Unit Roller485/RollerCAN Motor Position Calibration

Preparation

1.Press and hold the bottom button A, then connect the Grove cable to power the device.

2.Enter the configuration menu, and switch options by rotating the motor. Set the device to I2C mode.

3.Connect the Unit Roller485/RollerCAN to the M5 controller and follow the instructions below to upload the calibration program.

Calibration Procedure

• Upload the calibration program M5Unit-Roller - encoder_calibration to your main controller, If using another controller, adjust the GPIO pins inRollerI2C.begin(&Wire, 0x64, SDA, SCL, 400000)as needed.

/*
 *SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
 *
 *SPDX-License-Identifier: MIT
 */
#include "unit_rolleri2c.hpp"
#include <M5Unified.h>

#define ROLLER_CALIBRATION_DELAY 10000

UnitRollerI2C RollerI2C;  // Create a UNIT_ROLLERI2C object

uint8_t is_roller_valid             = 0;
uint8_t is_roller_calibrated        = 0;
uint32_t roller_start_delay_counter = 0;

void setup()
{
    M5.begin();
    if (RollerI2C.begin(&Wire, 0x64, 21, 22, 400000)) {
        is_roller_valid            = 1;
        roller_start_delay_counter = millis();
    }
}

void loop()
{
    if (is_roller_valid) {
        if (millis() - roller_start_delay_counter < ROLLER_CALIBRATION_DELAY) {
            printf("Calibration will start after %dS\n",
                   (roller_start_delay_counter - (millis() - roller_start_delay_counter)) / 1000);
        } else {
            if (!is_roller_calibrated) {
                printf("Start encoder calibration\n");
                RollerI2C.setOutput(0);
                delay(100);
                RollerI2C.startAngleCal();
                delay(100);
                printf("Calibrationing...\n");
                while (RollerI2C.getCalBusyStatus()) {
                    printf("Calibrationing...\n");
                }
                RollerI2C.updateAngleCal();
                printf("Encoder calibration done\n");
                delay(500);
                RollerI2C.setOutput(0);
                RollerI2C.setMode(ROLLER_MODE_SPEED);
                RollerI2C.setSpeed(240000);
                RollerI2C.setSpeedMaxCurrent(100000);
                RollerI2C.setOutput(1);
                is_roller_calibrated = 1;
            }
        }
    } else {
        printf("No roller485 dectected\n");
    }
}