4112d8653c
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
30 lines
1.0 KiB
C++
30 lines
1.0 KiB
C++
#pragma once
|
|
|
|
//task that initializes and controls the stepper motor
|
|
//current functionality:
|
|
// - automatically auto-homes
|
|
// - moves left and right repeatedly
|
|
// - updates speed from potentiometer each cycle
|
|
void task_stepper_test(void *pvParameter);
|
|
|
|
//task that initializes and controls the stepper motor
|
|
// - moves stepper according to encoder movement
|
|
void task_stepper_ctl(void *pvParameter);
|
|
|
|
|
|
//tell stepper-control task to move cable guide to zero position
|
|
void guide_moveToZero();
|
|
|
|
|
|
// return local variable posNow that stores the current position of cable guide axis in steps
|
|
// needed by shutdown to store last axis position in nvs
|
|
int guide_getAxisPosSteps();
|
|
|
|
// set custom winding width (axis position the guide returns in mm)
|
|
void guide_setWindingWidth(uint8_t maxPosMm);
|
|
|
|
// get currently configured winding width (axis position the guide returns in mm)
|
|
uint8_t guide_getWindingWidth();
|
|
|
|
// calculate dynamic winding width in mm from cable length in mm according to fixed thresholds
|
|
uint8_t guide_targetLength2WindingWidth(int lenMm); |