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Add fade-down functionality to motorctl (bug)

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With this changes the motors are faded down (same as already existing fading up)
when the target duty suddenly decreases.
It can be configured or disabled with setting msFadeDown to 0  in config struct of
motorctl object.

- Add new config parameter msFadeDown
- Change msFade to msFadeDown

- Add fade down functionality to motorctl instead of just setting the
  duty to lower value

!!!TODO: fix major  BUG when motor direction changes suddenly (before fade got to
0) the motor immediately starts in other direction with previous duty
   (no/less fading up happening)
This commit is contained in:
jonny_l480 2022-07-16 12:46:56 +02:00
parent d573cc5b24
commit 436c528eaf
3 changed files with 31 additions and 11 deletions
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3
main/config.cpp
View File

@ -29,7 +29,8 @@ single100a_config_t configDriverRight = {
//--- configure motor contol ---
motorctl_config_t configMotorControl = {
.msFade = 900,
.msFadeUp = 1500,
.msFadeDown = 3000,
.currentMax = 10
};

33
main/motorctl.cpp
View File

@ -46,9 +46,16 @@ void controlledMotor::handle(){
}
//--- calculate increment ---
//calculate increment with passed time since last run and configured fade time
//calculate increment for fading UP with passed time since last run and configured fade time
int64_t usPassed = esp_timer_get_time() - timestampLastRunUs;
dutyIncrement = ( usPassed / ((float)config.msFade * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
dutyIncrementUp = ( usPassed / ((float)config.msFadeUp * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
//calculate increment for fading DOWN with passed time since last run and configured fade time
if (config.msFadeDown > 0){
dutyIncrementDown = ( usPassed / ((float)config.msFadeDown * 1000) ) * 100;
} else {
dutyIncrementDown = 100;
}
//--- calculate difference ---
dutyDelta = dutyTarget - dutyNow;
@ -56,14 +63,24 @@ void controlledMotor::handle(){
//negative: need to decrease
//--- fade up ---
if(dutyDelta > dutyIncrement){ //target duty his higher than current duty -> fade up
ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrement, (int)usPassed);
dutyNow += dutyIncrement; //increase duty by increment
if(dutyDelta > dutyIncrementUp){ //target duty his higher than current duty -> fade up
ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementUp, (int)usPassed);
dutyNow += dutyIncrementUp; //increase duty by increment
//--- set lower ---
} else { //target duty is lower than current duty -> immediately set to target
ESP_LOGV(TAG, "*setting to target*: target=%.2f%% - previous=%.2f%% ", dutyTarget, dutyNow);
dutyNow = dutyTarget; //set target duty
//} else { //target duty is lower than current duty -> immediately set to target
// ESP_LOGV(TAG, "*setting to target*: target=%.2f%% - previous=%.2f%% ", dutyTarget, dutyNow);
// dutyNow = dutyTarget; //set target duty
//}
//--- fade down ---
} else { //target duty is lower than current duty -> fade down
ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementDown, (int)usPassed);
if (dutyTarget < dutyIncrementDown){ //immediately set to target when closer than increment (avoid negative duty)
dutyNow = dutyTarget;
} else {
dutyNow -= dutyIncrementDown; //decrease duty by increment
}
}
//--- apply to motor ---

6
main/motorctl.hpp
View File

@ -30,7 +30,8 @@ typedef struct motorCommands_t {
//struct with all config parameters for a motor regarding ramp and current limit
typedef struct motorctl_config_t {
uint32_t msFade; //acceleration of the motor (ms it should take from 0 to 100%)
uint32_t msFadeUp; //acceleration of the motor (ms it should take from 0% to 100%)
uint32_t msFadeDown; //acceleration of the motor (ms it should take from 100% to 0%)
float currentMax;
} motorctl_config_t;
@ -67,7 +68,8 @@ class controlledMotor {
float dutyTarget;
float dutyNow;
float dutyIncrement;
float dutyIncrementUp;
float dutyIncrementDown;
float dutyDelta;
uint32_t ramp;