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Fix disabled encoder, scaling; Adjust intervals

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test with actual hardware
encoder init was commented out
scaling was off by factor 600
adjust speed intervals
This commit is contained in:
jonny_l480 2022-08-18 15:31:46 +02:00
parent 8b9b5ff736
commit 68dc012fcc
1 changed files with 3 additions and 3 deletions
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6
main/control.cpp
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@ -126,7 +126,7 @@ void task_control(void *pvParameter)
//initialize display //initialize display
display = init_display(); display = init_display();
//initialize encoder //initialize encoder
//both dispencoder_queue = init_encoder(&encoder); encoder_queue = init_encoder(&encoder);
//----------------------------------- //-----------------------------------
//------- display welcome msg ------- //------- display welcome msg -------
@ -170,7 +170,7 @@ void task_control(void *pvParameter)
// Poll current position and direction // Poll current position and direction
rotary_encoder_get_state(&encoder, &encoderState); rotary_encoder_get_state(&encoder, &encoderState);
//--- calculate distance --- //--- calculate distance ---
lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI); //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int? lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI) / 600; //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
//--------------------------- //---------------------------
@ -244,7 +244,7 @@ void task_control(void *pvParameter)
case WINDING_START: //wind slow for certain time case WINDING_START: //wind slow for certain time
//TODO: cancel / stay in this state when no change to lengthNow //TODO: cancel / stay in this state when no change to lengthNow
if (esp_log_timestamp() - timestamp_motorStarted > 4000) { if (esp_log_timestamp() - timestamp_motorStarted > 2000) {
changeState(WINDING); changeState(WINDING);
} }
//TESTING: SIMULATE LENGTH INCREASE //TESTING: SIMULATE LENGTH INCREASE