0a05340763
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
268 lines
9.3 KiB
C++
268 lines
9.3 KiB
C++
extern "C"
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{
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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#include "driver/adc.h"
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}
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#include "DendoStepper.h"
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#include "config.hpp"
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#include "guide-stepper.hpp"
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#include "encoder.hpp"
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//---------------------
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//--- configuration ---
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//---------------------
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//also see config.hpp
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//for pin definition
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#define STEPPER_TEST_TRAVEL 65 //mm
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//
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#define MIN_MM 0
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#define MAX_MM 110 //60
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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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#define SPEED_MIN 2.0 //mm/s
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#define SPEED_MAX 60.0 //mm/s
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#define SPEED 10 //35, 100, 50 rev
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#define ACCEL_MS 600.0 //ms from 0 to max
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#define DECEL_MS 1000.0 //ms from max to 0
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#define STEPPER_STEPS_PER_ROT 1600
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#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
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#define D_CABLE 6
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#define D_REEL 160 //actual 170
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#define PI 3.14159
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//----------------------
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//----- variables ------
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//----------------------
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static DendoStepper step;
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static const char *TAG = "stepper"; //tag for logging
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static bool stepp_direction = true;
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static bool dir = true, dirPrev; //TODO local variables in travelSteps?
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static uint32_t posNow = 0;
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//----------------------
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//----- functions ------
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//----------------------
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//move axis certain Steps (relative) between left and right or reverse when negative
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void travelSteps(int stepsTarget){
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//posNow = step.getPositionMm(); //not otherwise controlled, so no update necessary
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int stepsToGo, remaining;
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stepsToGo = abs(stepsTarget);
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if(stepsTarget < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
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while (stepsToGo != 0){
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//--- wait if direction changed ---
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if (dirPrev != dir){
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ESP_LOGW(TAG, " dir-change detected - waiting for move to finish \n ");
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while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
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}
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//--- currently moving right ---
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if (stepp_direction == true){ //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 (stepsToGo > remaining){ //new distance will exceed limit
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step.runAbs (POS_MAX_STEPS); //move to limit
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dirPrev = dir;
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dir = 1;
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//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
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posNow = POS_MAX_STEPS;
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stepp_direction = false; //change current direction for next iteration
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stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance
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ESP_LOGI(TAG, " --- moved to max -> change direction (L) --- \n ");
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}
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else { //target distance does not reach the limit
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step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length
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dirPrev = dir;
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dir = 1;
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//-- dont wait for move to finish since moves in same direction get merged --
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//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
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ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo);
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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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}
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//--- currently moving left ---
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else {
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remaining = posNow - POS_MIN_STEPS;
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if (stepsToGo > remaining){
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step.runAbs (POS_MIN_STEPS);
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dirPrev = dir;
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dir = 0;
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//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
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posNow = POS_MIN_STEPS;
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stepp_direction = true;
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stepsToGo = stepsToGo - remaining;
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ESP_LOGI(TAG, " --- moved to min -> change direction (R) --- \n ");
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}
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else {
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step.runAbs (posNow - stepsToGo); //when moving left the coordinate has to be decreased
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dirPrev = dir;
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dir = 0;
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//-- dont wait for move to finish since moves in same direction get merged --
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//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
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ESP_LOGD(TAG, "moving to %d\n", posNow - stepsToGo);
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posNow -= stepsToGo;
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stepsToGo = 0;
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}
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}
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}
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if(stepsTarget < 0) stepp_direction = !stepp_direction; //undo inversion of stepp_direction after reverse mode is finished
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return;
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}
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//move axis certain Mm (relative) between left and right or reverse when negative
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void travelMm(int length){
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travelSteps(length * STEPPER_STEPS_PER_MM);
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}
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//define zero/start position
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//currently crashes into hardware limitation for certain time
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//TODO: limit switch
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void home() {
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ESP_LOGW(TAG, "auto-home...");
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step.setSpeedMm(100, 500, 10);
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step.runInf(1);
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vTaskDelay(1500 / portTICK_PERIOD_MS);
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step.stop();
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step.resetAbsolute();
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ESP_LOGW(TAG, "auto-home finished");
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}
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//initialize/configure stepper instance
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void init_stepper() {
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ESP_LOGW(TAG, "initializing stepper...");
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DendoStepper_config_t step_cfg = {
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.stepPin = STEPPER_STEP_PIN,
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.dirPin = STEPPER_DIR_PIN,
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.enPin = STEPPER_EN_PIN,
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.timer_group = TIMER_GROUP_0,
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.timer_idx = TIMER_0,
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.miStep = MICROSTEP_32,
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.stepAngle = 1.8};
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step.config(&step_cfg);
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step.init();
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step.setSpeed(1000, 1000, 1000); //random default speed
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step.setStepsPerMm(STEPPER_STEPS_PER_MM); //guide: 4mm/rot
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}
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//function that updates speed value using ADC input and configured MIN/MAX
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void updateSpeedFromAdc() {
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int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34
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double poti = potiRead/4095.0;
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int speed = poti*(SPEED_MAX-SPEED_MIN) + SPEED_MIN;
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step.setSpeedMm(speed, ACCEL_MS, DECEL_MS);
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ESP_LOGW(TAG, "poti: %d (%.2lf%%), set speed to: %d", potiRead, poti*100, speed);
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}
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//----------------------------
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//---- TASK stepper-test -----
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//----------------------------
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void task_stepper_test(void *pvParameter)
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{
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init_stepper();
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home();
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while (1) {
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updateSpeedFromAdc();
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step.runPosMm(STEPPER_TEST_TRAVEL);
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while(step.getState() != 1) vTaskDelay(2);
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ESP_LOGI(TAG, "finished moving right => moving left");
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updateSpeedFromAdc();
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step.runPosMm(-STEPPER_TEST_TRAVEL);
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while(step.getState() != 1) vTaskDelay(2); //1=idle
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ESP_LOGI(TAG, "finished moving left => moving right");
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}
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}
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//----------------------------
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//----- TASK stepper-ctl -----
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//----------------------------
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void task_stepper_ctl(void *pvParameter)
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{
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//variables
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int encStepsNow = 0; //get curret steps of encoder
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int encStepsPrev = 0; //steps at last check
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int encStepsDelta = 0; //steps changed since last iteration
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double cableLen = 0;
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double travelStepsExact = 0; //steps axis has to travel
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double travelStepsPartial = 0;
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int travelStepsFull = 0;
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double travelMm = 0;
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double turns = 0;
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float potiModifier;
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init_stepper();
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home();
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while(1){
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//get current length
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encStepsNow = encoder_getSteps();
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//calculate change
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encStepsDelta = encStepsNow - encStepsPrev; //FIXME MAJOR BUG: when resetting encoder/length in control task, diff will be huge!
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//read potentiometer and normalize (0-1) to get a variable for testing
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potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
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//ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
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ESP_LOGI(TAG, "delaying stepper-ctl task by %.1f ms (poti value)", 2000 * potiModifier);
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vTaskDelay(2000 * potiModifier / portTICK_PERIOD_MS);
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//calculate steps to move
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cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
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turns = cableLen / (PI * D_REEL);
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travelMm = turns * D_CABLE;
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travelStepsExact = travelMm * STEPPER_STEPS_PER_MM + travelStepsPartial; //convert mm to steps and add not moved partial steps
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travelStepsPartial = 0;
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travelStepsFull = (int)travelStepsExact;
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//move axis when ready to move at least 1 step
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if (abs(travelStepsFull) > 1){
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travelStepsPartial = fmod(travelStepsExact, 1); //save remaining partial steps to be added in the next iteration
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ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial);
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ESP_LOGI(TAG, "MOVING %d steps", travelStepsFull);
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//TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
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step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
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//testing: get speed from poti
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//step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
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travelSteps(travelStepsExact);
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encStepsPrev = encStepsNow; //update previous length
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}
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else {
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//TODO use encoder queue to only run this check at encoder event?
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vTaskDelay(2);
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}
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}
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}
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