Code in the Arduino

Sensors

Thrust Sensor

To implement the strain gauge, an external library is required. This library can be found in the Arduino library. The following code provides the necessary instructions in the Arduino language specifically for this sensor.

#include "HX711.h"

// HX711 Amplificador
const int LOADCELL_DOUT_PIN = 1;
const int LOADCELL_SCK_PIN = 5;
HX711 scale;

double p;


//...
void setup() {
    Serial.begin(115200);  
    //...
    scale.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN);
    scale.set_scale(417.6153340635268);
    scale.tare();

    pinMode(enA, OUTPUT);
    pinMode(in1, OUTPUT);
    pinMode(in2, OUTPUT);
    //...
}



void loop() {

    p=scale.get_units(30);
    //...
    Serial.println(p,4); 
    //...       
}

Current Sensor

The subsequent code displays the essential instructions in the Arduino language specifically for this sensor.

float sensibility=0.285;

void setup() {
  // put your setup code here, to run once:
    Serial.begin(115200);  
    /...

    pinMode(enA, OUTPUT);
    pinMode(in1, OUTPUT);
    pinMode(in2, OUTPUT);

}

float get_corriente(int n_muestras){
    float voltajeSensor;
    float corriente=0;
    for(int i=0;i<n_muestras;i++){
        voltajeSensor = analogRead(A0) * (5.00 / 1023.00);////Sensor Reading
        corriente=corriente+(voltajeSensor - 3.8331)/Sensibilidad; //get the current
    }
    corriente=corriente/n_muestras;
    return(corriente);
}


void loop() {


    c=get_corriente(20);
    //...
    Serial.println(c,4); 
    //...       
}

Actuator

Motor Driver

The following code provides the requisite instructions in the Arduino language specifically for the motor driver.

int enA = 2;
int in1 = 4;
int in2 = 3;

void setup() {
    Serial.begin(115200);  
    //...

    pinMode(enA, OUTPUT);
    pinMode(in1, OUTPUT);
    pinMode(in2, OUTPUT);

}

void speedControl(int velocidad) {

  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, velocidad);
  delay(3500);
  //...
  analogWrite(enA,0);

}


void loop() {

//...
    double x1;
    if (Serial.available() > 0){
        float data = Serial.parseFloat();
        if (data>0){
            x1= int(data);
            speedControl(x1);
        }
        //...
   }
   /...
  }

Complete Arduino Code

The comprehensive code integrates the sensors, actuator, and facilitates serial communication. You can download it here