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Add dyn-speed to start state; Update function-diagram

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- outsource dynamic speed to setDynSpeedLvl function
- reuse function in wind-slow state with limit

- update function diagram to representation of current program
This commit is contained in:
jonny_ji7 2022-08-20 18:28:37 +02:00
parent ae41b93e63
commit b238e582cc
3 changed files with 37 additions and 16 deletions
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2
function-diagram.drawio
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function-diagram.drawio.pdf
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51
main/control.cpp
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@ -137,6 +137,32 @@ bool handleStopCondition(){
}
}
//===== set dynamic speed level =====
//function that sets the vfd speed level dynamicly depending on the remaining distance
//closer to target -> slower
void setDynSpeedLvl(uint8_t lvlMax = 3){
uint8_t lvl;
//define speed level according to difference
if (lengthRemaining < 50) {
lvl = 0;
} else if (lengthRemaining < 200) {
lvl = 1;
} else if (lengthRemaining < 600) {
lvl = 2;
} else { //more than last step remaining
lvl = 3;
}
//limit to max lvl
if (lvl > lvlMax){
lvl = lvlMax;
}
//update vfd speed level
vfd_setSpeedLevel(lvl);
}
//========================
//===== control task =====
@ -151,7 +177,7 @@ void task_control(void *pvParameter)
//-----------------------------------
//------- display welcome msg -------
//-----------------------------------
//display welcome message on 2 7 segment displays
//display welcome message on two 7 segment displays
//show name and date
ESP_LOGI(TAG, "showing startup message...");
max7219_clear(&display);
@ -166,6 +192,7 @@ void task_control(void *pvParameter)
vTaskDelay(pdMS_TO_TICKS(50));
}
//================
//===== loop =====
//================
@ -184,6 +211,7 @@ void task_control(void *pvParameter)
SW_PRESET3.handle();
//----------------------------
//------ rotary encoder ------
//----------------------------
@ -194,7 +222,6 @@ void task_control(void *pvParameter)
//---------------------------
//--------- buttons ---------
//---------------------------
@ -281,26 +308,20 @@ void task_control(void *pvParameter)
break;
case WINDING_START: //wind slow for certain time
//TODO: cancel when there is no cable movement anymore e.g. empty
//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);
}
handleStopCondition(); //stops if button released or target reached
//TODO: cancel when there was no cable movement during start time?
break;
case WINDING: //wind at dynamic speed
//adjust speed according to difference
if (lengthRemaining < 50) {
vfd_setSpeedLevel(0);
} else if (lengthRemaining < 200) {
vfd_setSpeedLevel(1);
} else if (lengthRemaining < 600) {
vfd_setSpeedLevel(2);
} else { //more than last step remaining
vfd_setSpeedLevel(3);
}
//TODO add timeout
case WINDING: //wind fast, slow down when close
//set vfd speed depending on remaining distance
setDynSpeedLvl(); //slow down when close to target
handleStopCondition(); //stops if button released or target reached
//TODO: cancel when there is no cable movement anymore e.g. empty / timeout?
break;
case TARGET_REACHED: