move esp motor controller code to arduino
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461b9a7963
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@ -7,32 +7,103 @@
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#include "Ethernet.h"
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#include "PubSubClient.h"
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//Ethernet and MQTT
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String ip = "";
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uint8_t mac[6] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x06};
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#define CLIENT_ID "Hal"
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#define CLIENT_ID "Mixer"
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EthernetClient ethClient;
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PubSubClient mqttClient;
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#define PUBLISH_DELAY 10000
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long last_send=0;
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//Serial
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long last_serialdebug=0;
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#define INTERVAL_SERIALDEBUG 200
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//Inputs
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#define PIN_BUTTON 9
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#define PIN_ENCA 7
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#define PIN_ENCB 8
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#define BUTTON_RELEASE_DEBOUNCE 100 //minimum time after button release to reenable triggering
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boolean button_flag=false; //true if button pressed
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boolean button_released=true;
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long last_button_released=0; //last time button has been released (for debounce)
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//Shift Register 595
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//connections: https://www.arduino.cc/en/tutorial/ShiftOut
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#define SRLATCH 4
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#define SRCLOCK 5
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#define SRDATA 6
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uint16_t srbits=0;
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#include <Encoder.h>
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Encoder volEnc(PIN_ENCA,PIN_ENCB);
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float encoderMultiplier=4.0;
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//Servo stuff
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#define SRPIN_MOTOR_IN1 1 //L293(pin2) Motor IN1
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#define SRPIN_MOTOR_IN2 2 //L293(pin7) Motor IN2
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#define PIN_POT A0 //reference potentiometer wiper
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#define DEADZONE_POTI 5 //maximum allowed error. stop when reached this zone
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#define POT_MIN 10 //minimum value pot can reach
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#define POT_MAX 1010 //maximum value pot can reach
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#define POTIFILTER 0.8 //0 to 1. 1 means old value stays forever
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int poti_set=512; //set value
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int poti_read=0; //read value from poti
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boolean poti_reachedposition=true; //set to true if position reached. after that stop turning
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#define MOTOR_STOP(); srWrite(SRPIN_MOTOR_IN1,LOW); srWrite(SRPIN_MOTOR_IN2,LOW);
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#define MOTOR_LEFT(); srWrite(SRPIN_MOTOR_IN1,LOW); srWrite(SRPIN_MOTOR_IN2,HIGH);
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#define MOTOR_RIGHT(); srWrite(SRPIN_MOTOR_IN1,HIGH); srWrite(SRPIN_MOTOR_IN2,LOW);
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#define MOTOR_TURNING() (srRead(SRPIN_MOTOR_IN1) != srRead(SRPIN_MOTOR_IN2))
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//Motorcheck
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long last_motorcheck=0;
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#define INTERVAL_MOTORCHECK 100 //check motor movement every x ms
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int poti_read_last=0;
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int motor_vel=0; //analog read units per second
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#define MINIMUM_MOTORVEL 20 //minimum velocity motor should turn wenn active
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#define MOTOR_FAILTIME 500 //in ms. if motor did not turn fox x amount of time at least with MINIMUM_MOTORVEL an error will initiate
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long last_motorTooSlow=0; //typically 0
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//error
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uint8_t error=0;
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#define NOERROR 0
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#define MOTORDIDNOTTURN 1
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void setup() {
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pinMode(LED_BUILTIN, OUTPUT);
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digitalWrite(LED_BUILTIN,HIGH);
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// setup serial communication
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pinMode(PIN_BUTTON,INPUT_PULLUP);
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pinMode(PIN_POT,INPUT);
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pinMode(SRLATCH, OUTPUT);
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pinMode(SRCLOCK, OUTPUT);
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pinMode(SRDATA, OUTPUT);
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Serial.begin(9600);
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while (!Serial) {};
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Serial.println(F("MQTT Arduino Demo"));
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Serial.println("Booting");
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// setup ethernet communication using DHCP
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if (Ethernet.begin(mac) == 0) {
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//Serial.println(F("Unable to configure Ethernet using DHCP"));
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if (Ethernet.begin(mac) == 0) { // setup ethernet communication using DHCP
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Serial.println("Unable to configure Ethernet using DHCP");
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Serial.flush();
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delay(200);
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for (;;);
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}
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Serial.println(F("Ethernet configured via DHCP"));
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Serial.println("Ethernet configured via DHCP");
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Serial.print("IP address: ");
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Serial.println(Ethernet.localIP());
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Serial.println();
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@ -49,12 +120,11 @@ void setup() {
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// setup mqtt client
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mqttClient.setClient(ethClient);
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mqttClient.setServer("10.0.0.1", 1883);
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Serial.println(F("MQTT client configured"));
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Serial.println("MQTT client configured");
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mqttClient.setCallback(callback);
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Serial.println();
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Serial.println(F("Ready to send data"));
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Serial.println("Ready");
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last_send = millis();
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@ -62,7 +132,7 @@ void setup() {
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}
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void reconnect() {
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// Loop until we're reconnected
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// Loop until reconnected
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while (!mqttClient.connected()) {
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Serial.print("Attempting MQTT connection...");
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// Attempt to connect
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@ -74,23 +144,136 @@ void reconnect() {
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Serial.print("failed, rc=");
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Serial.print(mqttClient.state());
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Serial.println(" try again in 5 seconds");
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// Wait 5 seconds before retrying
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delay(5000);
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delay(5000);// Wait 5 seconds before retrying
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}
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}
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}
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void loop() {
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long loopmillis=millis();
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if (!mqttClient.connected()) {
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reconnect();
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}
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mqttClient.loop();
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if (millis() - last_send > PUBLISH_DELAY) {
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//sendData();
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last_send = millis();
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//Serial Input ##############################################
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while (Serial.available() > 0) {
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int _value = Serial.parseInt();
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if (Serial.read() == '\n') {
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Serial.print("value=");
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Serial.println(_value);
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//poti_set=_value;
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//poti_reachedposition=false; //aim for new position
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srWrite(_value,!srRead(_value));
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}
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}
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mqttClient.loop();
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//Inputs ###################################################
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poti_read=poti_read*POTIFILTER + (1.0-POTIFILTER)*analogRead(PIN_POT); //read poti
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if (!digitalRead(PIN_BUTTON)){ //button pressed
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if (button_released){
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button_released=false; //flag: not released
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if(loopmillis-last_button_released > BUTTON_RELEASE_DEBOUNCE){
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button_flag=true;
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}
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}
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}else if(!button_flag && !button_released){ //button released and flag has been cleared
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last_button_released=loopmillis;
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button_released=true;
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}
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//Read Encoder to velocity "volEncVel"
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int volEncVel=0;
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int _volEnc=volEnc.read();
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if (_volEnc!=0){ //encoder moved
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volEncVel=_volEnc;
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volEnc.write(0); //reset value
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}
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//Input Handling
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if (volEncVel!=0){ //knob moved
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poti_set+=volEncVel*encoderMultiplier; //change poti set value
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poti_set=constrain(poti_set, POT_MIN,POT_MAX);
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poti_reachedposition=false;
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}
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//Motor Movement Routine #################
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if (error==0){ //no errors
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if (!poti_reachedposition && abs(poti_read-poti_set)>DEADZONE_POTI){ //error too high
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digitalWrite(LED_BUILTIN,HIGH);
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if (poti_read-poti_set < 0){
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MOTOR_LEFT();
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}else{
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MOTOR_RIGHT();
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}
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}else if(!poti_reachedposition){ //position reached but flag not set
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MOTOR_STOP();
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Serial.print("reached:");
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Serial.print(" set=");
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Serial.print(poti_set);
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Serial.print(" is=");
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Serial.print(poti_read);
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Serial.print(" vel=");
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Serial.println();
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poti_reachedposition=true; //position reached
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digitalWrite(LED_BUILTIN,LOW);
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}
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if ( loopmillis > last_motorcheck+INTERVAL_MOTORCHECK){
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last_motorcheck=loopmillis;
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motor_vel=(poti_read-poti_read_last)*1000 /INTERVAL_MOTORCHECK ; //calculate current motor velocity
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poti_read_last=poti_read;
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//motor fail check
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if (MOTOR_TURNING() && abs(motor_vel)<MINIMUM_MOTORVEL){ //motor is turning too slow
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if (last_motorTooSlow==0){ //first time slow motor recognized
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last_motorTooSlow=loopmillis;
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}else if (loopmillis-last_motorTooSlow > MOTOR_FAILTIME){
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error=MOTORDIDNOTTURN;
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Serial.println("MOTORDIDNOTTURN");
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}
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}else if (last_motorTooSlow>0){ //was recognized too slow but is now turning fast again
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last_motorTooSlow=0; //reset
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}
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}
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}else{ //an error occured. error!=0
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MOTOR_STOP();
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}
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if ( loopmillis > last_serialdebug+INTERVAL_SERIALDEBUG){
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last_serialdebug=loopmillis;
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Serial.print(" set=");
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Serial.print(poti_set);
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Serial.print(" is=");
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Serial.print(poti_read);
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Serial.print(" vel=");
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Serial.print(motor_vel);
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Serial.println("");
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if (button_flag){ //TODO: remove hier if correct behaviour implemented
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Serial.println("BUTTON Pressed");
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button_flag=false; //clear flag to reenable button triggering.
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}
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}
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}
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void sendData() {
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@ -129,3 +312,20 @@ void callback(char* topic, byte* payload, unsigned int length) {
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}
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void srWrite(uint8_t pin, boolean state){
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if (state==true){
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srbits |= 1UL << pin; //set bit
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}else{
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srbits &= ~(1UL << pin); //clear bit
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}
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digitalWrite(SRLATCH, LOW);
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shiftOut(SRDATA, SRCLOCK, MSBFIRST, srbits>>8);
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shiftOut(SRDATA, SRCLOCK, MSBFIRST, srbits);
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digitalWrite(SRLATCH, HIGH);
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}
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boolean srRead(uint8_t pin){
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return (srbits >> pin) & 1U;
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}
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