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Revert 8 commits (approach with stepper lib dropped)

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Undo all custom changes to the DendoStepper library, since it will not
be used further. Custom implementation will be used in the future
(stepper_custom-driver branch)

Revert 279ac0e07e7578a86a6d13908e472bd4f379a62a
Revert 1c59e0097b3732d9b035881faa442349c50d4341
Revert 5d7c67ab9a2327adc49ea92cd55f9aa23a40b065
Revert 8d2428d28576e08da07af79659620376b1e4e964
Revert dc6deeb3d09628ac7f4f4fab256dc168bcbf835a
Revert 0a05340763c26be4735d1cf845b96150112b25ad
Revert 45409676a0b502c69b5bc26be7361bfa5a89ed61
Revert de42b6252ebec3558713cd39334548041654545f
This commit is contained in:
jonny_ji7 2023-04-25 19:16:38 +02:00
parent 279ac0e07e
commit 7eab4f8a8e
4 changed files with 66 additions and 146 deletions
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121
components/DendoStepper/DendoStepper.cpp
View File

@ -55,9 +55,6 @@ void DendoStepper::init(uint8_t stepP, uint8_t dirP, uint8_t enP, timer_group_t
void DendoStepper::init() void DendoStepper::init()
{ {
ESP_LOGW("DendoStepper", "semaphore init");
semaphore_isrVariables = xSemaphoreCreateBinary();
xSemaphoreGive(semaphore_isrVariables);
uint64_t mask = (1ULL << conf.stepPin) | (1ULL << conf.dirPin) | (1ULL << conf.enPin); // put output gpio pins in bitmask uint64_t mask = (1ULL << conf.stepPin) | (1ULL << conf.dirPin) | (1ULL << conf.enPin); // put output gpio pins in bitmask
gpio_config_t gpio_conf = { gpio_config_t gpio_conf = {
// config gpios // config gpios
@ -117,36 +114,39 @@ timer_avail:
ESP_ERROR_CHECK(timer_isr_callback_add(conf.timer_group, conf.timer_idx, xISRwrap, this, 0)); // add callback fn to run when alarm is triggrd ESP_ERROR_CHECK(timer_isr_callback_add(conf.timer_group, conf.timer_idx, xISRwrap, this, 0)); // add callback fn to run when alarm is triggrd
} }
esp_err_t DendoStepper::runPos(int32_t relative) esp_err_t DendoStepper::runPos(int32_t relative)
{ {
//TODO only enable when actually moving //TODO only enable when actually moving
if (ctrl.status == DISABLED) // if motor is disabled, enable it if (ctrl.status == DISABLED) // if motor is disabled, enable it
enableMotor(); enableMotor();
setDir(relative < 0); // set CCW if <0, else set CW
if (!relative) // why would u call it with 0 wtf if (!relative) // why would u call it with 0 wtf
return ESP_ERR_NOT_SUPPORTED; return ESP_ERR_NOT_SUPPORTED;
if (ctrl.status > IDLE) { //currently moving if (ctrl.status > IDLE) { //currently moving
//ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC bool newDir = (relative < 0); // CCW if <0, else set CW
ctrl.stepsRemaining = ctrl.stepsToGo - ctrl.stepCnt; if (ctrl.dir == newDir){ //current direction is the same
calc(abs(relative) + ctrl.stepsRemaining); //calculate new velolcity profile for new+remaining steps ctrl.statusPrev = ctrl.status; //update previous status
ESP_LOGW("DendoStepper", "EXTEND running movement (stepsRemaining: %d + stepsNew: %d - current state: %d)", ctrl.stepsRemaining, abs(relative), (int)ctrl.status); ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval calc(abs(relative + ctrl.stepsRemaining)); //calculate new velolcity profile for new+remaining steps
} else { //direction has changed
//direction change not supported TODO wait for decel finish / queue?
STEP_LOGW("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Finising previous move, this command will be ignored");
return ESP_ERR_NOT_SUPPORTED;
}
} }
else { //current state is IDLE else { //current state is IDLE
//ctrl.statusPrev = ctrl.status; //update previous status ctrl.statusPrev = ctrl.status; //update previous status
calc(abs(relative)); // calculate velocity profile
ctrl.status = ACC; ctrl.status = ACC;
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval setDir(relative < 0); // set CCW if <0, else set CW
ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer calc(abs(relative)); // calculate velocity profile
} }
//printf("runpos end -- steps: %d, status: %d, olddir: %d, newdir: %d\n", relative, ctrl.status, ctrl.dir, newDir);
currentPos += relative; //(target position / not actual) currentPos += relative; //(target position / not actual)
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
//TODO timer has to be stopped before update if already running?
ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
return ESP_OK; return ESP_OK;
} }
@ -159,31 +159,26 @@ esp_err_t DendoStepper::runPosMm(int32_t relative)
return runPos(relative * ctrl.stepsPerMm); return runPos(relative * ctrl.stepsPerMm);
} }
//customized: if already running and direction is the same immediately pass to runPos
esp_err_t DendoStepper::runAbs(uint32_t position) esp_err_t DendoStepper::runAbs(uint32_t position)
{ {
//exit if nothing to do if (getState() > IDLE) // we are already moving, so stop it
if (position == currentPos) return 0; //already at position stop();
while (getState() > IDLE)
{
// waiting for idle, watchdog should take care of inf loop if it occurs
vTaskDelay(1);
} // shouldnt take long tho
if (position == currentPos) // we cant go anywhere
return 0;
//calculate steps necessary
int32_t relativeSteps = 0; int32_t relativeSteps = 0;
relativeSteps = (int32_t)position - currentPos; relativeSteps = (int32_t)position - currentPos;
//wait if direction needs to change
if (getState() > IDLE){//already moving
bool newDir = (relativeSteps < 0); // CCW if <0, else set CW
if (ctrl.dir != newDir){ //direction differs
STEP_LOGE("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Waiting for move to finish...");
while (getState() > IDLE) vTaskDelay(5); //wait for move to finish
}
}
//call runPos with new target position
ESP_LOGI("DendoStepper", "Cur: %llu move %d", currentPos, relativeSteps); ESP_LOGI("DendoStepper", "Cur: %llu move %d", currentPos, relativeSteps);
return runPos(relativeSteps); // run to new position return runPos(relativeSteps); // run to new position
} }
esp_err_t DendoStepper::runAbsMm(uint32_t position) esp_err_t DendoStepper::runAbsMm(uint32_t position)
{ {
if (ctrl.stepsPerMm == 0) if (ctrl.stepsPerMm == 0)
@ -311,7 +306,7 @@ void DendoStepper::stop()
} }
ctrl.runInfinite = false; ctrl.runInfinite = false;
timer_pause(conf.timer_group, conf.timer_idx); // stop the timer timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
//ctrl.statusPrev = ctrl.status; //update previous status ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = IDLE; ctrl.status = IDLE;
ctrl.stepCnt = 0; ctrl.stepCnt = 0;
gpio_set_level((gpio_num_t)conf.stepPin, 0); gpio_set_level((gpio_num_t)conf.stepPin, 0);
@ -338,23 +333,20 @@ bool DendoStepper::xISR()
ctrl.stepCnt++; ctrl.stepCnt++;
////CUSTOM: track actual precice current position //CUSTOM: track actual precice current position
//if (ctrl.dir) { if (ctrl.dir) {
// ctrl.posActual ++; ctrl.posActual ++;
//} else { } else {
// ctrl.posActual --; ctrl.posActual --;
//} }
//CUSTOM: track remaining steps for eventually resuming //CUSTOM: track remaining steps for eventually resuming
//xSemaphoreTake(semaphore_isrVariables, portMAX_DELAY); ctrl.stepsRemaining = ctrl.stepCnt - ctrl.stepCnt;
//ctrl.stepsRemaining = ctrl.stepCnt - ctrl.stepCnt;
//xSemaphoreGive(semaphore_isrVariables);
// we are done // we are done
if (ctrl.stepsToGo == ctrl.stepCnt && !ctrl.runInfinite) if (ctrl.stepsToGo == ctrl.stepCnt && !ctrl.runInfinite)
{ {
timer_pause(conf.timer_group, conf.timer_idx); // stop the timer timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
//ctrl.statusPrev = ctrl.status; //update previous status ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = IDLE; ctrl.status = IDLE;
ctrl.stepCnt = 0; ctrl.stepCnt = 0;
return 0; return 0;
@ -363,19 +355,19 @@ bool DendoStepper::xISR()
if (ctrl.stepCnt > 0 && ctrl.stepCnt < ctrl.accEnd) if (ctrl.stepCnt > 0 && ctrl.stepCnt < ctrl.accEnd)
{ // we are accelerating { // we are accelerating
ctrl.currentSpeed += ctrl.accInc; ctrl.currentSpeed += ctrl.accInc;
//ctrl.statusPrev = ctrl.status; //update previous status ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = ACC; // we are accelerating, note that*/ ctrl.status = ACC; // we are accelerating, note that*/
} }
else if (ctrl.stepCnt > ctrl.coastEnd && !ctrl.runInfinite) else if (ctrl.stepCnt > ctrl.coastEnd && !ctrl.runInfinite)
{ // we must be deccelerating then { // we must be deccelerating then
ctrl.currentSpeed -= ctrl.decInc; ctrl.currentSpeed -= ctrl.decInc;
//ctrl.statusPrev = ctrl.status; //update previous status ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = DEC; // we are deccelerating ctrl.status = DEC; // we are deccelerating
} }
else else
{ {
ctrl.currentSpeed = ctrl.targetSpeed; ctrl.currentSpeed = ctrl.targetSpeed;
//ctrl.statusPrev = ctrl.status; //update previous status ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = COAST; // we are coasting ctrl.status = COAST; // we are coasting
} }
@ -383,38 +375,25 @@ bool DendoStepper::xISR()
// set alarm to calculated interval and disable pin // set alarm to calculated interval and disable pin
GPIO.out_w1tc = (1ULL << conf.stepPin); GPIO.out_w1tc = (1ULL << conf.stepPin);
timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval); timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval);
ctrl.stepCnt++;
return 1; return 1;
} }
void DendoStepper::calc(uint32_t targetSteps) void DendoStepper::calc(uint32_t targetSteps)
{ {
//only set initial speed if IDLE
if(ctrl.status == 1){
ctrl.currentSpeed = 0;
ESP_LOGD("DendoStepper", "calc-start: reset speed to 0 (start from idle) %lf\n", ctrl.currentSpeed);
}
else{
ESP_LOGD("DendoStepper", "calc start: NOT resetting speed (extend from ACC/DEC/COAST): %lf\n", ctrl.currentSpeed);
}
//CUSTOM reset counter if already moving
ctrl.stepCnt = 0; //FIXME bugs when set 0 while ISR reads/runs? mutex
//steps from ctrl.speed -> 0: //steps from ctrl.speed -> 0:
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec); ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
ESP_LOGD("DendoStepper", "decSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.decSteps, ctrl.currentSpeed, ctrl.speed);
//steps from 0 -> ctrl.speed: //steps from 0 -> ctrl.speed:
//ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc); //ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
//steps from ctrl.currentSpeed -> ctrl.speed: //steps from ctrl.currentSpeed -> ctrl.speed:
ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc) * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed; ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc) * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
ESP_LOGD("DendoStepper", "accSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.accSteps, ctrl.currentSpeed, ctrl.speed);
if (targetSteps < (ctrl.decSteps + ctrl.accSteps)) if (targetSteps < (ctrl.decSteps + ctrl.accSteps))
{ {
ESP_LOGI("Dendostepper", "Computing new speed"); ESP_LOGI("Dendostepper", "Computing new speed");
ctrl.speed = sqrt(2 * targetSteps * ((ctrl.dec * ctrl.acc) / (ctrl.dec + ctrl.acc))); ctrl.speed = sqrt(2 * targetSteps * ((ctrl.dec * ctrl.acc) / (ctrl.dec + ctrl.acc)));
//ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc); ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc) * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec); ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
} }
@ -422,27 +401,13 @@ void DendoStepper::calc(uint32_t targetSteps)
ctrl.coastEnd = targetSteps - ctrl.decSteps; ctrl.coastEnd = targetSteps - ctrl.decSteps;
ctrl.targetSpeed = ctrl.speed; ctrl.targetSpeed = ctrl.speed;
ctrl.accInc = (ctrl.targetSpeed - ctrl.currentSpeed) / (double)ctrl.accSteps; ctrl.accInc = ctrl.targetSpeed / (double)ctrl.accSteps;
ctrl.decInc = ctrl.targetSpeed / (double)ctrl.decSteps; ctrl.decInc = ctrl.targetSpeed / (double)ctrl.decSteps;
//only set initial speed if IDLE
if(ctrl.status == 1){
ctrl.currentSpeed = ctrl.accInc; ctrl.currentSpeed = ctrl.accInc;
ESP_LOGD("DendoStepper", "`reset curr speeed to accinc: %lf\n", ctrl.currentSpeed);
ESP_LOGD("DendoStepper", "status=%d setting speed to initial value: %lf\n",ctrl.status, ctrl.currentSpeed);
}
else{
ESP_LOGD("DendoStepper", "status=%d NOT resetting speed to initial value %lf\n",ctrl.status, ctrl.currentSpeed);
}
ctrl.stepInterval = TIMER_F / ctrl.currentSpeed; ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
ctrl.stepsToGo = targetSteps; ctrl.stepsToGo = targetSteps;
//debug log output STEP_LOGI("calc", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u", ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
ESP_LOGD("DendoStepper", "accSteps: %d, accInc: %lf, decSteps: %d, decInc: %lf",
ctrl.accSteps, ctrl.accInc, ctrl.decSteps, ctrl.decInc);
ESP_LOGD("DendoStepper", "speedNow=%.1f, speedTarget=%.1f, accEnd=%d, coastEnd=%d, accSteps=%d, accInc=%.3f\n",
ctrl.currentSpeed, ctrl.targetSpeed, ctrl.accEnd, ctrl.coastEnd, ctrl.accSteps, ctrl.accInc);
ESP_LOGD("DendoStepper", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u",
ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
} }

4
components/DendoStepper/include/DendoStepper.h
View File

@ -29,7 +29,6 @@
#include "freertos/task.h" #include "freertos/task.h"
#include "esp_timer.h" #include "esp_timer.h"
#include "math.h" #include "math.h"
#include "freertos/semphr.h"
//#define STEP_DEBUG //#define STEP_DEBUG
@ -96,7 +95,7 @@ typedef struct
uint32_t accSteps = 0; uint32_t accSteps = 0;
uint32_t decSteps = 0; uint32_t decSteps = 0;
int32_t stepsRemaining = 0; int32_t stepsRemaining = 0;
//uint64_t posActual = 0; //actual current pos incremented at every step uint64_t posActual = 0; //actual current pos incremented at every step
uint8_t statusPrev = DISABLED; //FIXME currently unused uint8_t statusPrev = DISABLED; //FIXME currently unused
uint8_t status = DISABLED; uint8_t status = DISABLED;
bool dir = CW; bool dir = CW;
@ -112,7 +111,6 @@ private:
ctrl_var_t ctrl; ctrl_var_t ctrl;
esp_timer_handle_t dyingTimer; esp_timer_handle_t dyingTimer;
TaskHandle_t enTask; TaskHandle_t enTask;
SemaphoreHandle_t semaphore_isrVariables = NULL;
uint64_t currentPos = 0; // absolute position uint64_t currentPos = 0; // absolute position
bool timerStarted = 0; bool timerStarted = 0;

77
main/guide-stepper.cpp
View File

@ -11,7 +11,6 @@ extern "C"
#include "config.hpp" #include "config.hpp"
#include "guide-stepper.hpp" #include "guide-stepper.hpp"
#include "encoder.hpp" #include "encoder.hpp"
#include "gpio_evaluateSwitch.hpp"
@ -24,7 +23,7 @@ extern "C"
#define STEPPER_TEST_TRAVEL 65 //mm #define STEPPER_TEST_TRAVEL 65 //mm
// //
#define MIN_MM 0 #define MIN_MM 0
#define MAX_MM 110 //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
#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM #define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
@ -32,9 +31,8 @@ extern "C"
#define SPEED_MIN 2.0 //mm/s #define SPEED_MIN 2.0 //mm/s
#define SPEED_MAX 60.0 //mm/s #define SPEED_MAX 60.0 //mm/s
#define SPEED 10 //35, 100, 50 rev #define ACCEL_MS 100.0 //ms from 0 to max
#define ACCEL_MS 800.0 //ms from 0 to max #define DECEL_MS 90.0 //ms from max to 0
#define DECEL_MS 500.0 //ms from max to 0
#define STEPPER_STEPS_PER_ROT 1600 #define STEPPER_STEPS_PER_ROT 1600
#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4 #define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
@ -72,10 +70,10 @@ void travelSteps(int stepsTarget){
while (stepsToGo != 0){ while (stepsToGo != 0){
//--- wait if direction changed --- //--- wait if direction changed ---
//if (dirPrev != dir){ if (dirPrev != dir){
// ESP_LOGW(TAG, " dir-change detected - waiting for move to finish \n "); ESP_LOGI(TAG, " dir-change detected - waiting for move to finish \n ");
// while(step.getState() != 1) vTaskDelay(1); //wait for move to finish while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
//} }
//--- currently moving right --- //--- currently moving right ---
if (stepp_direction == true){ //currently moving right if (stepp_direction == true){ //currently moving right
@ -189,56 +187,17 @@ void task_stepper_test(void *pvParameter)
{ {
init_stepper(); init_stepper();
home(); 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");
// 10updateSpeedFromAdc(); while (1) {
// step.runPosMm(-STEPPER_TEST_TRAVEL); updateSpeedFromAdc();
// while(step.getState() != 1) vTaskDelay(2); //1=idle step.runPosMm(STEPPER_TEST_TRAVEL);
// ESP_LOGI(TAG, "finished moving left => moving right"); while(step.getState() != 1) vTaskDelay(2);
// } ESP_LOGI(TAG, "finished moving right => moving left");
//--- control stepper using preset buttons --- updateSpeedFromAdc();
while(1){ step.runPosMm(-STEPPER_TEST_TRAVEL);
vTaskDelay(20 / portTICK_PERIOD_MS); while(step.getState() != 1) vTaskDelay(2); //1=idle
ESP_LOGI(TAG, "finished moving left => moving right");
//------ 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) {
ESP_LOGI(TAG, "button - stop stepper\n ");
buzzer.beep(1, 1000, 100);
step.stop();
}
if (SW_PRESET1.risingEdge) {
ESP_LOGI(TAG, "button - moving right\n ");
buzzer.beep(2, 300, 100);
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
step.runPosMm(15);
}
if (SW_PRESET3.risingEdge) {
ESP_LOGI(TAG, "button - moving left\n ");
buzzer.beep(1, 500, 100);
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
step.runPosMm(-15);
}
if (SW_PRESET2.risingEdge) {
buzzer.beep(1, 100, 100);
ESP_LOGW(TAG, "button - current state: %d\n, pos: %llu", (int)step.getState(), step.getPositionMm());
}
} }
} }
@ -276,8 +235,6 @@ void task_stepper_ctl(void *pvParameter)
//read potentiometer and normalize (0-1) to get a variable for testing //read potentiometer and normalize (0-1) to get a variable for testing
potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //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);
ESP_LOGI(TAG, "delaying stepper-ctl task by %.1f ms (poti value)", 2000 * potiModifier);
vTaskDelay(2000 * potiModifier / portTICK_PERIOD_MS);
//calculate steps to move //calculate steps to move
cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER; cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
@ -293,7 +250,7 @@ void task_stepper_ctl(void *pvParameter)
ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial); ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial);
ESP_LOGI(TAG, "MOVING %d steps", travelStepsFull); ESP_LOGI(TAG, "MOVING %d steps", travelStepsFull);
//TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data //TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS); step.setSpeedMm(35, 100, 50);
//testing: get speed from poti //testing: get speed from poti
//step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1); //step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
travelSteps(travelStepsExact); travelSteps(travelStepsExact);

6
main/main.cpp
View File

@ -87,7 +87,7 @@ 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_DEBUG); //stepper lib esp_log_level_set("Dendostepper", ESP_LOG_WARN); //stepper lib
esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib
#ifdef STEPPER_TEST #ifdef STEPPER_TEST
@ -98,11 +98,11 @@ extern "C" void app_main()
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 //create task for controlling the machine
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 5, NULL, 5, NULL); xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
#endif
//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
//beep at startup //beep at startup
buzzer.beep(3, 70, 50); buzzer.beep(3, 70, 50);