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Fix Bug brake not working at all

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BRAKE state was not possible with previous state
now IDLE is not forced when duty 0
Also adjust some logging
This commit is contained in:
jonny_jr9 2023-09-05 09:46:53 +02:00
parent 3014808d5a
commit 8c7f05134c
3 changed files with 22 additions and 17 deletions
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4
board_motorctl/main/main.cpp
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@ -95,8 +95,8 @@ void setLoglevels(void){
//--- set loglevel for individual tags --- //--- set loglevel for individual tags ---
esp_log_level_set("main", ESP_LOG_INFO); esp_log_level_set("main", ESP_LOG_INFO);
esp_log_level_set("buzzer", ESP_LOG_ERROR); esp_log_level_set("buzzer", ESP_LOG_ERROR);
esp_log_level_set("motordriver", ESP_LOG_DEBUG); esp_log_level_set("motordriver", ESP_LOG_VERBOSE);
//esp_log_level_set("motor-control", ESP_LOG_DEBUG); esp_log_level_set("motor-control", ESP_LOG_INFO);
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG); //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
esp_log_level_set("button", ESP_LOG_INFO); esp_log_level_set("button", ESP_LOG_INFO);

28
board_motorctl/main/motorctl.cpp
View File

@ -5,6 +5,7 @@
//tag for logging //tag for logging
static const char * TAG = "motor-control"; static const char * TAG = "motor-control";
#define TIMEOUT_IDLE_WHEN_NO_COMMAND 8000
//============================= //=============================
//======== constructor ======== //======== constructor ========
@ -79,7 +80,7 @@ void controlledMotor::handle(){
//--- receive commands from queue --- //--- receive commands from queue ---
if( xQueueReceive( commandQueue, &commandReceive, ( TickType_t ) 0 ) ) if( xQueueReceive( commandQueue, &commandReceive, ( TickType_t ) 0 ) )
{ {
ESP_LOGD(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty); ESP_LOGI(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
state = commandReceive.state; state = commandReceive.state;
dutyTarget = commandReceive.duty; dutyTarget = commandReceive.duty;
receiveTimeout = false; receiveTimeout = false;
@ -92,7 +93,8 @@ void controlledMotor::handle(){
case motorstate_t::BRAKE: case motorstate_t::BRAKE:
//update state //update state
state = motorstate_t::BRAKE; state = motorstate_t::BRAKE;
dutyTarget = 0; //dutyTarget = 0;
dutyTarget = fabs(commandReceive.duty);
break; break;
case motorstate_t::IDLE: case motorstate_t::IDLE:
dutyTarget = 0; dutyTarget = 0;
@ -108,11 +110,12 @@ void controlledMotor::handle(){
//--- timeout, no data --- //--- timeout, no data ---
//turn motors off if no data received for long time (e.g. no uart data / control offline) //turn motors off if no data received for long time (e.g. no uart data / control offline)
if ((esp_log_timestamp() - timestamp_commandReceived) > 3000 && !receiveTimeout){ //TODO no timeout when braking?
if ((esp_log_timestamp() - timestamp_commandReceived) > TIMEOUT_IDLE_WHEN_NO_COMMAND && !receiveTimeout){
receiveTimeout = true; receiveTimeout = true;
state = motorstate_t::IDLE; state = motorstate_t::IDLE;
dutyTarget = 0; dutyTarget = 0;
ESP_LOGE(TAG, "TIMEOUT, no target data received for more than 3s -> switch to IDLE"); ESP_LOGE(TAG, "TIMEOUT, no target data received for more than %ds -> switch to IDLE", TIMEOUT_IDLE_WHEN_NO_COMMAND/1000);
} }
//--- calculate increment --- //--- calculate increment ---
@ -131,14 +134,15 @@ void controlledMotor::handle(){
dutyIncrementDecel = 100; dutyIncrementDecel = 100;
} }
//--- BRAKE --- //--- BRAKE ---
//brake immediately, update state, duty and exit this cycle of handle function //brake immediately, update state, duty and exit this cycle of handle function
if (state == motorstate_t::BRAKE){ if (state == motorstate_t::BRAKE){
motor.set(motorstate_t::BRAKE, 0); ESP_LOGD(TAG, "braking - skip fading");
dutyNow = 0; motor.set(motorstate_t::BRAKE, dutyTarget);
return; //no need to run the fade algorithm //dutyNow = 0;
} return; //no need to run the fade algorithm
}
//--- calculate difference --- //--- calculate difference ---

7
board_motorctl/main/motordrivers.cpp
View File

@ -86,7 +86,7 @@ void single100a::set(motorstate_t state_f, float duty_f){
uint32_t dutyScaled; uint32_t dutyScaled;
if (duty_f > 100) { //target duty above 100% if (duty_f > 100) { //target duty above 100%
dutyScaled = dutyMax; dutyScaled = dutyMax;
} else if (duty_f <= 0) { //target at or below 0% } else if (duty_f < 0) { //target at or below 0%
state_f = motorstate_t::IDLE; state_f = motorstate_t::IDLE;
dutyScaled = 0; dutyScaled = 0;
} else { //target duty 0-100% } else { //target duty 0-100%
@ -94,6 +94,8 @@ void single100a::set(motorstate_t state_f, float duty_f){
dutyScaled = duty_f / 100 * dutyMax; dutyScaled = duty_f / 100 * dutyMax;
} }
ESP_LOGV(TAG, "target-state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f);
//TODO: only when previous mode was BRAKE? //TODO: only when previous mode was BRAKE?
if (state_f != motorstate_t::BRAKE){ if (state_f != motorstate_t::BRAKE){
//reset brake wait state //reset brake wait state
@ -119,7 +121,7 @@ void single100a::set(motorstate_t state_f, float duty_f){
case motorstate_t::BRAKE: case motorstate_t::BRAKE:
//prevent full short (no brake resistors) due to slow relay, also reduces switching load //prevent full short (no brake resistors) due to slow relay, also reduces switching load
if (!brakeWaitingForRelay){ if (!brakeWaitingForRelay){
ESP_LOGW(TAG, "BRAKE: turned on relay, waiting in IDLE for %d ms", BRAKE_RELAY_DELAY_MS); ESP_LOGW(TAG, "BRAKE: turned on relay, waiting in IDLE for %d ms, then apply brake", BRAKE_RELAY_DELAY_MS);
//switch driver to IDLE for now //switch driver to IDLE for now
gpio_set_level(config.gpio_a, config.aEnabledPinState); gpio_set_level(config.gpio_a, config.aEnabledPinState);
gpio_set_level(config.gpio_b, config.bEnabledPinState); gpio_set_level(config.gpio_b, config.bEnabledPinState);
@ -162,5 +164,4 @@ void single100a::set(motorstate_t state_f, float duty_f){
gpio_set_level(config.gpio_b, config.bEnabledPinState); gpio_set_level(config.gpio_b, config.bEnabledPinState);
break; break;
} }
ESP_LOGV(TAG, "set module to state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f);
} }