From b238e582cc891be98135e3f2c98cc976a6595b9a Mon Sep 17 00:00:00 2001 From: jonny_ji7 Date: Sat, 20 Aug 2022 18:28:37 +0200 Subject: [PATCH] Add dyn-speed to start state; Update function-diagram - outsource dynamic speed to setDynSpeedLvl function - reuse function in wind-slow state with limit - update function diagram to representation of current program --- function-diagram.drawio | 2 +- function-diagram.drawio.pdf | Bin 79503 -> 84446 bytes main/control.cpp | 51 +++++++++++++++++++++++++----------- 3 files changed, 37 insertions(+), 16 deletions(-) diff --git a/function-diagram.drawio b/function-diagram.drawio index 4a09147..d73ef85 100644 --- a/function-diagram.drawio +++ b/function-diagram.drawio @@ -1 +1 @@ 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b/main/control.cpp index 8c83fef..62cb483 100644 --- a/main/control.cpp +++ b/main/control.cpp @@ -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: