From 41f7b207b914dbf93ebc7b25466a3b4cb32691f8 Mon Sep 17 00:00:00 2001
From: Fisch <interfisch@gmx.net>
Date: Sat, 13 Mar 2021 15:46:43 +0100
Subject: [PATCH] moving up speed compensation for simulated speed

---
 src/main.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index e2a1e16..3daa273 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -94,6 +94,8 @@ struct blindmodel
   float speedfactorLow=1; //how much position units (mm) per second at pwm=100. speedfactorLow for position at 0
   float speedfactorHigh=1; //speedfactorHigh for position at 1000 mm. gets extrapolated above
 
+  float speedfactor_factor_updirection=1; //when moving up, how much to change the estimated position change (speed). when going slower in up direction, choose value below 1.0
+
   int sense_clear_lower; //adc value lower limit for clear part. clear is around 70
   int sense_clear_upper; //adc value upper limit for clear part
 
@@ -210,8 +212,9 @@ void setup() {
   blind1.sense_end_upper=1024;
   blind1.speedfactorLow=28.7;
   blind1.speedfactorHigh=25.3;
+  blind1.speedfactor_factor_updirection=0.97; //down: 2306mm in 94s ,up: 97s
   blind1.start_first_clear=27;
-  blind1.simulated_acc_dec=-150;
+  blind1.simulated_acc_dec=-120;
   blind1.simulated_acc_inc=200;
   blind1.softlimit_min=0;
   blind1.softlimit_max=2500;
@@ -228,8 +231,9 @@ void setup() {
   blind2.sense_end_upper=1024;
   blind2.speedfactorLow=27.6;
   blind2.speedfactorHigh=23.5;
+  blind2.speedfactor_factor_updirection=0.97;
   blind2.start_first_clear=27;
-  blind2.simulated_acc_dec=-150;
+  blind2.simulated_acc_dec=-120;
   blind2.simulated_acc_inc=200;
   blind2.softlimit_min=0;
   blind2.softlimit_max=2500;
@@ -485,6 +489,9 @@ void errorCheck(blindmodel &blind, HomieNode &node) {
 
 void estimatePosition(blindmodel &blind, HomieNode& node) {
   float positional_speedfactor = blind.speedfactorLow + constrain(blind.position, blind.softlimit_min, blind.softlimit_max)*(blind.speedfactorHigh-blind.speedfactorLow)/POSITION_SPEEDMEASURE_HIGH; //interpolate/extrapolate speedfactor (speed is different when rolled up)
+  if (blind.speedSimulated<0) { //moving up
+    positional_speedfactor*=blind.speedfactor_factor_updirection; //used if speed for up direction is slower (likely when using dc motor)
+  }
   if (millis() > blind.last_calculate_position_estimate + CALCULATEPOSITIONESTIMATE_INTERVAL) {
     float _actualTime=(millis()-blind.last_calculate_position_estimate)/1000.0; //in seconds
     blind.speedSimulated+= constrain(blind.speed - blind.speedSimulated, blind.simulated_acc_dec*_actualTime, blind.simulated_acc_inc*_actualTime);