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Fix rounding, Rework step-calc, Tested

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- decrease home speed
- invert direction in stepper test and home function due to changed
  wiring
- stretch travel steps calculation to multiple steps and variables for
  better overview and debugging
- prevent partial steps from being lost -> fixes rounding issue

TESTED: works in general, but steper movement is too jerky. Also there
is a Hardware issue: When VFD/motor is on the steper does not work
properly -> 50ohm pullup near stepper driver fixed this
This commit is contained in:
jonny_l480 2023-03-01 18:55:26 +01:00
parent 4edd1780ea
commit 6c9b1b6fcf
2 changed files with 44 additions and 25 deletions
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62
main/guide-stepper.cpp
View File

@ -21,7 +21,7 @@ extern "C"
//for pin definition //for pin definition
#define STEPPER_TEST_TRAVEL 65 //mm #define STEPPER_TEST_TRAVEL 65 //mm
// //
#define MIN_MM 0 #define MIN_MM 0
#define MAX_MM 60 #define MAX_MM 60
#define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM #define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
@ -38,7 +38,7 @@ extern "C"
#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4 #define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
#define D_CABLE 6 #define D_CABLE 6
#define D_REEL 155 //actual 170 #define D_REEL 160 //actual 170
#define PI 3.14159 #define PI 3.14159
@ -71,7 +71,7 @@ void travelSteps(int stepsTarget){
remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
if (stepsToGo > remaining){ //new distance will exceed limit if (stepsToGo > remaining){ //new distance will exceed limit
step.runAbs (POS_MAX_STEPS); //move to limit step.runAbs (POS_MAX_STEPS); //move to limit
while(step.getState() != 1) vTaskDelay(2); //wait for move to finish while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
posNow = POS_MAX_STEPS; posNow = POS_MAX_STEPS;
stepp_direction = false; //change current direction for next iteration stepp_direction = false; //change current direction for next iteration
stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance
@ -79,7 +79,7 @@ void travelSteps(int stepsTarget){
} }
else { //target distance does not reach the limit else { //target distance does not reach the limit
step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length
while(step.getState() != 1) vTaskDelay(2); //wait for move to finish while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo); ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo);
posNow += stepsToGo; posNow += stepsToGo;
stepsToGo = 0; //finished, reset target length (could as well exit loop/break) stepsToGo = 0; //finished, reset target length (could as well exit loop/break)
@ -122,8 +122,8 @@ void travelMm(int length){
//TODO: limit switch //TODO: limit switch
void home() { void home() {
ESP_LOGW(TAG, "auto-home..."); ESP_LOGW(TAG, "auto-home...");
step.setSpeedMm(120, 120, 100); step.setSpeedMm(100, 500, 10);
step.runInf(0); step.runInf(1);
vTaskDelay(1500 / portTICK_PERIOD_MS); vTaskDelay(1500 / portTICK_PERIOD_MS);
step.stop(); step.stop();
step.resetAbsolute(); step.resetAbsolute();
@ -171,18 +171,19 @@ void task_stepper_test(void *pvParameter)
while (1) { while (1) {
updateSpeedFromAdc(); updateSpeedFromAdc();
step.runPosMm(-STEPPER_TEST_TRAVEL); step.runPosMm(STEPPER_TEST_TRAVEL);
while(step.getState() != 1) vTaskDelay(2); while(step.getState() != 1) vTaskDelay(2);
ESP_LOGI(TAG, "finished moving right => moving left"); ESP_LOGI(TAG, "finished moving right => moving left");
updateSpeedFromAdc(); updateSpeedFromAdc();
step.runPosMm(STEPPER_TEST_TRAVEL); step.runPosMm(-STEPPER_TEST_TRAVEL);
while(step.getState() != 1) vTaskDelay(2); //1=idle while(step.getState() != 1) vTaskDelay(2); //1=idle
ESP_LOGI(TAG, "finished moving left => moving right"); ESP_LOGI(TAG, "finished moving left => moving right");
} }
} }
//---------------------------- //----------------------------
//----- TASK stepper-ctl ----- //----- TASK stepper-ctl -----
//---------------------------- //----------------------------
@ -193,7 +194,14 @@ void task_stepper_ctl(void *pvParameter)
int encStepsPrev = 0; //steps at last check int encStepsPrev = 0; //steps at last check
int encStepsDelta = 0; //steps changed since last iteration int encStepsDelta = 0; //steps changed since last iteration
double stepsTravel = 0; //steps axis hast to travel double cableLen = 0;
double travelStepsExact = 0; //steps axis has to travel
double travelStepsPartial = 0;
int travelStepsFull = 0;
double travelMm = 0;
double turns = 0;
float potiModifier;
init_stepper(); init_stepper();
home(); home();
@ -204,28 +212,34 @@ void task_stepper_ctl(void *pvParameter)
//calculate change //calculate change
encStepsDelta = encStepsNow - encStepsPrev; //FIXME MAJOR BUG: when resetting encoder/length in control task, diff will be huge! encStepsDelta = encStepsNow - encStepsPrev; //FIXME MAJOR BUG: when resetting encoder/length in control task, diff will be huge!
//TODO add modifier e.g. poti value
//read potentiometer for calibration //read potentiometer and normalize (0-1) to get a variable for testing
float potiModifier = (float) 4095 / gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 -> 0-1 potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier); //ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
//calculate steps moved //calculate steps to move
//steps-axis = (length moved in mm) * (travel distance per length) * (stepper steps per mm) cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
stepsTravel = (float) (encStepsDelta * 1000 / ENCODER_STEPS_PER_METER) * (D_CABLE/(PI*D_REEL)) * (STEPPER_STEPS_PER_MM); turns = cableLen / (PI * D_REEL);
//FIXME: rounding issue? e.g. 1.4 steps gets lost travelMm = turns * D_CABLE;
ESP_LOGD(TAG, "stepsDelta: %d stepsTravel: %lf",encStepsDelta, stepsTravel); travelStepsExact = travelMm * STEPPER_STEPS_PER_MM + travelStepsPartial; //convert mm to steps and add not moved partial steps
travelStepsPartial = 0;
travelStepsFull = (int)travelStepsExact;
//move axis when ready to move at least 1 step //move axis when ready to move at least 1 step
if (abs((int)stepsTravel) > 1){ if (abs(travelStepsFull) > 1){
ESP_LOGI(TAG, "MOVING %d steps",(int)stepsTravel); travelStepsPartial = fmod(travelStepsExact, 1); //save remaining partial steps to be added in the next iteration
travelSteps((int)stepsTravel); ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial);
while(step.getState() != 1) vTaskDelay(2); //wait for move to finish ESP_LOGI(TAG, "MOVING %d steps", travelStepsFull);
encStepsPrev = encStepsNow; //update length //TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
step.setSpeedMm(35, 100, 50);
//testing: get speed from poti
//step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
travelSteps(travelStepsExact);
encStepsPrev = encStepsNow; //update previous length
} }
else { else {
//TODO use encoder queue to only run this check at encoder event? //TODO use encoder queue to only run this check at encoder event?
vTaskDelay(5); vTaskDelay(2);
} }
} }
} }

7
main/main.cpp
View File

@ -87,14 +87,19 @@ extern "C" void app_main()
esp_log_level_set("switches-analog", ESP_LOG_WARN); esp_log_level_set("switches-analog", ESP_LOG_WARN);
esp_log_level_set("control", ESP_LOG_INFO); esp_log_level_set("control", ESP_LOG_INFO);
esp_log_level_set("stepper", ESP_LOG_DEBUG); esp_log_level_set("stepper", ESP_LOG_DEBUG);
esp_log_level_set("Dendostepper", ESP_LOG_WARN); //stepper lib
esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib
#ifdef STEPPER_TEST #ifdef STEPPER_TEST
//create task for stepper testing //create task for stepper testing
xTaskCreate(task_stepper_test, "task_stepper-test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL); xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
#else #else
//create task for controlling the machine //create task for controlling the machine
xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL); xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
//create task for controlling the machine
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
//create task for handling the buzzer //create task for handling the buzzer
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
#endif #endif