j/cable-length-cutter
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Add auto-cut functionality: diagram, switches, new state

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control.cpp:
    - Add new systemState CUTTING
    - change systemState_t from enum to enum class (conflicting with
      cutter enum)

    - Add CUTTING functionality to CUT switch and auto cut after target
      reached if enabled

cutter.cpp:
    - Add function cutter_isRunning()

config:
    - Add GPIO_LAMP macro to config
This commit is contained in:
jonny_ji7 2022-09-17 11:42:38 +02:00
parent 824bad930e
commit 992d852189
7 changed files with 67 additions and 33 deletions
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2
function-diagram.drawio
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File diff suppressed because one or more lines are too long

3
main/config.hpp
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@ -17,7 +17,8 @@ extern "C" {
#define GPIO_VFD_D1 GPIO_NUM_15 //ST1
//#define GPIO_VFD_D2 GPIO_NUM_15 //ST1 (D2 only used with 7.5kw vfd)
#define GPIO_MOS2 GPIO_NUM_5 //mos2
#define GPIO_MOS1 GPIO_NUM_18 //mos1 (free)
#define GPIO_LAMP GPIO_NUM_5 //mos2
#define GPIO_RELAY GPIO_NUM_13
#define GPIO_BUZZER GPIO_NUM_12

69
main/control.cpp
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@ -30,8 +30,8 @@ QueueHandle_t init_encoder(rotary_encoder_info_t * info){
//====================
static const char *TAG = "control"; //tag for logging
const char* systemStateStr[5] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "MANUAL"};
systemState_t controlState = COUNTING;
const char* systemStateStr[6] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "CUTTING", "MANUAL"};
systemState_t controlState = systemState_t::COUNTING;
char buf_disp[20]; //both displays
char buf_disp1[10];// 8 digits + decimal point + \0
@ -75,7 +75,7 @@ bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBo
//stop conditions that are checked in any mode
//target reached
if (lengthRemaining <= 0 ) {
changeState(TARGET_REACHED);
changeState(systemState_t::TARGET_REACHED);
vfd_setState(false);
displayTop->blink(1, 0, 1500, " S0LL ");
displayBot->blink(1, 0, 1500, "ERREICHT");
@ -84,7 +84,7 @@ bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBo
}
//start button released
else if (SW_START.state == false) {
changeState(COUNTING);
changeState(systemState_t::COUNTING);
vfd_setState(false);
displayTop->blink(2, 900, 1000, "- STOP -");
displayBot->blink(2, 900, 1000, " TASTER ");
@ -188,19 +188,22 @@ void task_control(void *pvParameter)
rotary_encoder_reset(&encoder);
lengthNow = 0;
buzzer.beep(1, 700, 100);
//TODO: stop cutter with reset switch?
//cutter_stop();
}
//######### TESTING #########
//stop cutter
cutter_stop();
//######### TESTING #########
//--- CUT switch ---
if (SW_CUT.risingEdge) {
cutter_start();
}
//--- manual mode ---
//switch to manual motor control (2 buttons + poti)
if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) && controlState != MANUAL ) {
if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) && controlState != systemState_t::MANUAL ) {
//enable manual control
changeState(MANUAL);
changeState(systemState_t::MANUAL);
buzzer.beep(3, 100, 60);
}
@ -242,7 +245,7 @@ void task_control(void *pvParameter)
//--- target length presets ---
if (controlState != MANUAL) { //dont apply preset length while controlling motor with preset buttons
if (controlState != systemState_t::MANUAL) { //dont apply preset length while controlling motor with preset buttons
if (SW_PRESET1.risingEdge){
lengthTarget = 1000;
buzzer.beep(lengthTarget/1000, 25, 30);
@ -257,11 +260,6 @@ void task_control(void *pvParameter)
lengthTarget = 10000;
buzzer.beep(lengthTarget/1000, 25, 30);
displayBot.blink(2, 100, 100, "S0LL ");
//######### TESTING #########
//stop cutter
cutter_start();
//######### TESTING #########
}
}
@ -275,12 +273,12 @@ void task_control(void *pvParameter)
//--- statemachine ---
switch (controlState) {
case COUNTING: //no motor action
case systemState_t::COUNTING: //no motor action
vfd_setState(false);
//TODO check stop condition before starting - prevents motor from starting 2 cycles when
//--- start winding to length ---
if (SW_START.risingEdge) {
changeState(WINDING_START);
changeState(systemState_t::WINDING_START);
//TODO apply dynamic speed here too (if started when already very close)
vfd_setSpeedLevel(1); //start at low speed
vfd_setState(true); //start motor
@ -289,28 +287,33 @@ void task_control(void *pvParameter)
}
break;
case WINDING_START: //wind slow for certain time
case systemState_t::WINDING_START: //wind slow for certain time
//set vfd speed depending on remaining distance
setDynSpeedLvl(1); //limit to speed lvl 1 (force slow start)
if (esp_log_timestamp() - timestamp_motorStarted > 2000) {
changeState(WINDING);
changeState(systemState_t::WINDING);
}
handleStopCondition(&displayTop, &displayBot); //stops if button released or target reached
//TODO: cancel when there was no cable movement during start time?
break;
case WINDING: //wind fast, slow down when close
case systemState_t::WINDING: //wind fast, slow down when close
//set vfd speed depending on remaining distance
setDynSpeedLvl(); //slow down when close to target
handleStopCondition(&displayTop, &displayBot); //stops if button released or target reached
//TODO: cancel when there is no cable movement anymore e.g. empty / timeout?
break;
case TARGET_REACHED:
case systemState_t::TARGET_REACHED:
vfd_setState(false);
//switch to counting state when no longer at or above target length
if ( lengthRemaining > 0 ) {
changeState(COUNTING);
if ( lengthRemaining > 20 ) { //FIXME: require reset switch to be able to restart? or evaluate a tolerance here?
changeState(systemState_t::COUNTING);
}
//start cutting if automatic cut is enabled
else if (SW_AUTO_CUT.state == true){
cutter_start();
changeState(systemState_t::CUTTING);
}
//show msg when trying to start, but target is reached
if (SW_START.risingEdge){
@ -320,14 +323,26 @@ void task_control(void *pvParameter)
}
break;
case MANUAL: //manually control motor via preset buttons + poti
case systemState_t::CUTTING:
//exit if finished cutting
if (cutter_isRunning() == false){
//TODO stop if start buttons released?
changeState(systemState_t::COUNTING);
//TODO reset automatically or wait for manual reset?
rotary_encoder_reset(&encoder);
lengthNow = 0;
buzzer.beep(1, 700, 100);
}
break;
case systemState_t::MANUAL: //manually control motor via preset buttons + poti
//read poti value
potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
//scale poti to speed levels 0-3
uint8_t level = round( (float)potiRead / 4095 * 3 );
//exit manual mode if preset2 released
if ( SW_PRESET2.state == false ) {
changeState(COUNTING);
changeState(systemState_t::COUNTING);
buzzer.beep(1, 1000, 100);
}
//P2 + P1 -> turn left
@ -400,7 +415,7 @@ void task_control(void *pvParameter)
displayBot.blinkStrings(buf_tmp, "S0LL ", 300, 100);
}
//manual state: blink "manual"
else if (controlState == MANUAL) {
else if (controlState == systemState_t::MANUAL) {
displayBot.blinkStrings(" MANUAL ", buf_disp2, 1000, 1000);
}
//otherwise show target length

4
main/control.hpp
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@ -26,8 +26,8 @@ extern "C"
typedef enum systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED, MANUAL} systemState_t;
extern const char* systemStateStr[5];
enum class systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED, CUTTING, MANUAL};
extern const char* systemStateStr[6];
void task_control(void *pvParameter);

14
main/cutter.cpp
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@ -55,6 +55,20 @@ cutter_state_t cutter_getState(){
//============================
//===== cutter_isRunning =====
//============================
bool cutter_isRunning(){
if (cutter_state == cutter_state_t::START
|| cutter_state == cutter_state_t::CUTTING) {
return true;
} else {
return false;
}
}
//---------------------------
//-------- setState ---------
//---------------------------

3
main/cutter.hpp
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@ -28,5 +28,8 @@ void cutter_stop();
cutter_state_t cutter_getState();
//TODO: bool cutter_isOn() (simply return boolean instead of enum)
//check if cutter is currently operating
bool cutter_isRunning();
//handle function - has to be run repeatedly
void cutter_handle();

5
main/main.cpp
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@ -32,10 +32,11 @@ void init_gpios(){
gpio_configure_output(GPIO_VFD_FWD);
gpio_configure_output(GPIO_VFD_D0);
gpio_configure_output(GPIO_VFD_D1);
gpio_configure_output(GPIO_VFD_REV);
//gpio_configure_output(GPIO_VFD_D2); only used with 7.5kw vfd
//2x power mosfets
gpio_configure_output(GPIO_VFD_REV);
gpio_configure_output(GPIO_MOS2);
gpio_configure_output(GPIO_MOS1); //mos1
gpio_configure_output(GPIO_LAMP); //lamp
//onboard relay and buzzer
gpio_configure_output(GPIO_RELAY);
gpio_configure_output(GPIO_BUZZER);