61deaf9ead
Partially implemented stepper driver as planned in diagram works partially (reset button toggles distances) major issues though - wip needs debugging and testing
274 lines
9.1 KiB
C++
274 lines
9.1 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 "stepper.hpp"
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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 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 ACCEL_MS 100.0 //ms from 0 to max
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#define DECEL_MS 90.0 //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 const char *TAG = "stepper"; //tag for logging
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static bool stepp_direction = true;
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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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//
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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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//
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// while (stepsToGo != 0){
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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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// //....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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// //....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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//
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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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// //....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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// 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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//
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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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//
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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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//
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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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stepper_init();
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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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stepper_init();
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int state = 0;
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while(1){
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vTaskDelay(20 / portTICK_PERIOD_MS);
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//------ handle switches ------
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//run handle functions for all switches
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SW_START.handle();
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SW_RESET.handle();
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SW_SET.handle();
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SW_PRESET1.handle();
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SW_PRESET2.handle();
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SW_PRESET3.handle();
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SW_CUT.handle();
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SW_AUTO_CUT.handle();
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if (SW_RESET.risingEdge) {
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//stepper_toggleDirection();
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//buzzer.beep(1, 1000, 100);
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if (state) {
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stepper_setTargetSteps(1000);
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state = 0;
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} else {
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stepper_setTargetSteps(600);
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state = 1;
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}
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}
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// if (SW_PRESET1.risingEdge) {
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// buzzer.beep(2, 300, 100);
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// stepperSw_setTargetSteps(1000);
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// }
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// if (SW_PRESET2.risingEdge) {
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// buzzer.beep(1, 500, 100);
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// stepperSw_setTargetSteps(10000);
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// }
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// if (SW_PRESET3.risingEdge) {
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// buzzer.beep(1, 100, 100);
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// stepperSw_setTargetSteps(30000);
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// }
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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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//
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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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//
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// float potiModifier;
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//
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// init_stepper();
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// home();
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//
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// while(1){
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// //get current length
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// encStepsNow = encoder_getSteps();
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//
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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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//
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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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//
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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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//
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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(35, 100, 50);
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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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