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Stepper: add mutex, logging, delay, less steps

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When testing last commit the stepper task crashed almost instantly and
moved randomly. Trying to fix/debug that with those changes
This commit is contained in:
jonny_ji7
2023-03-13 11:12:42 +01:00
parent de42b6252e
commit 45409676a0
3 changed files with 20 additions and 10 deletions
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6
main/guide-stepper.cpp
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@@ -34,7 +34,7 @@ extern "C"
#define ACCEL_MS 100.0 //ms from 0 to max
#define DECEL_MS 90.0 //ms from max to 0
#define STEPPER_STEPS_PER_ROT 1600
#define STEPPER_STEPS_PER_ROT 800
#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
#define D_CABLE 6
@@ -71,7 +71,7 @@ void travelSteps(int stepsTarget){
//--- wait if direction changed ---
if (dirPrev != dir){
ESP_LOGI(TAG, " dir-change detected - waiting for move to finish \n ");
ESP_LOGW(TAG, " dir-change detected - waiting for move to finish \n ");
while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
}
@@ -235,6 +235,8 @@ void task_stepper_ctl(void *pvParameter)
//read potentiometer and normalize (0-1) to get a variable for testing
potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
//ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
ESP_LOGI(TAG, "delaying stepper-ctl task by %.1f ms (poti value)", 2000 * potiModifier);
vTaskDelay(2000 * potiModifier / portTICK_PERIOD_MS);
//calculate steps to move
cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;