When winding short lengths e.g. 5m it does not make sense
to use the entire winding width thus getting unnecessary
wide cable ring.
Determined some thresholds while testing and implemented
those to be applied at target length change automatically:
control:
- update winding width each time target length changes
guide-stepper:
- add function that returns dynamic winding width depending
on passed target length according to fixed thresholds
guide-stepper:
- fix deadlock when editing winding width
- fix behaivor when windingWidth is set to 0 (disable guide)
control:
- add dead time to prevent setTarget when exiting setWindingWidth with buttons
- fix typo and conditons
- increase max winding width
- optimize display text
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
shutdown.cpp/hpp:
- repeatedly check supply voltage
- save value to nvs when dropping below threshold
- provide function to read lastPos from nvs
guide-stepper:
- auto-home considers stored last position in nvs
main:
- add new task shutDownDetection
config:
- slightly increase stepper speed
Currently used sturdier version of cable reel with
attachable counter piece, printed using PETG
Currently used Axis components:
Changed rolls and mount block
Details see changelog in FCStd files (param spreadsheet)
- outsource global variables and objects
- move from config.hpp to global.cpp / hpp
- rename config.hpp, thus change all includes
- re-arrange includes -> in source files instead of header
- optimize / make function comment titles more consistent
- optimize comments overall
- add several temporary files to gitignore
- fix unused variable compiler warnings
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
