make manual drive better comply with iot

src/main.cpp

@@ -7,7 +7,6 @@
 /*
   TODO: 
   - implement failure detection (timeouts),
-      - in classifySensorValue() only allow a certain time of unclassified reading
       - has to stop when driving upwards (or in general) for too long (for example end marker missing)
   - manual mover function should work better with iot commands (set position, no errors)
 */
@@ -74,7 +73,9 @@ uint8_t sensorreadID=0;
 #define MODE_FIND_END 1
 #define MODE_MEASURE_SPEED 2
 #define MODE_GO_TO_POS 3
-#define MODE_ERROR 4
+#define MODE_MANUAL 4
+#define MODE_ERROR 5
+
 
 //model parameters/variables
 struct blindmodel
@@ -342,13 +343,13 @@ void loopHandler() {
   checkModes(blind1, blind1Node);
   checkModes(blind2, blind2Node);
   
-  errorCheck(blind1, blind1Node);
-  errorCheck(blind2, blind2Node);
-  
   //Estimate blind position and correct
   estimatePosition(blind1, blind1Node);
   estimatePosition(blind2, blind2Node);
 
+  errorCheck(blind1, blind1Node);
+  errorCheck(blind2, blind2Node);
+
   //Update Motor Driver
   if (millis() > last_motor_send + MOTOR_UPDATE_INTERVAL) {  
     updateMotor(blind1, M1);
@@ -408,19 +409,20 @@ void checkButton(button &btn) {
 void manualMoveHandler(button &btn, blindmodel &blind)
 {
   if (btn.changed) {
-    blind.mode=MODE_IDLE;
     if (btn.down) { //changed to pressed
-      if (btn.manual_drive_direction) {
+      blind.mode=MODE_MANUAL;
+      if (btn.manual_drive_direction) { //drive up
         //M1.setmotor( _CW, 100);
         blind.speed=-100;
         //Serial.print("CW PWM: ");
-      }else{
+      }else{ //drive down
         blind.speed=100;
         //Serial.print("CCW PWM: ");
       }
       btn.manual_drive_direction=!btn.manual_drive_direction; //switch direction every new press
     }else{ //changed to released
       //Serial.println("Motor STOP");
+      blind.mode=MODE_IDLE;
       blind.speed=0;
     }
   }
@@ -458,6 +460,11 @@ void errorCheck(blindmodel &blind, HomieNode &node) {
       blind.speed=0;
     }
   }
+  if (blind.position>=blind.softlimit_max) { //reached bottom
+    if (blind.speed>0) { //stop driving down
+      blind.speed=0;
+    }
+  }
 
   if (abs(blind.position_last_classified_ok-blind.position) > MAX_ALLOWED_CLASSIFY_LENGTH ) { //sensor reading havent been classified for too far
     setError(blind, ERRORCODE_CLASSIFY_LENGTH, node);
@@ -679,6 +686,10 @@ void checkModes(blindmodel &blind, HomieNode &node) {
           }
         }
         break;
+      
+      case MODE_MANUAL:
+        blind.set_position=blind.position; //use current position as set position
+        break;
     }
   }
 }