Add preset buttons; Optimizations
- add functionality to set preset lengths with preset buttons - change variables - add/change comments - reorder code - add beeping at custom length selection
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jonny_ji7
parent
5ddf8699e2
commit
ae41b93e63
163
main/control.cpp
163
main/control.cpp
@ -61,7 +61,6 @@ int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
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adc_reading += adc1_get_raw(adc_channel);
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}
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adc_reading = adc_reading / 16;
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//return original or inverted result
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if (inverted) {
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return 4095 - adc_reading;
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@ -77,7 +76,7 @@ int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
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//====================
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//==== variables =====
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//====================
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static const char *TAG = "control";
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static const char *TAG = "control"; //tag for logging
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const char* systemStateStr[5] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "MANUAL"};
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systemState_t controlState = COUNTING;
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@ -97,19 +96,17 @@ uint32_t timestamp_pageSwitched = 0;
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bool page = false; //store page number currently displayed
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int lengthNow = 0; //length measured in mm
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int lengthTarget = 3000; //target length in mm
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int lengthDiff = 0; //length difference
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int lengthDiff_abs = 0; //length difference positive
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int lengthRemaining = 0; //(target - now) length needed for reaching the target
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int potiRead = 0; //voltage read from adc
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uint32_t timestamp_motorStarted = 0; //timestamp winding started
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//===== change State =====
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//function for changing the controlState
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//function for changing the controlState with log output
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void changeState (systemState_t stateNew) {
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//only proceed when state actually changed
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if (controlState == stateNew){
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//already at target state -> nothing to do
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return;
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return; //already at target state -> nothing to do
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}
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//log change
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ESP_LOGW(TAG, "changed state from %s to %s", systemStateStr[(int)controlState], systemStateStr[(int)stateNew]);
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@ -118,22 +115,21 @@ void changeState (systemState_t stateNew) {
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}
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//===== check Stop Condition =====
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//===== handle Stop Condition =====
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//function that checks whether start button is released or target is reached (used in multiple states)
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//returns true when stopped, false when no action
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bool checkStopCondition(){
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bool handleStopCondition(){
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//--- stop conditions ---
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//stop conditions that are checked in any mode
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//disable motor and switch to COUNTING when start button released
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if (SW_START.state == false) { //TODO use fallingEdge here more clean?
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changeState(COUNTING);
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//target reached
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if (lengthRemaining <= 0 ) {
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changeState(TARGET_REACHED);
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vfd_setState(false);
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return true;
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}
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//disable motor and switch to TARGET_REACHED
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else if (lengthDiff >= 0 ) {
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//TODO: display "REACHED" on 7segment here or reached state (start pressed but reached)
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changeState(TARGET_REACHED);
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}
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//start button released
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else if (SW_START.state == false) {
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changeState(COUNTING);
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vfd_setState(false);
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return true;
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} else {
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@ -197,28 +193,6 @@ void task_control(void *pvParameter)
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lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI) / 600; //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
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//---------------------------
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//------ potentiometer ------
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//---------------------------
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//set target length to poti position when set switch is pressed
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if (SW_SET.state == true) {
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//read adc
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potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095
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//scale to target length range
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lengthTarget = (float)potiRead / 4095 * 50000;
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//round to whole meters
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lengthTarget = round(lengthTarget / 1000) * 1000;
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//TODO update lengthTarget only at button release?
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//TODO beep for each m step?
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}
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//beep
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if (SW_SET.risingEdge) {
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buzzer.beep(1, 100, 50);
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}
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if (SW_SET.fallingEdge) {
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buzzer.beep(2, 100, 50);
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}
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//---------------------------
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@ -231,28 +205,65 @@ void task_control(void *pvParameter)
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lengthNow = 0;
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buzzer.beep(1, 700, 100);
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}
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//TODO add preset switches
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//--- switch to manual motor control (2 buttons + poti) ---
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if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) ) {
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//beep when state changed
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if (controlState != MANUAL) {
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buzzer.beep(3, 100, 60);
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}
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//change to manual state
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//--- manual mode ---
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//switch to manual motor control (2 buttons + poti)
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if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) && controlState != MANUAL ) {
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//enable manual control
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changeState(MANUAL);
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buzzer.beep(3, 100, 60);
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}
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//--- set custom target length ---
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//set target length to poti position when SET switch is pressed
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if (SW_SET.state == true) {
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//read adc
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potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095
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//scale to target length range
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int lengthTargetNew = (float)potiRead / 4095 * 50000;
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//round to whole meters
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lengthTarget = round(lengthTarget / 1000) * 1000;
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//update target length and beep if changed
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if (lengthTargetNew != lengthTarget) {
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//TODO update lengthTarget only at button release?
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lengthTarget = lengthTargetNew;
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buzzer.beep(1, 60, 0);
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}
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}
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//beep start and end of editing
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if (SW_SET.risingEdge) {
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buzzer.beep(1, 70, 50);
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}
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if (SW_SET.fallingEdge) {
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buzzer.beep(2, 70, 50);
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}
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//--- target length presets ---
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if (controlState != MANUAL) { //dont apply preset length while controlling motor with preset buttons
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if (SW_PRESET1.risingEdge){
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lengthTarget = 1000;
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buzzer.beep(lengthTarget/1000, 50, 30);
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}
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else if (SW_PRESET2.risingEdge) {
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lengthTarget = 5000;
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buzzer.beep(lengthTarget/1000, 50, 30);
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}
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else if (SW_PRESET3.risingEdge) {
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lengthTarget = 10000;
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buzzer.beep(lengthTarget/1000, 50, 30);
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}
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}
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//---------------------------
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//--------- control ---------
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//---------------------------
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//calculate length difference
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lengthDiff = lengthNow - lengthTarget;
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lengthRemaining = lengthTarget - lengthNow;
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//--- statemachine ---
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switch (controlState) {
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@ -261,58 +272,48 @@ void task_control(void *pvParameter)
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//--- start winding to length ---
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if (SW_START.risingEdge) {
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changeState(WINDING_START);
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vfd_setSpeedLevel(0); //start at low speed
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//TODO apply dynamic speed here too (if started when already very close)
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vfd_setSpeedLevel(1); //start at low speed
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vfd_setState(true); //start motor
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timestamp_motorStarted = esp_log_timestamp(); //save time started
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buzzer.beep(1, 100, 0);
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}
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break;
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case WINDING_START: //wind slow for certain time
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//TODO: cancel / stay in this state when no change to lengthNow
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//TODO: cancel when there is no cable movement anymore e.g. empty
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if (esp_log_timestamp() - timestamp_motorStarted > 2000) {
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changeState(WINDING);
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}
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checkStopCondition();
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 2;
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handleStopCondition(); //stops if button released or target reached
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break;
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case WINDING: //wind at dynamic speed
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lengthDiff_abs = abs(lengthDiff);
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//adjust speed according to difference
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if (lengthDiff_abs < 10) {
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if (lengthRemaining < 50) {
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vfd_setSpeedLevel(0);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 1;
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} else if (lengthDiff_abs < 100) {
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} else if (lengthRemaining < 200) {
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vfd_setSpeedLevel(1);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 4;
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} else if (lengthDiff_abs < 500) {
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} else if (lengthRemaining < 600) {
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vfd_setSpeedLevel(2);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 50;
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} else { //more than last step
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} else { //more than last step remaining
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vfd_setSpeedLevel(3);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 200;
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}
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//TODO add timeout
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checkStopCondition();
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//see "stop conditions" above that switches to TARGET_REACHED when targed reached
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handleStopCondition(); //stops if button released or target reached
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break;
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case TARGET_REACHED:
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vfd_setState(false);
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//switch to counting state when no longer at or above target length
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if ( lengthDiff < 0 ) {
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if ( lengthRemaining > 0 ) {
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changeState(COUNTING);
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}
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//see "stop conditions" above that switches to COUNTING when start button released
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break;
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case MANUAL: //manually control motor via preset buttons + poti
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//read poti value
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potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095
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potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095
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//scale poti to speed levels 0-3
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uint8_t level = round( (float)potiRead / 4095 * 3 );
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//exit manual mode if preset2 released
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@ -356,6 +357,7 @@ void task_control(void *pvParameter)
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//TODO: blink disp2 when set button pressed
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//TODO: blink disp2 when preset button pressed (exept manual mode)
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//TODO: write "MAN CTL" to disp2 when in manual mode
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//TODO: display or blink "REACHED" when reached state and start pressed
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//--- write to display ---
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//max7219_clear(&display); //results in flickering display if same value anyways
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@ -381,23 +383,6 @@ void task_control(void *pvParameter)
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//sprintf(display_buf, "S0LL 12.3");
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//max7219_draw_text_7seg(&display, 8, display_buf);
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//---------------------------
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//--------- testing ---------
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//---------------------------
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////testing: rotate through speed levels
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//if(SW_SET.risingEdge){
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// //rotate count 0-7
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// if (count >= 7){
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// count = 0;
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// } else {
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// count ++;
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// }
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// //set motor level
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// vfd_setSpeedLevel(count);
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// buzzer.beep(1, 100, 100);
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//}
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}
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}
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