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Change motorctl.handle from STATE to duty -100-100

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For fading-down and delay-between-state-change to work correctly when switching between motorstates
(e.g. FWD -> REV) the handle function was changed.

using a duty value -100 for reverse 100% and +100 for forward 100%
allows are more mathematical approach

changes to motorctl.cpp:
  - convert state and duty to duty -100 to 100 when receiving target
    command at start
  - convert duty -100-100 back to state and duty at the end for applying
    motor commands
This commit is contained in:
jonny_ji7 2022-07-17 15:23:42 +02:00
parent 436c528eaf
commit cd804452e4
1 changed files with 34 additions and 4 deletions
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38
main/motorctl.cpp
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@ -43,12 +43,28 @@ void controlledMotor::handle(){
ESP_LOGD(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
state = commandReceive.state;
dutyTarget = commandReceive.duty;
//--- convert duty ---
//define target duty (-100 to 100) from provided duty and motorstate
switch(commandReceive.state){
case motorstate_t::BRAKE:
case motorstate_t::IDLE:
dutyTarget = 0;
break;
case motorstate_t::FWD:
dutyTarget = fabs(commandReceive.duty);
break;
case motorstate_t::REV:
dutyTarget = - fabs(commandReceive.duty);
break;
}
}
//--- calculate increment ---
//calculate increment for fading UP with passed time since last run and configured fade time
int64_t usPassed = esp_timer_get_time() - timestampLastRunUs;
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;
@ -72,7 +88,7 @@ void controlledMotor::handle(){
// 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);
@ -82,11 +98,25 @@ void controlledMotor::handle(){
dutyNow -= dutyIncrementDown; //decrease duty by increment
}
}
//--- apply to motor ---
//convert duty -100 to 100 back to motorstate and duty 0-100
//apply target duty and state to motor driver
motor.set(state, dutyNow);
//forward
if(dutyNow > 0){
motor.set(motorstate_t::FWD, dutyNow);
}
//reverse
else if (dutyNow < 0){
motor.set(motorstate_t::REV, fabs(dutyNow));
}
//idle
//TODO: add BRAKE case!!!
else {
motor.set(motorstate_t::IDLE, 0);
}
//--- update timestamp ---
timestampLastRunUs = esp_timer_get_time(); //update timestamp last run with current timestamp in microseconds