fix errors during code duplication

master
interfisch 2 years ago
parent 34c7134239
commit e3c918edb8
  1. 208
      src/main.cpp

@ -11,14 +11,12 @@
- has to stop when no sensor change detected for some time
- 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)
- homie commands (reset error, etc)
- command to activate sensro raw value print over topics
- do not allow certain commands if error mode
- manual mover function should work better with iot commands (set position, no errors)
*/
//BIG TODO: fix sensor reading right blind. left blind too
//right blind kind off delayed to commands??
//right blind kind off delayed to commands?? ////
#define FW_NAME "blindctrl"
#define FW_VERSION "1.0.0"
@ -47,11 +45,12 @@ button button1;
button button2;
unsigned long last_sensor_read=0;
#define SENSOR_READ_INTERVAL 5 //in ms
#define SENSE_FILTER_SIZE 20 //value will have a delay of td = SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL
#define SENSOR_READ_INTERVAL 50 //in ms
#define SENSE_FILTER_SIZE 10 //value will have a delay of td = SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL
#define CALCULATEPOSITIONESTIMATE_INTERVAL 100
unsigned long last_calculate_position_estimate=0;
#define POSITION_SPEEDMEASURE_HIGH 1000.0 //at which position (in mm) speedfactorHigh should be measured (should be at least two encoder segments beyond that left)
@ -62,8 +61,9 @@ unsigned long last_print=0;
#define PIN_SENSE_LED1 D7
#define PIN_SENSE_LED2 D8
uint8_t sensorreadID=0;
unsigned long last_sensor_led_switch=0;
#define SENSOR_SWITCH_INTERVAL 20 //should be lower or equal than SENSOR_READ_INTERVAL
//#define SENSOR_SWITCH_INTERVAL 20 //should be lower or equal than SENSOR_READ_INTERVAL
//unsigned long last_sensor_led_switch=0;
//define directions for motors
#define _UP _CCW
@ -131,6 +131,8 @@ struct blindmodel
float simulated_acc_dec=-100; //pwm/sec^2, speed getting more negative (accelerating up). this value should be negative. better choose too small absolute values
float simulated_acc_inc=100; //pwm/sec^2, speed getting more positive (accelerating down)
unsigned long last_calculate_position_estimate=0;
uint8_t error=0;
};
@ -146,7 +148,7 @@ Motor M2(0x30, _MOTOR_B, 1000); //Motor B
unsigned long last_motor_send=0;
#define MOTOR_UPDATE_INTERVAL 100
#define DIFF_ERROR_FACTOR 0.4 //between 0 and 1. 1=error when estimated position error is at maximum (between two possible encoder readings). 0=no deviation allowed
#define DIFF_ERROR_FACTOR 0.6 //between 0 and 1. 1=error when estimated position error is at maximum (between two possible encoder readings). 0=no deviation allowed
#define ERRORCODE_POSITIONDIFFTOOHIGH 1 //deviation too high on position correction
#define ERRORCODE_N_NOT_NEXT 2 //skipped one transition. position jumped too far?
@ -165,12 +167,14 @@ void errorCheck(blindmodel &blind);
void updateMotor(blindmodel &blind, Motor motor);
void setError(blindmodel &blind, uint8_t errorcode, HomieNode& node);
String modeNumToString(uint8_t modenum);
String sensestatusNumToString(uint8_t sensestatusnum);
bool blind_l_positionHandler(const HomieRange& range, const String& value);
bool blind_r_positionHandler(const HomieRange& range, const String& value);
bool blind_l_cmdHandler(const HomieRange& range, const String& value);
bool blind_r_cmdHandler(const HomieRange& range, const String& value);
bool blind_cmdHandler(blindmodel &blind, HomieNode& node, const String& value); //referenced by blind_l and r _cmdHandler
void loopHandler();
@ -199,13 +203,13 @@ void setup() {
blind1.length_clear=50;
blind1.length_opaque=74;
blind1.sense_clear_lower=40;
blind1.sense_clear_upper=100;
blind1.sense_opaque_lower=150;
blind1.sense_clear_upper=200;
blind1.sense_opaque_lower=400;
blind1.sense_opaque_upper=800;
blind1.sense_end_lower=850;
blind1.sense_end_upper=1024;
blind1.speedfactorLow=29;
blind1.speedfactorHigh=24.5;
blind1.speedfactorLow=28.7;
blind1.speedfactorHigh=25.3;
blind1.start_first_clear=27;
blind1.simulated_acc_dec=-150;
blind1.simulated_acc_inc=200;
@ -216,13 +220,13 @@ void setup() {
blind2.length_clear=50;
blind2.length_opaque=74;
blind2.sense_clear_lower=40;
blind2.sense_clear_upper=100;
blind2.sense_opaque_lower=150;
blind2.sense_clear_upper=200;
blind2.sense_opaque_lower=400;
blind2.sense_opaque_upper=800;
blind2.sense_end_lower=850;
blind2.sense_end_upper=1024;
blind2.speedfactorLow=28;
blind2.speedfactorHigh=24.5;
blind2.speedfactorLow=27.6;
blind2.speedfactorHigh=23.5;
blind2.start_first_clear=27;
blind2.simulated_acc_dec=-150;
blind2.simulated_acc_inc=200;
@ -276,15 +280,22 @@ void loopHandler() {
//Read sensor/encoder
if (millis() > last_sensor_led_switch + SENSOR_SWITCH_INTERVAL) {
if (millis() > last_sensor_read + SENSOR_READ_INTERVAL/2) {
int rawsensorvalue=analogRead(PIN_SENSE);
switch (sensorreadID) {
case 0:
if (millis() > last_print + 500 && blind1.speedSimulated!=0) { //when readSensor would print its status
Serial.print("1: ");
}
readSensor(blind1,rawsensorvalue, blind1Node);
digitalWrite(blind1.pin_sensor_led,LOW); //turn self off
digitalWrite(blind2.pin_sensor_led,HIGH); //turn next on
break;
case 1:
if (millis() > last_print + 500 && blind2.speedSimulated!=0) { //when readSensor would print its status
Serial.print("2: ");
}
readSensor(blind2,rawsensorvalue, blind2Node);
digitalWrite(blind2.pin_sensor_led,LOW); //turn self off
digitalWrite(blind1.pin_sensor_led,HIGH); //turn next on
@ -293,7 +304,7 @@ void loopHandler() {
sensorreadID=0; //reset, failsafe
break;
}
last_sensor_led_switch=millis();
last_sensor_read=millis();
sensorreadID++;
sensorreadID=sensorreadID%2;
}
@ -339,8 +350,11 @@ void loopHandler() {
estimatePosition(blind2, blind2Node);
//Update Motor Driver
updateMotor(blind1, M1);
updateMotor(blind2, M2);
if (millis() > last_motor_send + MOTOR_UPDATE_INTERVAL) {
updateMotor(blind1, M1);
updateMotor(blind2, M2);
last_motor_send=millis();
}
}
int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort
@ -415,32 +429,16 @@ void manualMoveHandler(button &btn, blindmodel &blind)
void readSensor(blindmodel &blind, int value, HomieNode &node)
{
if (millis() > last_sensor_read + SENSOR_READ_INTERVAL) {
blind.sense_read_pos=(blind.sense_read_pos+1)%SENSE_FILTER_SIZE; //next element
blind.sense_read[blind.sense_read_pos]=value;
blind.sense_read_pos=(blind.sense_read_pos+1)%SENSE_FILTER_SIZE; //next element
blind.sense_read[blind.sense_read_pos]=value;
classifySensorValue(blind); //writes to blindmodel.sense_status
classifySensorValue(blind); //writes to blindmodel.sense_status
last_sensor_read=millis();
}
if (millis() > last_print + 500 && blind.speedSimulated!=0) {
Serial.print("SenseStatus=");
switch(blind.sense_status){
case SENSESTATUS_UNKNOWN:
Serial.print("UNK");
break;
case SENSESTATUS_CLEAR:
Serial.print("CLE");
break;
case SENSESTATUS_OPAQUE:
Serial.print("OPA");
break;
case SENSESTATUS_END:
Serial.print("END");
break;
}
Serial.print(sensestatusNumToString(blind.sense_status));
Serial.print("("); Serial.print(getFitered(blind.sense_read, SENSE_FILTER_SIZE)); Serial.print(")");
Serial.print(", mode=");
Serial.print(modeNumToString(blind.mode));
@ -467,12 +465,12 @@ void errorCheck(blindmodel &blind) {
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 (millis() > last_calculate_position_estimate + CALCULATEPOSITIONESTIMATE_INTERVAL) {
float _actualTime=(millis()-last_calculate_position_estimate)/1000.0; //in seconds
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);
blind.position+= blind.speedSimulated/100.0*positional_speedfactor * _actualTime;
last_calculate_position_estimate=millis();
blind.last_calculate_position_estimate=millis();
}
//if (blind.mode!= MODE_FIND_END) {
@ -535,9 +533,9 @@ void estimatePosition(blindmodel &blind, HomieNode& node) {
Serial.print(", diff=");
Serial.println(blind.position-_position_before);
//node.setProperty("debug").send("diff="+(String)(blind.position-_position_before));
node.setProperty("estimationerror").send((String)(blind.position-_position_before));
node.setProperty("estimationerror").send((String)(blind.position-_position_before)); //positive value means estimation position was too low (estimated speed to low), when driving down (positive dir)
if (blind.mode!= MODE_FIND_END) { //only check error if not in find_end mode
if (blind.mode != MODE_FIND_END && blind.mode != MODE_MEASURE_SPEED ) { //only check error if not in find_end mode or measure speed
if (abs(blind.position-_position_before)>=(blind.length_clear+blind.length_opaque)/2.0*DIFF_ERROR_FACTOR) {
setError(blind, ERRORCODE_POSITIONDIFFTOOHIGH, node);
}
@ -555,16 +553,15 @@ void updateMotor(blindmodel &blind, Motor motor)
if (blind.error!=0) { //error appeared
blind.speed=0; //set speed to 0
}
if (millis() > last_motor_send + MOTOR_UPDATE_INTERVAL) {
if(blind.speed<0){
motor.setmotor( _UP, abs(blind.speed));
}else if(blind.speed>0){
motor.setmotor( _DOWN, abs(blind.speed));
}else{
motor.setmotor(_STOP);
}
last_motor_send=millis();
if(blind.speed<0){
motor.setmotor( _UP, abs(blind.speed));
}else if(blind.speed>0){
motor.setmotor( _DOWN, abs(blind.speed));
}else{
motor.setmotor(_STOP);
}
}
void checkModes(blindmodel &blind, HomieNode &node) {
@ -580,7 +577,7 @@ void checkModes(blindmodel &blind, HomieNode &node) {
break;
case 1: //drive down slowly until passed end maker
blind.speed=10; //down slow
blind.speed=25; //down slow
if (blind.sense_status!=SENSESTATUS_END) {
blind.speed=0; //stop
blind.position=0;
@ -708,6 +705,24 @@ String modeNumToString(uint8_t modenum){
return "MODE_ERROR";
break;
}
return "UNDEF";
}
String sensestatusNumToString(uint8_t sensestatusnum){
switch(sensestatusnum){
case SENSESTATUS_UNKNOWN:
return "UNK";
break;
case SENSESTATUS_CLEAR:
return "CLE";
break;
case SENSESTATUS_OPAQUE:
return "OPA";
break;
case SENSESTATUS_END:
return "END";
break;
}
}
@ -729,46 +744,39 @@ bool blind_l_positionHandler(const HomieRange& range, const String& value) {
return true;
}
bool blind_l_cmdHandler(const HomieRange& range, const String& value) {
bool blind_r_positionHandler(const HomieRange& range, const String& value) {
if (range.isRange) {
return false; //if range is given but index is not in allowed range
}
Homie.getLogger() << "blind_l_cmdHandler" << ": " << value << endl;
if (value=="END")
{
blind1.mode = MODE_FIND_END;
blind1.mode_find_end_state=0; //reset mode find state
}else if (value=="SPEEDFACTOR")
{
blind1.mode=MODE_MEASURE_SPEED; //measure speed
}else{
Homie.getLogger() << "command not known" << endl;
return false;
}
blind1Node.setProperty("cmd").send(value); //can be done in main loop
Homie.getLogger() << "blind_r_positionHandler" << ": " << value << endl;
blind2.set_position=constrain(value.toFloat(), blind2.softlimit_min, blind2.softlimit_max);
blind2.mode=MODE_GO_TO_POS;
return true;
}
bool blind_r_positionHandler(const HomieRange& range, const String& value) {
bool blind_l_cmdHandler(const HomieRange& range, const String& value) {
if (range.isRange) {
return false; //if range is given but index is not in allowed range
}
Homie.getLogger() << "blind_r_positionHandler" << ": " << value << endl;
blind2.set_position=constrain(value.toFloat(), blind2.softlimit_min, blind2.softlimit_max);
blind2.mode=MODE_GO_TO_POS;
Homie.getLogger() << "blind_l_cmdHandler" << ": " << value << endl;
return blind_cmdHandler(blind1,blind1Node, value);
return true;
}
bool blind_r_cmdHandler(const HomieRange& range, const String& value) {
if (range.isRange) {
return false; //if range is given but index is not in allowed range
}
Homie.getLogger() << "blind_r_cmdHandler" << ": " << value << endl;
return blind_cmdHandler(blind2,blind2Node, value);
/*
if (value=="END")
{
blind2.mode = MODE_FIND_END;
@ -776,11 +784,49 @@ bool blind_r_cmdHandler(const HomieRange& range, const String& value) {
}else if (value=="SPEEDFACTOR")
{
blind2.mode=MODE_MEASURE_SPEED; //measure speed
blind1Node.setProperty("cmd").send("cmd measure speed");
}else{
Homie.getLogger() << "command not known" << endl;
Homie.getLogger() << "unknown command" << endl;
return false;
}
blind2Node.setProperty("cmd").send(value); //can be done in main loop
return true;*/
}
bool blind_cmdHandler(blindmodel &blind, HomieNode& node, const String& value) {
if (value=="END")
{
blind.mode = MODE_FIND_END;
blind.mode_find_end_state=0; //reset mode find state
node.setProperty("cmd").send("cmd end");
}else if (value=="SPEEDFACTOR")
{
blind.mode=MODE_MEASURE_SPEED; //measure speed
node.setProperty("cmd").send("cmd measure speed");
}else if (value=="SENSOR") //return adc values
{
Serial.print("("); Serial.print(getFitered(blind.sense_read, SENSE_FILTER_SIZE)); Serial.print(")");
Serial.print(", mode=");
Serial.print(modeNumToString(blind.mode));
node.setProperty("cmd").send(""+String(getFitered(blind.sense_read, SENSE_FILTER_SIZE))+" "+sensestatusNumToString(blind.sense_status));
}else if (value=="STOP") //stop. go back to idle mode and stop driving
{
blind.speed=0; //stop
blind.mode=MODE_IDLE;
blind.set_position=blind.position; //use current position as set pos to stay there
node.setProperty("cmd").send("stop");
}else if (value=="RESET") //reset from error
{
blind.error=0;
node.setProperty("cmd").send("reset");
}else{
Homie.getLogger() << "unknown command" << endl;
return false;
}
return true;
}

Loading…
Cancel
Save