Adjust some parameters while testing cable guide with new Reel V2.2.2
Guides quite well with current setup, calculated diameter (layer heights)
matches quite good now
- guide-stepper:
- add queue to send commands to stepper-ctl task
- add function that tells stepper task to move to zero
- increase travel length full axis length 110
- control: move guide to zero at reset
- Cmake: enable colored output
- Add new version of cable reel with second counter-part
to prevent cable from falling off at long lengths
- Also update axis-mounts (modified some time ago)
- prevent hard stops (no decel ramp) when target changes while
decelerating already (overshoot and move back)
- optimize/adjust stepper-test mode, add macro for test with single switch
Note: tested the current state, works quite well. very rarely crashes
probably dude to race conditions in isr?
- Add waitForStop function to custom stepper driver
- use that function in guide-stepper to ensure stepper actually was at
max/min position before dir change
- move stepper config e.g. speed accel steps... from stepper.cpp to
config.h
- uncomment and rework code in guide-stepper.cpp (for traveling the
stepper based on encoder) to work with new custom driver instead of
previous library
Note currently in STEPPER_SIMULATE_ECNODER mode (use button as encoder),
see macro
Undo all custom changes to the DendoStepper library, since it will not
be used further. Custom implementation will be used in the future
(stepper_custom-driver branch)
Revert 279ac0e07e7578a86a6d13908e472bd4f379a62a
Revert 1c59e0097b3732d9b035881faa442349c50d4341
Revert 5d7c67ab9a2327adc49ea92cd55f9aa23a40b065
Revert 8d2428d28576e08da07af79659620376b1e4e964
Revert dc6deeb3d09628ac7f4f4fab256dc168bcbf835a
Revert 0a05340763c26be4735d1cf845b96150112b25ad
Revert 45409676a0b502c69b5bc26be7361bfa5a89ed61
Revert de42b6252ebec3558713cd39334548041654545f
- add functions
setSpeed (mm/s)
setTargetPosMm
- add macros and function to define and convert variables to actual units
speed in mm/s instead of unknown
abs pos in mm instead of steps
- simplyfy isr code
new driver works well while testing with one button with debug output
- small changes to isr function that made it fully functional!
- add stepper debug task
- minor optimizations necessary
Partially implemented stepper driver as planned in diagram
works partially (reset button toggles distances)
major issues though - wip
needs debugging and testing
basic task for controlling the stepper
(no accel / decel etc)
works at current speed settings but long moves trigger watchdog
so dropped this idea and using timer as before
Some adjustments to make it work
- fix direction change (temporary)
- fix isr initial start
See notes in stepper.cpp
Todo:
- fix crash after accelerating
- add initial speed (takes long to accelerate from 0
-
- Add stepper driver code from scratch
- Remove / comment out code that used DendoStepper library
- Test custom driver with buttons (guide-stepper.cpp)
untested limited features
- Add debug output in calc
- disable test mode for testing with encoder
- set loglevel to DEBUG
extend feature currently only works well in testing mode with buttons
issues when running with encoder:
movement gets extended extremely often due to encoder travel
interval and rarely does reach target - compared to trigger with
buttons
-> while debugging noticed that the current speed gets negative
and the xISR gets stuck so moves infinitely or not at all
ideas:
- rounding issue?
- SPEED increment also has to be adjusted or set to 0 as step
increment?
while currently in stepper test mode the extend feature works as
intended now.
you can trigger movement using the buttons and repeating
presses while still moving (coast, accel or decel) extends the movement
without stopping or accelerating again.
Note reversing the direction while still moving is not handled and results
in immediate direction change and distance that makes no sense.
also added alot of debug output and switched to debug level
- sometimes deadlock at direction change
waits for idle state in runAbs
function, but stepper is not really moving anymore ISR does not change
to idle or state changed afterwards?
- every EXTEND operation results in a motor stop thus when extending
alot is stopped only ramping up and down
when encoder stop after several extend attempts
the stepper moves all the remaining steps successfully
stepsRemaining not necessary in ISR
comment out forced stop at runAbs
statusPrev not needed
TODO: ISR defines state every time, no need to adjust manually while running
adjust calc function to handle remaining steps
Test: broken - slow moves mork but when "extending" movement it just
vibrates
before adding the travelMm function the algorithm for moving the
axis between left and right was designed and evaluated via commandline
first.
-> Add this test-code in this commit
When the VFD was running the stepper driver did not work correctly.
The especially the DIR signal got unusable and triggered randomly.
Add custom stripboard that reduces the noise on DIR and PULSE data
lines.
The circuit simply increases the current in the data lines significantly
and crops the voltage to 0-5V using a zener diode.
While testing with an oscilloscope the circuit seems effective.
- add kicad schematic
- add spreadsheet with stripboard layout
- update connection: plan with stripboard, update changed 5V connection
- decrease home speed
- invert direction in stepper test and home function due to changed
wiring
- stretch travel steps calculation to multiple steps and variables for
better overview and debugging
- prevent partial steps from being lost -> fixes rounding issue
TESTED: works in general, but steper movement is too jerky. Also there
is a Hardware issue: When VFD/motor is on the steper does not work
properly -> 50ohm pullup near stepper driver fixed this
- update config and connection plan
- swap B+ and B- of encoder to invert the rotational direction,
so the direction in code make more sense
- swap VFD and stepper pin. For some reason stepper did not work with
dir pin on mos2. Maybe pulse affected dir pin, try again with denoise
pcb
- optimize some variable and macro names
- change/add function that travels guide certain steps
- stepper task: - calculate steps depending on encoder steps
- move steps if at least 1 step possible
- prepare poti modifier
-> untested
- Add datasheets of VFD and stepper driver
- Change pins in config for stepper driver
- DISABLED LAMP (pin now used for stepper)
- update connection plan with stepper section and wiring
- add static type to all local variables in every source file
so the scope of each variable is limited to that file.
This prevents conflicting variable names with other source file
(e.g. 'state' variable in vfd.cpp)
- simplify encoder concept
wrap all used functions from rotary_encoder.h library in
custom encoder.hpp file
-> only one file has to be included where encoder is used
-> global variable 'encoder' is not necessary anymore
-> reduces duplicate code for length calculation
- update all files where encoder functions where used accordingly
To be able to use the encoder in future stepper task as well
- make certain variables global
- initialize encoder in main
- outsorce encoder functions in encoder.cpp / h
- adjust config
While testing the setup
Optimizations of problems noticed while testing the setup:
- mount too weak
- only very slow speeds relevant
- less distance required
including the files in source file instead of header file fixed
'conflicting type' errors in idf macros when using newer version
ESP-IDF v4.4.4-148-g4c2afac355
This file currently contains
- crude model of linear-axis
- angled bracket for mounting the axis to item
- 2 versions of interface between rolls and axis
- rolls
- add macro variable STEPPER_TEST (config.hpp)
if set: only `task_stepper-test` is started (main.cpp)
- add file for stepper/guide related code (guide-stepper.cpp/hpp)
currently defines a task that simply moves the axis left to right
repeatedly with a speed defined by a potentiometer connected to ADC
GPIO34
Add feature and config option #define TARGET_LENGTH_OFFSET
that makes it possible to set a distance that gets added to the target
length, thus preventing falling short on the actual length when spools
rotates back slightly after stop.
Also move reached tolerance to config.
Add add cad files of all designed and 3d-printed parts.
Mostly Freecad and a few older SolidEdge files (_SE)
Add wire-labels.fods containing the printed labels for wires in
control-box and switching cabinet
Add docs folder with relevant images and datasheets of the used components
- Pending auto cut (countdown) can be canceled using any button on the
panel
- Reset button does not reset the length when countdown cancledo
- Fix bug where display did not initialize correctly after start some
times
-> simply init again after welcome msg
- reduce countdown time by 500ms
