483 lines
15 KiB
C++
483 lines
15 KiB
C++
#include <Arduino.h>
|
|
#include <Wire.h>
|
|
|
|
/*
|
|
TODO:
|
|
- correct speedfactor when moving at pwm=100 for some time over opaque+clear OR implement speedfactor for up and lower state
|
|
- implement second blind
|
|
- implement drive to position
|
|
- implement failure detection
|
|
- implement homie
|
|
*/
|
|
|
|
#include "WEMOS_Motor.h"
|
|
|
|
//follow firmware flash guide for new wemos motor shield v1.0 https://github.com/thomasfredericks/wemos_motor_shield
|
|
|
|
|
|
#define BUTTON_DEBOUNCE 200
|
|
#define PIN_BUTTON1 D5
|
|
#define PIN_BUTTON2 D6
|
|
struct button{
|
|
uint8_t pin;
|
|
unsigned long last_time_read=0;
|
|
bool down=false;
|
|
bool changed=false;
|
|
bool manual_drive_direction=false;
|
|
};
|
|
button button1;
|
|
button button2;
|
|
|
|
unsigned long last_sensor_read=0;
|
|
#define SENSOR_READ_INTERVAL 20 //in ms
|
|
#define SENSE_FILTER_SIZE 20 //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 PIN_SENSE A0
|
|
unsigned long last_print=0;
|
|
|
|
//define directions for motors
|
|
#define _UP _CCW
|
|
#define _DOWN _CW
|
|
|
|
#define SENSESTATUS_CLEAR 1
|
|
#define SENSESTATUS_OPAQUE 2
|
|
#define SENSESTATUS_END 3
|
|
#define SENSESTATUS_UNKNOWN 0
|
|
|
|
#define MODE_IDLE 0
|
|
#define MODE_FIND_END 1
|
|
#define MODE_MEASURE_SPEED 2
|
|
#define MODE_GO_TO_POS 3
|
|
|
|
//model parameters/variables
|
|
struct blindmodel
|
|
{
|
|
unsigned long lastreadtime=0;
|
|
float position=0; //0 is furthest open. positive is down (closing). unit is mm. estimated position
|
|
|
|
float length_clear; //length of clear part in position units
|
|
float length_opaque; //lengt of opaque part in position units
|
|
float start_first_clear; //distance from end marker to beginning of first clear section
|
|
//end marker should be on the opaque section. So that a full clear section follows
|
|
|
|
float speedfactor=1; //how much position units (mm) per second at pwm=100
|
|
|
|
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
|
|
|
|
int sense_opaque_lower; //adc value lower limit for opaque part. opaque is around 675
|
|
int sense_opaque_upper; //adc value upper limit for opaque part
|
|
|
|
int sense_end_lower; //adc value lower limit for end marker
|
|
int sense_end_upper; //adc value upper limit for end marker
|
|
|
|
|
|
uint8_t sense_status=0;
|
|
uint8_t last_sense_status=0;
|
|
int sense_read[SENSE_FILTER_SIZE] = {0};
|
|
uint8_t sense_read_pos=0; //position of last element written to
|
|
|
|
float set_position=0;
|
|
|
|
unsigned long last_sense_ok=0; //last time sensor measured class ok
|
|
//TODO: implement timeout if last_sense_ok gets too high.
|
|
|
|
uint8_t mode=MODE_IDLE;
|
|
|
|
uint8_t mode_find_end_state=0;
|
|
uint8_t mode_measure_speed_state=0;
|
|
unsigned long timing_start;
|
|
|
|
int speed=0; //-100 to 100. commanded speed to motor. negative means upwards
|
|
int speedSimulated=0; //software simulated motor speed up and slow down
|
|
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)
|
|
|
|
};
|
|
|
|
blindmodel blind1;
|
|
blindmodel blind2;
|
|
|
|
|
|
//Motor shield default I2C Address: 0x30
|
|
//PWM frequency: 1000Hz(1kHz)
|
|
Motor M1(0x30, _MOTOR_A, 1000); //Motor A
|
|
Motor M2(0x30, _MOTOR_B, 1000); //Motor B
|
|
|
|
unsigned long last_motor_send=0;
|
|
#define MOTOR_UPDATE_INTERVAL 100
|
|
|
|
|
|
int getFitered(int* values,uint8_t size);
|
|
uint8_t classifySensorValue(blindmodel &blind);
|
|
void checkButton(button &btn);
|
|
void checkModes(blindmodel &blind);
|
|
void manualMoveHandler(button &btn, blindmodel &blind);
|
|
void readSensor(blindmodel &blind);
|
|
void estimatePosition(blindmodel &blind);
|
|
void errorCheck(blindmodel &blind);
|
|
void updateMotor(blindmodel &blind, Motor motor);
|
|
|
|
void setup() {
|
|
Serial.begin(115200);
|
|
Serial.println("Starting");
|
|
|
|
button1.pin=PIN_BUTTON1;
|
|
button2.pin=PIN_BUTTON2;
|
|
|
|
pinMode(button1.pin, INPUT_PULLUP);
|
|
pinMode(button2.pin, INPUT_PULLUP);
|
|
pinMode(PIN_SENSE, INPUT);
|
|
|
|
M1.setmotor(_STOP);
|
|
M2.setmotor(_STOP);
|
|
|
|
|
|
//settings for blind
|
|
blind1.length_clear=50;
|
|
blind1.length_opaque=74;
|
|
blind1.sense_clear_lower=40;
|
|
blind1.sense_clear_upper=100;
|
|
blind1.sense_opaque_lower=500;
|
|
blind1.sense_opaque_upper=750;
|
|
blind1.sense_end_lower=850;
|
|
blind1.sense_end_upper=1024;
|
|
blind1.speedfactor=29;
|
|
blind1.start_first_clear=27;
|
|
blind1.simulated_acc_dec=-150;
|
|
blind1.simulated_acc_inc=200;
|
|
|
|
blind2.length_clear=50;
|
|
blind2.length_opaque=74;
|
|
blind2.sense_clear_lower=40;
|
|
blind2.sense_clear_upper=100;
|
|
blind2.sense_opaque_lower=500;
|
|
blind2.sense_opaque_upper=750;
|
|
blind2.sense_end_lower=850;
|
|
blind2.sense_end_upper=1024;
|
|
blind2.speedfactor=29;
|
|
blind2.start_first_clear=27;
|
|
blind2.simulated_acc_dec=-150;
|
|
blind2.simulated_acc_inc=200;
|
|
|
|
//Test
|
|
blind1.mode = MODE_FIND_END;
|
|
blind1.mode_find_end_state=0; //reset mode find state
|
|
|
|
blind2.mode = MODE_FIND_END;
|
|
blind2.mode_find_end_state=0; //reset mode find state
|
|
|
|
}
|
|
|
|
|
|
void loop() {
|
|
|
|
checkButton(button1);
|
|
|
|
|
|
|
|
//Manual movement by button
|
|
manualMoveHandler(button1, blind1);
|
|
|
|
|
|
|
|
//Read sensor/encoder
|
|
readSensor(blind1);
|
|
|
|
|
|
checkModes(blind1);
|
|
|
|
errorCheck(blind1);
|
|
|
|
//Estimate blind position and correct
|
|
estimatePosition(blind1);
|
|
|
|
//Update Motor Driver
|
|
updateMotor(blind1, M1);
|
|
}
|
|
|
|
int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort
|
|
{
|
|
// Need to cast the void * to int *
|
|
int a = *((int *)cmp1);
|
|
int b = *((int *)cmp2);
|
|
// The comparison
|
|
return a > b ? -1 : (a < b ? 1 : 0);
|
|
// A simpler, probably faster way:
|
|
//return b - a;
|
|
}
|
|
|
|
int getFitered(int* values,uint8_t size) {
|
|
int copied_values[size];
|
|
for(int i=0;i<size;i++) {
|
|
copied_values[i] = values[i]; //TODO: maybe some value filtering/selection here
|
|
}
|
|
int copied_values_length = sizeof(copied_values) / sizeof(copied_values[0]);
|
|
qsort(copied_values, copied_values_length, sizeof(copied_values[0]), sort_desc);
|
|
|
|
return copied_values[size/2];
|
|
}
|
|
|
|
uint8_t classifySensorValue(blindmodel &blind) {
|
|
int filtered=getFitered(blind.sense_read, SENSE_FILTER_SIZE);
|
|
if (filtered>=blind.sense_clear_lower && filtered<=blind.sense_clear_upper) {
|
|
blind.sense_status=SENSESTATUS_CLEAR;
|
|
blind.last_sense_ok=millis();
|
|
} else if (filtered>=blind.sense_opaque_lower && filtered<=blind.sense_opaque_upper) {
|
|
blind.sense_status=SENSESTATUS_OPAQUE;
|
|
blind.last_sense_ok=millis();
|
|
} else if (filtered>=blind.sense_end_lower && filtered<=blind.sense_end_upper) {
|
|
blind.sense_status=SENSESTATUS_END;
|
|
blind.last_sense_ok=millis();
|
|
}
|
|
}
|
|
|
|
void checkButton(button &btn) {
|
|
btn.changed=false;
|
|
if (millis() > btn.last_time_read + BUTTON_DEBOUNCE) {
|
|
bool new_pin_button_down=!digitalRead(btn.pin);
|
|
if (btn.down != new_pin_button_down) { //changed
|
|
btn.down = new_pin_button_down; //update
|
|
btn.changed=true;
|
|
btn.last_time_read=millis(); //delay next check
|
|
}
|
|
}
|
|
}
|
|
|
|
void manualMoveHandler(button &btn, blindmodel &blind)
|
|
{
|
|
if (btn.changed) {
|
|
blind.mode=MODE_IDLE;
|
|
if (btn.down) { //changed to pressed
|
|
if (btn.manual_drive_direction) {
|
|
//M1.setmotor( _CW, 100);
|
|
blind.speed=-100;
|
|
//Serial.print("CW PWM: ");
|
|
}else{
|
|
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.speed=0;
|
|
}
|
|
}
|
|
}
|
|
|
|
void readSensor(blindmodel &blind)
|
|
{
|
|
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]=analogRead(PIN_SENSE);
|
|
|
|
classifySensorValue(blind); //writes to blindmodel.sense_status
|
|
|
|
|
|
last_sensor_read=millis();
|
|
}
|
|
|
|
if (millis() > last_print + 500) {
|
|
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("("); Serial.print(getFitered(blind.sense_read, SENSE_FILTER_SIZE)); Serial.print(")");
|
|
Serial.print(", mode=");
|
|
switch(blind.mode){
|
|
case MODE_IDLE:
|
|
Serial.print("IDL");
|
|
break;
|
|
case MODE_FIND_END:
|
|
Serial.print("FIN");
|
|
break;
|
|
case MODE_GO_TO_POS:
|
|
Serial.print("POS");
|
|
break;
|
|
case MODE_MEASURE_SPEED:
|
|
Serial.print("MSP");
|
|
break;
|
|
}
|
|
Serial.print(", speed=");
|
|
Serial.print(blind.speed);
|
|
Serial.print(", speedSim=");
|
|
Serial.print(blind.speedSimulated);
|
|
Serial.print(", pos=");
|
|
Serial.println(blind.position);
|
|
last_print=millis();
|
|
}
|
|
}
|
|
|
|
void errorCheck(blindmodel &blind) {
|
|
if (blind.sense_status==SENSESTATUS_END) {
|
|
if (blind.speed<0) { //stop driving up
|
|
blind.speed=0;
|
|
}
|
|
}
|
|
}
|
|
|
|
void estimatePosition(blindmodel &blind) {
|
|
if (millis() > last_calculate_position_estimate + CALCULATEPOSITIONESTIMATE_INTERVAL) {
|
|
float _actualTime=(millis()-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*blind.speedfactor * _actualTime;
|
|
last_calculate_position_estimate=millis();
|
|
}
|
|
|
|
if (blind.mode!= MODE_FIND_END) {
|
|
if (blind.sense_status == SENSESTATUS_END && blind.last_sense_status != SENSESTATUS_END) { //entered end marker
|
|
blind.position=0;
|
|
float _filterdelay_correction=blind.speedSimulated/100.0*blind.speedfactor *SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL/1000.0;
|
|
blind.position += _filterdelay_correction; //correct for filter delay
|
|
Serial.print("Reached End marker. set Position="); Serial.println(blind.position);
|
|
}
|
|
|
|
if (blind.sense_status == SENSESTATUS_CLEAR || blind.sense_status == SENSESTATUS_OPAQUE || blind.sense_status == SENSESTATUS_END) { //either opaque or clear (or end, only for last update used)
|
|
if (blind.sense_status != blind.last_sense_status) { //status changed
|
|
if (blind.last_sense_status == SENSESTATUS_CLEAR || blind.last_sense_status == SENSESTATUS_OPAQUE) { //only changes from clear to opaque or opaque to clear
|
|
|
|
float _position_before=blind.position;//only for text output debugging
|
|
|
|
if ((blind.speedSimulated>0 && blind.sense_status==SENSESTATUS_OPAQUE) || (blind.speedSimulated<0 && blind.sense_status==SENSESTATUS_CLEAR)) { //moving down from and clear to opaque OR moving up and from opaque to clear
|
|
|
|
//estimated_position_difference = -blind.position + blind.start_first_clear+blind.length_clear + _n*(blind.length_clear+blind.length_opaque); //possible occurances. let estimated_position=0 , solve for n
|
|
|
|
int _n = round((blind.position -blind.start_first_clear - blind.length_clear)/(blind.length_clear+blind.length_opaque)); //find closest n
|
|
blind.position = blind.start_first_clear+blind.length_clear + _n*(blind.length_clear+blind.length_opaque); //calculate position from _n
|
|
float _filterdelay_correction=blind.speedSimulated/100.0*blind.speedfactor *SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL/1000.0;
|
|
blind.position += _filterdelay_correction; //correct for filter delay
|
|
Serial.print("n=");
|
|
Serial.println(_n);
|
|
|
|
Serial.print("posCorrection="); Serial.print(_filterdelay_correction);
|
|
|
|
Serial.print(", DOWN&CLE->OPA or UP&OPA->CLE, before=");
|
|
|
|
|
|
}else if((blind.speedSimulated>0 && blind.sense_status==SENSESTATUS_CLEAR) || (blind.speedSimulated<0 && blind.sense_status==SENSESTATUS_OPAQUE)) { //the other transition
|
|
//estimated_position_difference = -blind.position + blind.start_first_clear + _n*(blind.length_clear+blind.length_opaque); //possible occurances. let estimated_position=0 , solve for n
|
|
|
|
int _n = round(( blind.position - blind.start_first_clear)/(blind.length_clear+blind.length_opaque)); //find closest n
|
|
Serial.print("n=");
|
|
Serial.println(_n);
|
|
blind.position = blind.start_first_clear + _n*(blind.length_clear+blind.length_opaque); //calculate position from _n
|
|
float _filterdelay_correction=blind.speedSimulated/100.0*blind.speedfactor*SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL/1000.0;
|
|
blind.position += _filterdelay_correction; //correct for filter delay
|
|
|
|
Serial.print("posCorrectoin="); Serial.print(_filterdelay_correction);
|
|
|
|
Serial.print(", UP&CLE->OPA or DOWN&OPA->CLE, before=");
|
|
|
|
}
|
|
|
|
Serial.print(_position_before);
|
|
Serial.print(", after=");
|
|
Serial.print(blind.position);
|
|
Serial.print(", diff=");
|
|
Serial.println(blind.position-_position_before);
|
|
}
|
|
|
|
blind.last_sense_status = blind.sense_status; //update only if new one is opaque or clear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void updateMotor(blindmodel &blind, Motor motor)
|
|
{
|
|
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();
|
|
}
|
|
}
|
|
|
|
void checkModes(blindmodel &blind) {
|
|
switch(blind.mode) {
|
|
case MODE_FIND_END:
|
|
switch(blind.mode_find_end_state) {
|
|
case 0: //drive up until end sensed
|
|
blind.speed=-100; //up
|
|
if (blind.sense_status==SENSESTATUS_END) {
|
|
blind.speed=0; //stop. for safety
|
|
blind.mode_find_end_state++;
|
|
}
|
|
break;
|
|
|
|
case 1: //drive down slowly until passed end maker
|
|
blind.speed=10; //down slow
|
|
if (blind1.sense_status!=SENSESTATUS_END) {
|
|
blind.speed=0; //stop
|
|
blind.position=0;
|
|
//blind.mode=MODE_IDLE;
|
|
blind.mode=MODE_MEASURE_SPEED; //next measure speed
|
|
blind.mode_find_end_state=0; //reset
|
|
|
|
}
|
|
break;
|
|
}
|
|
|
|
break;
|
|
|
|
case MODE_MEASURE_SPEED:
|
|
switch(blind.mode_measure_speed_state) {
|
|
case 0: //drive down, start timing at clear
|
|
blind.speed=100; //down
|
|
if (blind1.sense_status==SENSESTATUS_CLEAR) {
|
|
blind.timing_start=millis();
|
|
blind.mode_measure_speed_state++;
|
|
}
|
|
break;
|
|
case 1: //on clear section
|
|
blind.speed=100; //down
|
|
if (blind1.sense_status==SENSESTATUS_OPAQUE) { //wait for opaque section
|
|
blind.mode_measure_speed_state++;
|
|
}
|
|
break;
|
|
case 2: //on opaque section
|
|
blind.speed=100; //down
|
|
if (blind1.sense_status==SENSESTATUS_CLEAR) { //wait for clear section
|
|
blind.speedfactor=(blind.length_clear+blind.length_opaque)/ ((millis()-blind.timing_start)/1000.0); //calculate length per second
|
|
Serial.print("speedfactor=");
|
|
Serial.print(blind.speedfactor);
|
|
Serial.println(" mm/s");
|
|
blind.position = blind.length_opaque+blind.length_clear+blind.start_first_clear; //set position
|
|
blind.speed=0; //stop
|
|
blind.mode_measure_speed_state=0; // reset
|
|
blind.mode=MODE_IDLE;
|
|
}
|
|
break;
|
|
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
case MODE_GO_TO_POS:
|
|
|
|
break;
|
|
}
|
|
}
|