74adcbc78a
While testing the setup
Optimizations of problems noticed while testing the setup:
- mount too weak
- only very slow speeds relevant
- less distance required
122 lines
3.0 KiB
C++
122 lines
3.0 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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//---------------------
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//--- configuration ---
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//---------------------
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//also see config.hpp
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#define LEN_MOVE 65 //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 STEPS_PER_ROT 1600
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//----------------------
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//----- variables ------
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//----------------------
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DendoStepper step;
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DendoStepper step1;
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static const char *TAG = "stepper"; //tag for logging
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//----------------------
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//----- functions ------
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//----------------------
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//calculate time needed for certain length (NOT NEEDED/ DELETE)
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//float mmToS(int l){
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//
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// double accel = SPEED_MAX / (ACCEL_MS/1000);
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// double t_accelMax = ACCEL_MS/1000;
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// double l_accelMax = accel * t_accelMax * t_accelMax;
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//
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// printf("accel=%.2lf mm/s2 __ t_accelMAX=%.2lfs __ l_accelMax=%.2lfmm\n", accel, t_accelMax, l_accelMax);
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// if (l < l_accelMax){
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// return sqrt(l / accel);
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// } else {
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// return t_accelMax + (l - l_accelMax) / SPEED_MAX;
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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(120, 120, 100);
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step.runInf(0);
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vTaskDelay(2000 / 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 = 18,
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.dirPin = 19,
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.enPin = 21,
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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(STEPS_PER_ROT /4); //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(ADC1_CHANNEL_6); //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 --------
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//---------------------
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void task_stepper(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(-LEN_MOVE);
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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(LEN_MOVE);
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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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