FreeRTOS Asynchronous Motor Control with RS-485

This library enables to control 4 actuators in an asynchronous manner through FreeRTOS

1. RTOS Framework

#inclde <Arduino_FreeRTOS.h>
#include <semphr.h>

//1) Pre-define task main function
void vTaskMain(void *pvParameters);

void setup() {
    //2) Create Real-time Task 
    xTaskCreate(vTaskMain, NULL, configMINIMAL_STACK_SIZE, NULL, 1, NULL);
    
    //3) Start RTOS
    vTaskStartScheduler();
    
}

//4) Define task main function
void vTaskMain(void *pvParameters) {
    //5) Initialization
    ...
    while (true) {
        //6) Task Process
        ...
    }
}

//Arduino ino should have this loop(), even though this script doesn't use this part.
void loop() {} 

2. Hardware

Main Hardware
1) 1 MCU
2) Motor Driver
3) RS-485
4) Servo

• Arduino Mega
• RS-485, Half-duplex RS-485 driver IC, MAX485, 250000 baudrate
• Four Stepper Motor, Syringe pump
• Stepper position is set based on optical homing sensor and PWM step during moving
• DRV8711 Texas Instruments Motor Driver Module (Polulu)
• Support microstepping
• Servo library