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stepper-test: Control stepper with buttons

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now the stepper test task controls the stepper using button input
this makes debugging modifications to stepper library easier
This commit is contained in:
jonny_l480 2023-03-24 12:10:37 +01:00
parent 8d2428d285
commit 5d7c67ab9a
3 changed files with 51 additions and 13 deletions
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2
main/config.hpp
View File

@ -85,7 +85,7 @@ extern "C" {
//----- stepper config -----
//--------------------------
//enable stepper test mode (dont start control and encoder task)
//#define STEPPER_TEST
#define STEPPER_TEST
#define STEPPER_STEP_PIN GPIO_NUM_18 //mos1
#define STEPPER_DIR_PIN GPIO_NUM_16 //ST3
#define STEPPER_EN_PIN GPIO_NUM_0 //not connected (-> stepper always on)

60
main/guide-stepper.cpp
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@ -11,6 +11,7 @@ extern "C"
#include "config.hpp"
#include "guide-stepper.hpp"
#include "encoder.hpp"
#include "gpio_evaluateSwitch.hpp"
@ -32,7 +33,7 @@ extern "C"
#define SPEED_MAX 60.0 //mm/s
#define SPEED 10 //35, 100, 50 rev
#define ACCEL_MS 600.0 //ms from 0 to max
#define ACCEL_MS 1000.0 //ms from 0 to max
#define DECEL_MS 1000.0 //ms from max to 0
#define STEPPER_STEPS_PER_ROT 1600
@ -188,18 +189,55 @@ void task_stepper_test(void *pvParameter)
{
init_stepper();
home();
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
//--- move from left to right repeatedly ---
// while (1) {
// updateSpeedFromAdc();
// step.runPosMm(STEPPER_TEST_TRAVEL);
// while(step.getState() != 1) vTaskDelay(2);
// ESP_LOGI(TAG, "finished moving right => moving left");
while (1) {
updateSpeedFromAdc();
step.runPosMm(STEPPER_TEST_TRAVEL);
while(step.getState() != 1) vTaskDelay(2);
ESP_LOGI(TAG, "finished moving right => moving left");
// 10updateSpeedFromAdc();
// step.runPosMm(-STEPPER_TEST_TRAVEL);
// while(step.getState() != 1) vTaskDelay(2); //1=idle
// ESP_LOGI(TAG, "finished moving left => moving right");
// }
updateSpeedFromAdc();
step.runPosMm(-STEPPER_TEST_TRAVEL);
while(step.getState() != 1) vTaskDelay(2); //1=idle
ESP_LOGI(TAG, "finished moving left => moving right");
}
//--- control stepper using preset buttons ---
while(1){
vTaskDelay(20 / portTICK_PERIOD_MS);
//------ handle switches ------
//run handle functions for all switches
SW_START.handle();
SW_RESET.handle();
SW_SET.handle();
SW_PRESET1.handle();
SW_PRESET2.handle();
SW_PRESET3.handle();
SW_CUT.handle();
SW_AUTO_CUT.handle();
if (SW_RESET.risingEdge) {
buzzer.beep(1, 1000, 100);
step.stop();
ESP_LOGI(TAG, "button - stop stepper\n ");
}
if (SW_PRESET1.risingEdge) {
buzzer.beep(2, 300, 100);
step.runPosMm(30);
ESP_LOGI(TAG, "button - moving right\n ");
}
if (SW_PRESET3.risingEdge) {
buzzer.beep(1, 500, 100);
step.runPosMm(-30);
ESP_LOGI(TAG, "button - moving left\n ");
}
if (SW_PRESET2.risingEdge) {
buzzer.beep(1, 100, 100);
ESP_LOGW(TAG, "button - current state: %d\n, pos: %llu", (int)step.getState(), step.getPositionMm());
}
}
}

2
main/main.cpp
View File

@ -99,10 +99,10 @@ extern "C" void app_main()
//create task for controlling the machine
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 5, NULL, 5, NULL);
#endif
//create task for handling the buzzer
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
#endif
//beep at startup
buzzer.beep(3, 70, 50);