Add button combination to set custom windingWidth with poti
control:
- Add Button combination SET+PRESET1 to set winding width with potentiometer
- Add case and display output in that state
config: move config macros from guide_stepper to common config
guide-stepper:
- outsource config definitions
- add functions to get and set variable winding width
- add mutex
This commit is contained in:
jonny
parent
1d0ea6a5aa
commit
c049da3583
@ -101,6 +101,24 @@
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//options affecting movement are currently defined in guide-stepper.cpp
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//---------------------------
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//------- cable guide -------
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//---------------------------
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// default axis coordinates the guide changes direction (winding width)
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#define GUIDE_MIN_MM 0 // TODO add feature so guide stays at zero for some steps (negative MIN_MM?), currently seems appropriate for even winding
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#define GUIDE_MAX_MM 95 // actual reel is 110, but currently guide turned out to stay at max position for too long
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// tolerance added to last stored position at previous shutdown.
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// When calibrating at startup the stepper moves for that sum to get track of zero position (ensure crashes into hardware limit for at least some time)
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#define AUTO_HOME_TRAVEL_ADD_TO_LAST_POS_MM 20
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#define MAX_TOTAL_AXIS_TRAVEL_MM 103 // max possible travel distance, needed as fallback for auto-home
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#define LAYER_THICKNESS_MM 5 // height of one cable layer on reel -> increase in radius every layer
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#define D_CABLE 6 // determines winds per layer / guide speed
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#define D_REEL 160 // start diameter of empty reel
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// max winding width that can be set using potentiometer (SET+PRESET1 buttons)
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#define MAX_WINDING_WIDTH_MM 100;
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//--------------------------
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//------ calibration -------
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@ -252,9 +252,38 @@ void task_control(void *pvParameter)
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buzzer.beep(3, 100, 60);
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}
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//##### SET switch #####
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//##### SET switch + Potentiometer #####
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//## set winding-width (SET+PRESET1+POTI) ##
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// set winding width (axis travel) with poti position
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// when SET and PRESET1 button are pressed
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if (SW_SET.state == true && SW_PRESET1.state == true) {
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//read adc
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potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
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//scale to target length range
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uint8_t windingWidthNew = (float)potiRead / 4095 * MAX_WINDING_WIDTH_MM;
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//apply hysteresis and round to whole meters //TODO optimize this
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if (windingWidthNew % 5 < 2) { //round down if remainder less than 2mm
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ESP_LOGD(TAG, "Poti input = %d -> rounding down", windingWidthNew);
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windingWidthNew = (windingWidthNew/5 ) * 5; //round down
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} else if (windingWidthNew % 5 > 4 ) { //round up if remainder more than 4mm
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ESP_LOGD(TAG, "Poti input = %d -> rounding up", windingWidthNew);
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windingWidthNew = (windingWidthNew/5 + 1) * 5; //round up
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} else {
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ESP_LOGD(TAG, "Poti input = %d -> hysteresis", windingWidthNew);
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windingWidthNew = lengthTarget;
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}
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//update target width and beep when effectively changed
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if (windingWidthNew != guide_getWindingWidth()) {
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//TODO update at button release only?
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guide_setWindingWidth(windingWidthNew);
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ESP_LOGW(TAG, "Changed winding width to %d mm", windingWidthNew);
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buzzer.beep(1, 30, 10);
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}
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}
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//## set target length (SET+POTI) ##
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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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else if (SW_SET.state == true) {
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//read adc
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potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
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//scale to target length range
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@ -475,6 +504,10 @@ void task_control(void *pvParameter)
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if (controlState == systemState_t::AUTO_CUT_WAITING) {
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displayTop.blinkStrings(" CUT 1N ", " ", 70, 30);
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}
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//setting winding width: blink info message
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else if (SW_SET.state && SW_PRESET1.state){
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displayTop.blinkStrings(" SET ", " WIDTH ", 400, 400);
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}
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//otherwise show current position
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else {
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sprintf(buf_tmp, "1ST %5.4f", (float)lengthNow/1000);
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@ -489,17 +522,8 @@ void task_control(void *pvParameter)
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//--------------------------
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//run handle function
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displayBot.handle();
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//setting target length: blink target length
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if (SW_SET.state == true) {
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sprintf(buf_tmp, "S0LL%5.3f", (float)lengthTarget/1000);
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displayBot.blinkStrings(buf_tmp, "S0LL ", 300, 100);
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}
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//manual state: blink "manual"
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else if (controlState == systemState_t::MANUAL) {
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displayBot.blinkStrings(" MANUAL ", buf_disp2, 400, 800);
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}
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//notify that cutter is active
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else if (cutter_isRunning()) {
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if (cutter_isRunning()) {
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displayBot.blinkStrings("CUTTING]", "CUTTING[", 100, 100);
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}
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//show ms countdown to cut when pending
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@ -508,6 +532,20 @@ void task_control(void *pvParameter)
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//displayBot.showString(buf_disp2); //TODO:blink "erreicht" overrides this. for now using blink as workaround
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displayBot.blinkStrings(buf_disp2, buf_disp2, 100, 100);
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}
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//manual state: blink "manual"
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else if (controlState == systemState_t::MANUAL) {
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displayBot.blinkStrings(" MANUAL ", buf_disp2, 400, 800);
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}
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//setting winding width: blink currently set windingWidth
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else if (SW_SET.state && SW_PRESET1.state){
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sprintf(buf_tmp, " %03d mm", lengthNow/1000);
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displayBot.blinkStrings(buf_tmp, " ", 300, 100);
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}
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//setting target length: blink target length
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else if (SW_SET.state == true) {
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sprintf(buf_tmp, "S0LL%5.3f", (float)lengthTarget/1000);
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displayBot.blinkStrings(buf_tmp, "S0LL ", 300, 100);
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}
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//otherwise show target length
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else {
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//sprintf(buf_disp2, "%06.1f cm", (float)lengthTarget/10); //cm
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@ -6,6 +6,7 @@ extern "C"
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#include "esp_log.h"
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#include "driver/adc.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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}
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#include "stepper.hpp"
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@ -22,36 +23,24 @@ extern "C"
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//---------------------
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//--- configuration ---
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//---------------------
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//also see config.h
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//for pin definition
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//also see config.h
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//for pin definitions and guide parameters
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// configure testing modes
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#define STEPPER_TEST_TRAVEL 65 // mm
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#define MIN_MM 0 //TODO add feature so guide stays at zero for some steps (negative MIN_MM?), currently seems appropriate for even winding
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#define MAX_MM 95 //actual reel is 110, but currently guide turned out to stay at max position for too long
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#define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
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#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
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//tolerance added to last stored position at previous shutdown.
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//When calibrating at startup the stepper moves for that sum to get track of zero position (ensure crashes into hardware limit for at least some time)
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#define AUTO_HOME_TRAVEL_ADD_TO_LAST_POS_MM 20
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#define MAX_TOTAL_AXIS_TRAVEL_MM 103 //max possible travel distance, needed for auto-home
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// speeds for testing with potentiometer (test task only)
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#define SPEED_MIN 2.0 // mm/s
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#define SPEED_MAX 70.0 // mm/s
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//note: actual speed is currently defined in config.h with STEPPER_SPEED_DEFAULT
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#define LAYER_THICKNESS_MM 5 //height of one cable layer on reel -> increase in radius
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#define D_CABLE 6
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#define D_REEL 160
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#define PI 3.14159
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//simulate encoder with reset button to test stepper ctl task
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//note STEPPER_TEST has to be defined as well
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//#define STEPPER_SIMULATE_ENCODER
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#define PI 3.14159
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//#define POS_MAX_STEPS GUIDE_MAX_MM * STEPPER_STEPS_PER_MM //note replaced with posMaxSteps
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#define POS_MIN_STEPS GUIDE_MIN_MM * STEPPER_STEPS_PER_MM
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//----------------------
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//----- variables ------
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//----------------------
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@ -67,6 +56,12 @@ static int layerCount = 0;
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// queue for sending commands to task handling guide movement
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static QueueHandle_t queue_commandsGuideTask;
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// mutex to prevent multiple axis to config variables also accessed/modified by control task
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SemaphoreHandle_t configVariables_mutex = xSemaphoreCreateMutex();
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// configured winding width: position the axis returns again in steps
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static uint32_t posMaxSteps = GUIDE_MAX_MM * STEPPER_STEPS_PER_MM; //assign default width
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//----------------------
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//----- functions ------
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@ -82,6 +77,36 @@ int guide_getAxisPosSteps(){
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}
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//=============================
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//=== guide_setWindingWidth ===
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//=============================
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// set custom winding width (axis position the guide returns in mm)
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void guide_setWindingWidth(uint8_t maxPosMm)
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{
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if (xSemaphoreTake(configVariables_mutex, portMAX_DELAY) == pdTRUE) // mutex to prevent multiple access by control and stepper-ctl task
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{
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posMaxSteps = maxPosMm * STEPPER_STEPS_PER_MM;
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ESP_LOGI(TAG, "set winding width / max pos to %dmm", maxPosMm);
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xSemaphoreGive(configVariables_mutex);
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}
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}
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//=============================
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//=== guide_getWindingWidth ===
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//=============================
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// get currently configured winding width (axis position the guide returns in mm)
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uint8_t guide_getWindingWidth()
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{
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if (xSemaphoreTake(configVariables_mutex, portMAX_DELAY) == pdTRUE) // mutex to prevent multiple access by control and stepper-ctl task
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{
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return posMaxSteps / STEPPER_STEPS_PER_MM;
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xSemaphoreGive(configVariables_mutex);
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}
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return 0;
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}
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//==========================
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//==== guide_moveToZero ====
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//==========================
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@ -113,11 +138,12 @@ void travelSteps(int stepsTarget){
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while (stepsToGo != 0){
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//--- currently moving right ---
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if (currentAxisDirection == AXIS_MOVING_RIGHT){ //currently moving right
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remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
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if (xSemaphoreTake(configVariables_mutex, portMAX_DELAY) == pdTRUE) { //prevent multiple acces on posMaxSteps by control-task
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remaining = posMaxSteps - posNow; //calc remaining distance fom current position to limit
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if (stepsToGo > remaining){ //new distance will exceed limit
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stepper_setTargetPosSteps(POS_MAX_STEPS); //move to limit
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stepper_setTargetPosSteps(posMaxSteps); //move to limit
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stepper_waitForStop(1000);
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posNow = POS_MAX_STEPS;
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posNow = posMaxSteps;
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currentAxisDirection = AXIS_MOVING_LEFT; //change current direction for next iteration
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//increment/decrement layer count depending on current cable direction
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layerCount += (stepsTarget > 0) - (stepsTarget < 0);
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@ -131,6 +157,8 @@ void travelSteps(int stepsTarget){
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posNow += stepsToGo;
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stepsToGo = 0; //finished, reset target length (could as well exit loop/break)
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}
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xSemaphoreGive(configVariables_mutex);
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}
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}
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//--- currently moving left ---
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@ -15,6 +15,13 @@ void task_stepper_ctl(void *pvParameter);
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//tell stepper-control task to move cable guide to zero position
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void guide_moveToZero();
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// return local variable posNow that stores the current position of cable guide axis in steps
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// needed by shutdown to store last axis position in nvs
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int guide_getAxisPosSteps();
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int guide_getAxisPosSteps();
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// set custom winding width (axis position the guide returns in mm)
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void guide_setWindingWidth(uint8_t maxPosMm);
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// get currently configured winding width (axis position the guide returns in mm)
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uint8_t guide_getWindingWidth();
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