Add Stepper to connection-plan, Add datasheets

- Add datasheets of VFD and stepper driver
- Change pins in config for stepper driver
    - DISABLED LAMP (pin now used for stepper)
- update connection plan with stepper section and wiring

main/config.hpp

@@ -17,8 +17,8 @@ extern "C" {
 #define GPIO_VFD_D1 GPIO_NUM_15     //ST1
 //#define GPIO_VFD_D2 GPIO_NUM_15     //ST1 (D2 only used with 7.5kw vfd)
 
-#define GPIO_MOS1 GPIO_NUM_18       //mos1 (free)
+#define GPIO_MOS1 GPIO_NUM_18       //mos1 (free) 2022.02.28: pin used for stepper
-#define GPIO_LAMP GPIO_NUM_5        //mos2
+#define GPIO_LAMP GPIO_NUM_0        //mos2 (5) 2022.02.28: lamp disabled, pin used for stepper
 #define GPIO_RELAY GPIO_NUM_13
 #define GPIO_BUZZER GPIO_NUM_12
 

main/guide-stepper.cpp

@@ -10,35 +10,113 @@ extern "C"
 #include "DendoStepper.h"
 #include "config.hpp"
 #include "guide-stepper.hpp"
+#include "encoder.hpp"
+
 
 
 //---------------------
 //--- configuration ---
 //---------------------
 //also see config.hpp
-#define LEN_MOVE 65     //mm
+//for pin definition
+
+#define STEPPER_TEST_TRAVEL 65     //mm
+                        //
+#define MIN 0
+#define MAX 60 
+
+
 #define SPEED_MIN 2.0   //mm/s
 #define SPEED_MAX 60.0 //mm/s
 
 #define ACCEL_MS 100.0  //ms from 0 to max
 #define DECEL_MS 90.0   //ms from max to 0
 
-#define STEPS_PER_ROT 1600
+#define STEPPER_STEPS_PER_ROT 1600
+#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
+
+#define D_CABLE 6
+#define D_REEL 155 //actual 170
+#define PI 3.14159
 
 
 
 //----------------------
 //----- variables ------
 //----------------------
-DendoStepper step;
+static DendoStepper step;
-DendoStepper step1;
 static const char *TAG = "stepper"; //tag for logging
 
+static int stepp_lengthNow = 0; //length measured in mm
+static int lengthPrev = 0; //length last check
+
+static bool stepp_direction = true;
+static uint64_t posNow = 0;
+
+
 
 
 //----------------------
 //----- functions ------
 //----------------------
+//move left and right or reverse while winding
+void travelDist(int length){
+    //uint64_t posNow = step.getPositionMm();
+
+        int d, remaining;
+    d = abs(length);
+    if(length < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
+
+    while (d != 0){
+        //--- currently moving right ---
+        if (stepp_direction == true){         //currently moving right
+            remaining = MAX - posNow;   //calc remaining distance fom current position to limit
+            if (d > remaining){         //new distance will exceed limit
+                step.runAbsMm (MAX);        //move to limit
+                                          posNow=MAX;
+                stepp_direction = false;      //change current direction for next iteration
+                d = d - remaining;      //decrease target length by already traveled distance
+                printf(" --- changed direction (L) --- \n ");
+            }
+            else {                      //target distance does not reach the limit
+                step.runAbsMm (posNow + d); //move by (remaining) distance to reach target length
+                printf("moving to %lld\n", posNow+d);
+                posNow += d;
+                d = 0;                  //finished, reset target length (could as well exit loop/break)
+            }
+        }
+
+        //--- currently moving left ---
+        else {
+            remaining = posNow - MIN;
+            if (d > remaining){
+                step.runAbsMm (MIN);
+                posNow=0;
+                stepp_direction = true;
+                d = d - remaining;
+                printf(" --- changed direction (R) --- \n ");
+            }
+            else {
+                step.runAbsMm (posNow - d); //when moving left the coordinate has to be decreased
+                printf("moving to %lld\n", posNow-d);
+                posNow -= d;
+                d = 0;
+            }
+        }
+    }
+
+    if(length < 0) stepp_direction = !stepp_direction; //undo inversion of stepp_direction after reverse mode is finished
+    return;
+
+
+
+}
+
+
+
+
+
+
 //calculate time needed for certain length (NOT NEEDED/ DELETE)
 //float mmToS(int l){
 //
@@ -73,9 +151,9 @@ void home() {
 void init_stepper() {
     ESP_LOGW(TAG, "initializing stepper...");
     DendoStepper_config_t step_cfg = {
-        .stepPin = 18,
+        .stepPin = STEPPER_STEP_PIN,
-        .dirPin = 19,
+        .dirPin = STEPPER_DIR_PIN,
-        .enPin = 21,
+        .enPin = STEPPER_EN_PIN,
         .timer_group = TIMER_GROUP_0,
         .timer_idx = TIMER_0,
         .miStep = MICROSTEP_32,
@@ -84,13 +162,13 @@ void init_stepper() {
     step.init();
 
     step.setSpeed(1000, 1000, 1000); //random default speed
-    step.setStepsPerMm(STEPS_PER_ROT /4); //guide: 4mm/rot
+    step.setStepsPerMm(STEPPER_STEPS_PER_MM); //guide: 4mm/rot
 }
 
 
 //function that updates speed value using ADC input and configured MIN/MAX
 void updateSpeedFromAdc() {
-    int potiRead = gpio_readAdc(ADC1_CHANNEL_6); //0-4095 GPIO34
+    int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34
     double poti = potiRead/4095.0;
     int speed = poti*(SPEED_MAX-SPEED_MIN) + SPEED_MIN;
     step.setSpeedMm(speed, ACCEL_MS, DECEL_MS);
@@ -102,20 +180,48 @@ void updateSpeedFromAdc() {
 //---------------------
 //------- TASK --------
 //---------------------
-void task_stepper(void *pvParameter)
+void task_stepper_test(void *pvParameter)
 {
     init_stepper();
     home();
 
     while (1) {
         updateSpeedFromAdc();
-        step.runPosMm(-LEN_MOVE);
+        step.runPosMm(-STEPPER_TEST_TRAVEL);
         while(step.getState() != 1) vTaskDelay(2);
         ESP_LOGI(TAG, "finished moving right => moving left");
 
         updateSpeedFromAdc();
-        step.runPosMm(LEN_MOVE);
+        step.runPosMm(STEPPER_TEST_TRAVEL);
         while(step.getState() != 1) vTaskDelay(2); //1=idle
         ESP_LOGI(TAG, "finished moving left => moving right");
     }
 }
+
+
+void task_stepper_ctl(void *pvParameter)
+{
+    init_stepper();
+    home();
+
+    while(1){
+        //get current length
+        stepp_lengthNow = encoder_getLenMm();
+
+        int lengthDelta = stepp_lengthNow - lengthPrev;
+        //TODO add modifier e.g. poti value
+        int travel = lengthDelta * D_CABLE / (PI * D_REEL); //calc distance to move
+        ESP_LOGI(TAG, "delta: %d travel: %d",lengthDelta, travel);
+                                                            //FIXME: rounding issue? e.g. 1.4 gets lost
+        if (abs(travel) > 1){ //when ready to move axis by at least 1 millimeter
+        ESP_LOGI(TAG, "EXCEEDED: delta: %d travel: %d",lengthDelta, travel);
+            travelDist(travel);
+            while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
+            lengthPrev = stepp_lengthNow; //update length
+        }
+        else {
+            vTaskDelay(5);
+        }
+    }
+
+}

main/guide-stepper.hpp

@@ -5,4 +5,8 @@
 //  - automatically auto-homes
 //  - moves left and right repeatedly
 //  - updates speed from potentiometer each cycle
-void task_stepper(void *pvParameter);
+void task_stepper_test(void *pvParameter);
+
+//task that initializes and controls the stepper motor
+//  - moves stepper according to encoder movement
+void task_stepper_ctl(void *pvParameter);

main/main.cpp

@@ -95,9 +95,6 @@ extern "C" void app_main()
     //create task for controlling the machine
     xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
 
-    //create task for controlling the stepper
-    xTaskCreate(task_stepper_ctl, "task_stepper-test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
-
     //create task for handling the buzzer
     xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
 #endif