;
+        TCCR1B |= _BV(CS11); //TURN ON
+        TIMSK5 &= ~(1<<TOIE5);
+    }
 }

taenzer.c

@@ -21,6 +21,7 @@ taenzer_state_t taenzer_state = {
     .homed = 0,
     .pos = 0,
     .force_setpoint = TAENZER_KRAFT_SETPOINT,
+    .active = 0
 };
 
 double pid(PID_vars *vars, double current_err) {
@@ -55,6 +56,8 @@ void do_taenzer(){
         taenzer_state.pos = 0;
     }
     if(!taenzer_state.homed && notaus_state == POWER_ON){
+        ICR4 = 30;
+        OCR4A = 15;
         set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
         TCCR4B |= _BV(CS41); //TURN ON
     }
@@ -71,9 +74,12 @@ void do_taenzer(){
         send_info();
 #endif
     }
+    if (read_Input(BTN_TAENZER_START, RISING)) {
+        taenzer_state.active = 1;
+    }
 
     /* Force regualtion */
-    if(kraftsensor_valid && taenzer_state.homed && taenzer_state.pos >= 0 && taenzer_state.pos < 500000){
+    if(kraftsensor_valid && taenzer_state.active && taenzer_state.homed && taenzer_state.pos >= 0 && taenzer_state.pos < 500000){
         int16_t err = (kraftsensor_value - taenzer_state.force_setpoint);
 
         double pid_out = pid(&regler, err);

taenzer.h

@@ -7,6 +7,7 @@ typedef volatile struct {
     uint8_t homed;
     uint32_t pos;
     int16_t force_setpoint;
+    uint8_t active;
 } taenzer_state_t;
 extern taenzer_state_t taenzer_state;