move esp motor controller code to arduino

This commit is contained in:
interfisch 2019-05-07 10:05:11 +02:00
parent 461b9a7963
commit 92c7d125fd
1 changed files with 217 additions and 17 deletions

View File

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