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cable-length-cutter/main/guide-stepper.cpp
jonny_l480 1c59e0097b Fix feature: extend movement works now! (test mode) 
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
2023-03-24 15:05:36 +01:00

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extern "C"
{
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "driver/adc.h"
}
#include "DendoStepper.h"
#include "config.hpp"
#include "guide-stepper.hpp"
#include "encoder.hpp"
#include "gpio_evaluateSwitch.hpp"
//---------------------
//--- configuration ---
//---------------------
//also see config.hpp
//for pin definition
#define STEPPER_TEST_TRAVEL 65 //mm
//
#define MIN_MM 0
#define MAX_MM 110 //60
#define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
#define SPEED_MIN 2.0 //mm/s
#define SPEED_MAX 60.0 //mm/s
#define SPEED 10 //35, 100, 50 rev
#define ACCEL_MS 800.0 //ms from 0 to max
#define DECEL_MS 800.0 //ms from max to 0
#define STEPPER_STEPS_PER_ROT 1600
#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
#define D_CABLE 6
#define D_REEL 160 //actual 170
#define PI 3.14159
//----------------------
//----- variables ------
//----------------------
static DendoStepper step;
static const char *TAG = "stepper"; //tag for logging
static bool stepp_direction = true;
static bool dir = true, dirPrev; //TODO local variables in travelSteps?
static uint32_t posNow = 0;
//----------------------
//----- functions ------
//----------------------
//move axis certain Steps (relative) between left and right or reverse when negative
void travelSteps(int stepsTarget){
//posNow = step.getPositionMm(); //not otherwise controlled, so no update necessary
int stepsToGo, remaining;
stepsToGo = abs(stepsTarget);
if(stepsTarget < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
while (stepsToGo != 0){
//--- wait if direction changed ---
//if (dirPrev != dir){
// ESP_LOGW(TAG, " dir-change detected - waiting for move to finish \n ");
// while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
//}
//--- currently moving right ---
if (stepp_direction == true){ //currently moving right
remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
if (stepsToGo > remaining){ //new distance will exceed limit
step.runAbs (POS_MAX_STEPS); //move to limit
dirPrev = dir;
dir = 1;
//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
posNow = POS_MAX_STEPS;
stepp_direction = false; //change current direction for next iteration
stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance
ESP_LOGI(TAG, " --- moved to max -> change direction (L) --- \n ");
}
else { //target distance does not reach the limit
step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length
dirPrev = dir;
dir = 1;
//-- dont wait for move to finish since moves in same direction get merged --
//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo);
posNow += stepsToGo;
stepsToGo = 0; //finished, reset target length (could as well exit loop/break)
}
}
//--- currently moving left ---
else {
remaining = posNow - POS_MIN_STEPS;
if (stepsToGo > remaining){
step.runAbs (POS_MIN_STEPS);
dirPrev = dir;
dir = 0;
//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
posNow = POS_MIN_STEPS;
stepp_direction = true;
stepsToGo = stepsToGo - remaining;
ESP_LOGI(TAG, " --- moved to min -> change direction (R) --- \n ");
}
else {
step.runAbs (posNow - stepsToGo); //when moving left the coordinate has to be decreased
dirPrev = dir;
dir = 0;
//-- dont wait for move to finish since moves in same direction get merged --
//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
ESP_LOGD(TAG, "moving to %d\n", posNow - stepsToGo);
posNow -= stepsToGo;
stepsToGo = 0;
}
}
}
if(stepsTarget < 0) stepp_direction = !stepp_direction; //undo inversion of stepp_direction after reverse mode is finished
return;
}
//move axis certain Mm (relative) between left and right or reverse when negative
void travelMm(int length){
travelSteps(length * STEPPER_STEPS_PER_MM);
}
//define zero/start position
//currently crashes into hardware limitation for certain time
//TODO: limit switch
void home() {
ESP_LOGW(TAG, "auto-home...");
step.setSpeedMm(100, 500, 10);
step.runInf(1);
vTaskDelay(1500 / portTICK_PERIOD_MS);
step.stop();
step.resetAbsolute();
ESP_LOGW(TAG, "auto-home finished");
}
//initialize/configure stepper instance
void init_stepper() {
ESP_LOGW(TAG, "initializing stepper...");
DendoStepper_config_t step_cfg = {
.stepPin = STEPPER_STEP_PIN,
.dirPin = STEPPER_DIR_PIN,
.enPin = STEPPER_EN_PIN,
.timer_group = TIMER_GROUP_0,
.timer_idx = TIMER_0,
.miStep = MICROSTEP_32,
.stepAngle = 1.8};
step.config(&step_cfg);
step.init();
step.setSpeed(1000, 1000, 1000); //random default speed
step.setStepsPerMm(STEPPER_STEPS_PER_MM); //guide: 4mm/rot
}
//function that updates speed value using ADC input and configured MIN/MAX
void updateSpeedFromAdc() {
int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34
double poti = potiRead/4095.0;
int speed = poti*(SPEED_MAX-SPEED_MIN) + SPEED_MIN;
step.setSpeedMm(speed, ACCEL_MS, DECEL_MS);
ESP_LOGW(TAG, "poti: %d (%.2lf%%), set speed to: %d", potiRead, poti*100, speed);
}
//----------------------------
//---- TASK stepper-test -----
//----------------------------
void task_stepper_test(void *pvParameter)
{
init_stepper();
home();
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
//--- move from left to right repeatedly ---
// while (1) {
// updateSpeedFromAdc();
// step.runPosMm(STEPPER_TEST_TRAVEL);
// while(step.getState() != 1) vTaskDelay(2);
// ESP_LOGI(TAG, "finished moving right => moving left");
// 10updateSpeedFromAdc();
// step.runPosMm(-STEPPER_TEST_TRAVEL);
// while(step.getState() != 1) vTaskDelay(2); //1=idle
// ESP_LOGI(TAG, "finished moving left => moving right");
// }
//--- control stepper using preset buttons ---
while(1){
vTaskDelay(20 / portTICK_PERIOD_MS);
//------ handle switches ------
//run handle functions for all switches
SW_START.handle();
SW_RESET.handle();
SW_SET.handle();
SW_PRESET1.handle();
SW_PRESET2.handle();
SW_PRESET3.handle();
SW_CUT.handle();
SW_AUTO_CUT.handle();
if (SW_RESET.risingEdge) {
ESP_LOGI(TAG, "button - stop stepper\n ");
buzzer.beep(1, 1000, 100);
step.stop();
}
if (SW_PRESET1.risingEdge) {
ESP_LOGI(TAG, "button - moving right\n ");
buzzer.beep(2, 300, 100);
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
step.runPosMm(15);
}
if (SW_PRESET3.risingEdge) {
ESP_LOGI(TAG, "button - moving left\n ");
buzzer.beep(1, 500, 100);
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
step.runPosMm(-15);
}
if (SW_PRESET2.risingEdge) {
buzzer.beep(1, 100, 100);
ESP_LOGW(TAG, "button - current state: %d\n, pos: %llu", (int)step.getState(), step.getPositionMm());
}
}
}
//----------------------------
//----- TASK stepper-ctl -----
//----------------------------
void task_stepper_ctl(void *pvParameter)
{
//variables
int encStepsNow = 0; //get curret steps of encoder
int encStepsPrev = 0; //steps at last check
int encStepsDelta = 0; //steps changed since last iteration
double cableLen = 0;
double travelStepsExact = 0; //steps axis has to travel
double travelStepsPartial = 0;
int travelStepsFull = 0;
double travelMm = 0;
double turns = 0;
float potiModifier;
init_stepper();
home();
while(1){
//get current length
encStepsNow = encoder_getSteps();
//calculate change
encStepsDelta = encStepsNow - encStepsPrev; //FIXME MAJOR BUG: when resetting encoder/length in control task, diff will be huge!
//read potentiometer and normalize (0-1) to get a variable for testing
potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
//ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
ESP_LOGI(TAG, "delaying stepper-ctl task by %.1f ms (poti value)", 2000 * potiModifier);
vTaskDelay(2000 * potiModifier / portTICK_PERIOD_MS);
//calculate steps to move
cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
turns = cableLen / (PI * D_REEL);
travelMm = turns * D_CABLE;
travelStepsExact = travelMm * STEPPER_STEPS_PER_MM + travelStepsPartial; //convert mm to steps and add not moved partial steps
travelStepsPartial = 0;
travelStepsFull = (int)travelStepsExact;
//move axis when ready to move at least 1 step
if (abs(travelStepsFull) > 1){
travelStepsPartial = fmod(travelStepsExact, 1); //save remaining partial steps to be added in the next iteration
ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial);
ESP_LOGI(TAG, "MOVING %d steps", travelStepsFull);
//TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
//testing: get speed from poti
//step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
travelSteps(travelStepsExact);
encStepsPrev = encStepsNow; //update previous length
}
else {
//TODO use encoder queue to only run this check at encoder event?
vTaskDelay(2);
}
}
}
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