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Add preset buttons; Optimizations

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- add functionality to set preset lengths with preset buttons

- change variables
- add/change comments
- reorder code
- add beeping at custom length selection
This commit is contained in:
jonny_ji7 2022-08-20 17:54:23 +02:00
parent 5ddf8699e2
commit ae41b93e63
1 changed files with 74 additions and 89 deletions
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163
main/control.cpp
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@ -61,7 +61,6 @@ int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
adc_reading += adc1_get_raw(adc_channel); adc_reading += adc1_get_raw(adc_channel);
} }
adc_reading = adc_reading / 16; adc_reading = adc_reading / 16;
//return original or inverted result //return original or inverted result
if (inverted) { if (inverted) {
return 4095 - adc_reading; return 4095 - adc_reading;
@ -77,7 +76,7 @@ int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
//==================== //====================
//==== variables ===== //==== variables =====
//==================== //====================
static const char *TAG = "control"; static const char *TAG = "control"; //tag for logging
const char* systemStateStr[5] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "MANUAL"}; const char* systemStateStr[5] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "MANUAL"};
systemState_t controlState = COUNTING; systemState_t controlState = COUNTING;
@ -97,19 +96,17 @@ uint32_t timestamp_pageSwitched = 0;
bool page = false; //store page number currently displayed bool page = false; //store page number currently displayed
int lengthNow = 0; //length measured in mm int lengthNow = 0; //length measured in mm
int lengthTarget = 3000; //target length in mm int lengthTarget = 3000; //target length in mm
int lengthDiff = 0; //length difference int lengthRemaining = 0; //(target - now) length needed for reaching the target
int lengthDiff_abs = 0; //length difference positive
int potiRead = 0; //voltage read from adc int potiRead = 0; //voltage read from adc
uint32_t timestamp_motorStarted = 0; //timestamp winding started uint32_t timestamp_motorStarted = 0; //timestamp winding started
//===== change State ===== //===== change State =====
//function for changing the controlState //function for changing the controlState with log output
void changeState (systemState_t stateNew) { void changeState (systemState_t stateNew) {
//only proceed when state actually changed //only proceed when state actually changed
if (controlState == stateNew){ if (controlState == stateNew){
//already at target state -> nothing to do return; //already at target state -> nothing to do
return;
} }
//log change //log change
ESP_LOGW(TAG, "changed state from %s to %s", systemStateStr[(int)controlState], systemStateStr[(int)stateNew]); ESP_LOGW(TAG, "changed state from %s to %s", systemStateStr[(int)controlState], systemStateStr[(int)stateNew]);
@ -118,22 +115,21 @@ void changeState (systemState_t stateNew) {
} }
//===== check Stop Condition ===== //===== handle Stop Condition =====
//function that checks whether start button is released or target is reached (used in multiple states) //function that checks whether start button is released or target is reached (used in multiple states)
//returns true when stopped, false when no action //returns true when stopped, false when no action
bool checkStopCondition(){ bool handleStopCondition(){
//--- stop conditions --- //--- stop conditions ---
//stop conditions that are checked in any mode //stop conditions that are checked in any mode
//disable motor and switch to COUNTING when start button released //target reached
if (SW_START.state == false) { //TODO use fallingEdge here more clean? if (lengthRemaining <= 0 ) {
changeState(COUNTING); changeState(TARGET_REACHED);
vfd_setState(false); vfd_setState(false);
return true; return true;
} }
//disable motor and switch to TARGET_REACHED //start button released
else if (lengthDiff >= 0 ) { else if (SW_START.state == false) {
//TODO: display "REACHED" on 7segment here or reached state (start pressed but reached) changeState(COUNTING);
changeState(TARGET_REACHED);
vfd_setState(false); vfd_setState(false);
return true; return true;
} else { } else {
@ -197,28 +193,6 @@ void task_control(void *pvParameter)
lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI) / 600; //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?
//---------------------------
//------ potentiometer ------
//---------------------------
//set target length to poti position when set switch is pressed
if (SW_SET.state == true) {
//read adc
potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095
//scale to target length range
lengthTarget = (float)potiRead / 4095 * 50000;
//round to whole meters
lengthTarget = round(lengthTarget / 1000) * 1000;
//TODO update lengthTarget only at button release?
//TODO beep for each m step?
}
//beep
if (SW_SET.risingEdge) {
buzzer.beep(1, 100, 50);
}
if (SW_SET.fallingEdge) {
buzzer.beep(2, 100, 50);
}
//--------------------------- //---------------------------
@ -231,28 +205,65 @@ void task_control(void *pvParameter)
lengthNow = 0; lengthNow = 0;
buzzer.beep(1, 700, 100); buzzer.beep(1, 700, 100);
} }
//TODO add preset switches
//--- switch to manual motor control (2 buttons + poti) ---
if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) ) { //--- manual mode ---
//beep when state changed //switch to manual motor control (2 buttons + poti)
if (controlState != MANUAL) { if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) && controlState != MANUAL ) {
buzzer.beep(3, 100, 60); //enable manual control
}
//change to manual state
changeState(MANUAL); changeState(MANUAL);
buzzer.beep(3, 100, 60);
} }
//--- set custom target length ---
//set target length to poti position when SET switch is pressed
if (SW_SET.state == true) {
//read adc
potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095
//scale to target length range
int lengthTargetNew = (float)potiRead / 4095 * 50000;
//round to whole meters
lengthTarget = round(lengthTarget / 1000) * 1000;
//update target length and beep if changed
if (lengthTargetNew != lengthTarget) {
//TODO update lengthTarget only at button release?
lengthTarget = lengthTargetNew;
buzzer.beep(1, 60, 0);
}
}
//beep start and end of editing
if (SW_SET.risingEdge) {
buzzer.beep(1, 70, 50);
}
if (SW_SET.fallingEdge) {
buzzer.beep(2, 70, 50);
}
//--- target length presets ---
if (controlState != MANUAL) { //dont apply preset length while controlling motor with preset buttons
if (SW_PRESET1.risingEdge){
lengthTarget = 1000;
buzzer.beep(lengthTarget/1000, 50, 30);
}
else if (SW_PRESET2.risingEdge) {
lengthTarget = 5000;
buzzer.beep(lengthTarget/1000, 50, 30);
}
else if (SW_PRESET3.risingEdge) {
lengthTarget = 10000;
buzzer.beep(lengthTarget/1000, 50, 30);
}
}
//--------------------------- //---------------------------
//--------- control --------- //--------- control ---------
//--------------------------- //---------------------------
//calculate length difference //calculate length difference
lengthDiff = lengthNow - lengthTarget; lengthRemaining = lengthTarget - lengthNow;
//--- statemachine --- //--- statemachine ---
switch (controlState) { switch (controlState) {
@ -261,58 +272,48 @@ void task_control(void *pvParameter)
//--- start winding to length --- //--- start winding to length ---
if (SW_START.risingEdge) { if (SW_START.risingEdge) {
changeState(WINDING_START); changeState(WINDING_START);
vfd_setSpeedLevel(0); //start at low speed //TODO apply dynamic speed here too (if started when already very close)
vfd_setSpeedLevel(1); //start at low speed
vfd_setState(true); //start motor vfd_setState(true); //start motor
timestamp_motorStarted = esp_log_timestamp(); //save time started timestamp_motorStarted = esp_log_timestamp(); //save time started
buzzer.beep(1, 100, 0);
} }
break; break;
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 when there is no cable movement anymore e.g. empty
if (esp_log_timestamp() - timestamp_motorStarted > 2000) { if (esp_log_timestamp() - timestamp_motorStarted > 2000) {
changeState(WINDING); changeState(WINDING);
} }
checkStopCondition(); handleStopCondition(); //stops if button released or target reached
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 2;
break; break;
case WINDING: //wind at dynamic speed case WINDING: //wind at dynamic speed
lengthDiff_abs = abs(lengthDiff);
//adjust speed according to difference //adjust speed according to difference
if (lengthDiff_abs < 10) { if (lengthRemaining < 50) {
vfd_setSpeedLevel(0); vfd_setSpeedLevel(0);
//TESTING: SIMULATE LENGTH INCREASE } else if (lengthRemaining < 200) {
//lengthNow += 1;
} else if (lengthDiff_abs < 100) {
vfd_setSpeedLevel(1); vfd_setSpeedLevel(1);
//TESTING: SIMULATE LENGTH INCREASE } else if (lengthRemaining < 600) {
//lengthNow += 4;
} else if (lengthDiff_abs < 500) {
vfd_setSpeedLevel(2); vfd_setSpeedLevel(2);
//TESTING: SIMULATE LENGTH INCREASE } else { //more than last step remaining
//lengthNow += 50;
} else { //more than last step
vfd_setSpeedLevel(3); vfd_setSpeedLevel(3);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 200;
} }
//TODO add timeout //TODO add timeout
checkStopCondition(); handleStopCondition(); //stops if button released or target reached
//see "stop conditions" above that switches to TARGET_REACHED when targed reached
break; break;
case TARGET_REACHED: case TARGET_REACHED:
vfd_setState(false);
//switch to counting state when no longer at or above target length //switch to counting state when no longer at or above target length
if ( lengthDiff < 0 ) { if ( lengthRemaining > 0 ) {
changeState(COUNTING); changeState(COUNTING);
} }
//see "stop conditions" above that switches to COUNTING when start button released
break; break;
case MANUAL: //manually control motor via preset buttons + poti case MANUAL: //manually control motor via preset buttons + poti
//read poti value //read poti value
potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095 potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095
//scale poti to speed levels 0-3 //scale poti to speed levels 0-3
uint8_t level = round( (float)potiRead / 4095 * 3 ); uint8_t level = round( (float)potiRead / 4095 * 3 );
//exit manual mode if preset2 released //exit manual mode if preset2 released
@ -356,6 +357,7 @@ void task_control(void *pvParameter)
//TODO: blink disp2 when set button pressed //TODO: blink disp2 when set button pressed
//TODO: blink disp2 when preset button pressed (exept manual mode) //TODO: blink disp2 when preset button pressed (exept manual mode)
//TODO: write "MAN CTL" to disp2 when in manual mode //TODO: write "MAN CTL" to disp2 when in manual mode
//TODO: display or blink "REACHED" when reached state and start pressed
//--- write to display --- //--- write to display ---
//max7219_clear(&display); //results in flickering display if same value anyways //max7219_clear(&display); //results in flickering display if same value anyways
@ -381,23 +383,6 @@ void task_control(void *pvParameter)
//sprintf(display_buf, "S0LL 12.3"); //sprintf(display_buf, "S0LL 12.3");
//max7219_draw_text_7seg(&display, 8, display_buf); //max7219_draw_text_7seg(&display, 8, display_buf);
//---------------------------
//--------- testing ---------
//---------------------------
////testing: rotate through speed levels
//if(SW_SET.risingEdge){
// //rotate count 0-7
// if (count >= 7){
// count = 0;
// } else {
// count ++;
// }
// //set motor level
// vfd_setSpeedLevel(count);
// buzzer.beep(1, 100, 100);
//}
} }
} }