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test in real hardware and motor bugs

This commit is contained in:
interfisch 2020-04-12 12:34:14 +02:00
parent 143d218760
commit 6f257ebbd8
1 changed files with 50 additions and 39 deletions
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89
controller/mixercontroller_w5100_pio/src/main.cpp
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@ -2,8 +2,9 @@
* Ideas/TODO: * Ideas/TODO:
* POT_MIN, POT_MAX as variable with calibration procedure. Drive slowly to both ends until value does not get lower. * POT_MIN, POT_MAX as variable with calibration procedure. Drive slowly to both ends until value does not get lower.
* Motor error checking. Timeout overall (if regulation fails or stuck). Timeout movement (motor is tunring but no change in poti value detected). Move right direction. * Motor error checking. Timeout overall (if regulation fails or stuck). Timeout movement (motor is tunring but no change in poti value detected). Move right direction.
* Relais switching (selection and muting) * Hardware: motorentstörkondensatoren einbauen direkt an motor. 47nF + zu - und zwei 10nF + zu case und - zu case
* MQTT topics * PI Optimieren. aktuell overshoot
* Implement knob menu structure
*/ */
#include <Arduino.h> #include <Arduino.h>
@ -26,6 +27,7 @@ boolean getSelection(uint8_t pbit);
boolean getMute(uint8_t pbit); boolean getMute(uint8_t pbit);
void setSelectionChannel(uint8_t i, boolean state); void setSelectionChannel(uint8_t i, boolean state);
void setMuteChannel(uint8_t i, boolean state); void setMuteChannel(uint8_t i, boolean state);
void publishCurrentSetVolume();
#define LEDPIN 9 //PB1 = D9 = Pin15 #define LEDPIN 9 //PB1 = D9 = Pin15
Adafruit_NeoPixel leds = Adafruit_NeoPixel(9, LEDPIN, NEO_GRB + NEO_KHZ800); Adafruit_NeoPixel leds = Adafruit_NeoPixel(9, LEDPIN, NEO_GRB + NEO_KHZ800);
@ -64,10 +66,6 @@ long last_serialdebug=0;
Button button_knob; Button button_knob;
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 //Shift Register 595
//connections: https://www.arduino.cc/en/tutorial/ShiftOut //connections: https://www.arduino.cc/en/tutorial/ShiftOut
#define SRLATCH PD4 //D4 = PD4 #define SRLATCH PD4 //D4 = PD4
@ -91,10 +89,11 @@ float encoderMultiplier=4.0;
uint8_t motorspeed=0; uint8_t motorspeed=0;
#define PIN_POT A0 //A0 = PC0, reference potentiometer wiper #define PIN_POT A0 //A0 = PC0, reference potentiometer wiper
#define DEADZONE_POTI 5 //maximum allowed error. stop when reached this zone #define DEADZONE_POTI 10 //maximum allowed error. stop when reached this zone
#define POT_MIN 10 //minimum value pot can reach #define POT_MIN 45 //minimum value pot can reach
#define POT_MAX 1010 //maximum value pot can reach #define POT_MAX 950 //maximum value pot can reach
#define POTIFILTER 0.8 //0 to 1. 1 means old value stays forever #define POTIFILTER 0.8 //0 to 1. 1 means old value stays forever
#define MAX_MOTOR_PWM 192 //0 to 255. Maximum pwm to output
int poti_set; //set value, initial value will be read from poti int poti_set; //set value, initial value will be read from poti
int poti_read=0; //read value from poti int poti_read=0; //read value from poti
@ -121,10 +120,11 @@ long last_motorcheck=0;
//#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 //#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 //long last_motorTooSlow=0; //typically 0
float motorP=1.0; float motorP=2.0;
float motorI=0.1; float motorI=0.1;
float potidifference_integral=0; float potidifference_integral=0;
#define MOTORI_ANTIWINDUP 32 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK #define MOTORI_ANTIWINDUP 90 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
//Motor starts moving at about speed=80
long last_potidifferenceLow=0; long last_potidifferenceLow=0;
#define DEADZONETIMEUNTILREACHED 500 //time [ms] poti read value has to be inside of deadzone to set reachedposition flag (and stop regulating) #define DEADZONETIMEUNTILREACHED 500 //time [ms] poti read value has to be inside of deadzone to set reachedposition flag (and stop regulating)
@ -145,7 +145,7 @@ void setup() {
Serial.begin(9600); Serial.begin(9600);
while (!Serial) {}; while (!Serial) {};
Serial.println("Starting"); Serial.println("Boot");
leds.begin(); leds.begin();
leds.clear(); leds.clear();
@ -158,18 +158,17 @@ void setup() {
if (useethernet) if (useethernet)
{ {
Serial.println("Setting up ethernet connection via DHCP"); Serial.println("trying DHCP");
if (Ethernet.begin(mac) == 0) { // setup ethernet communication using DHCP if (Ethernet.begin(mac) == 0) { // setup ethernet communication using DHCP
useethernet=false; useethernet=false;
//Unable to configure Ethernet using DHCP //Unable to configure Ethernet using DHCP
Serial.println("Unable to configure Ethernet using DHCP"); Serial.println("DHCP Err");
delay(200); delay(200);
//for (;;); //for (;;);
}else{ }else{
useethernet=true; useethernet=true;
Serial.println("Ethernet configured via DHCP");
Serial.print("IP address: "); Serial.print("IP address: ");
Serial.println(Ethernet.localIP()); Serial.println(Ethernet.localIP());
Serial.println(); Serial.println();
@ -184,10 +183,10 @@ void setup() {
//Serial.println(ip); //Serial.println(ip);
// setup mqtt client // setup mqtt client
Serial.println("Configuring MQTT"); Serial.println("Conf MQTT");
mqttClient.setClient(ethClient); mqttClient.setClient(ethClient);
mqttClient.setServer("10.0.0.1", 1883); mqttClient.setServer("10.0.0.1", 1883);
Serial.println("MQTT configured"); Serial.println("MQTT ok");
mqttClient.setCallback(callback); mqttClient.setCallback(callback);
} }
}else{ }else{
@ -198,6 +197,7 @@ void setup() {
poti_set=analogRead(PIN_POT); poti_set=analogRead(PIN_POT);
Serial.println("Ready"); Serial.println("Ready");
last_send = millis(); last_send = millis();
} }
@ -205,10 +205,11 @@ void setup() {
void reconnect() { void reconnect() {
// Loop until reconnected // Loop until reconnected
if (!mqttClient.connected()) { if (!mqttClient.connected()) {
Serial.print("Attempting MQTT connection..."); Serial.print("Connect MQTT ..");
// Attempt to connect // Attempt to connect
if (mqttClient.connect(CLIENT_ID)) { if (mqttClient.connect(CLIENT_ID)) {
Serial.println("connected"); Serial.println("connected");
publishCurrentSetVolume();
mqttClient.publish("audiomixer/ip", ip.c_str()); //Publish own ip mqttClient.publish("audiomixer/ip", ip.c_str()); //Publish own ip
mqttClient.subscribe("audiomixer/volume/set"); //subscribe to /set, republish without /set mqttClient.subscribe("audiomixer/volume/set"); //subscribe to /set, republish without /set
mqttClient.subscribe("audiomixer/mute/set"); //without range mqttClient.subscribe("audiomixer/mute/set"); //without range
@ -221,6 +222,7 @@ void reconnect() {
String sub_topic="audiomixer/select_"+String(i)+"/set"; String sub_topic="audiomixer/select_"+String(i)+"/set";
mqttClient.subscribe((char*) sub_topic.c_str()); mqttClient.subscribe((char*) sub_topic.c_str());
} }
} else { } else {
Serial.print("failed, rc="); Serial.print("failed, rc=");
Serial.print(mqttClient.state()); Serial.print(mqttClient.state());
@ -291,6 +293,7 @@ void loop() {
poti_set+=volEncVel*encoderMultiplier; //change poti set value poti_set+=volEncVel*encoderMultiplier; //change poti set value
poti_set=constrain(poti_set, POT_MIN,POT_MAX); poti_set=constrain(poti_set, POT_MIN,POT_MAX);
poti_reachedposition=false; poti_reachedposition=false;
publishCurrentSetVolume();
} }
@ -371,7 +374,7 @@ void loop() {
potidifference_integral+=potidifference*motorI; potidifference_integral+=potidifference*motorI;
potidifference_integral=constrain(potidifference_integral,-MOTORI_ANTIWINDUP,MOTORI_ANTIWINDUP); //constrain potidifference_integral=constrain(potidifference_integral,-MOTORI_ANTIWINDUP,MOTORI_ANTIWINDUP); //constrain
_motormove=potidifference*motorP+potidifference_integral; _motormove=potidifference*motorP+potidifference_integral;
motorspeed=constrain(abs(_motormove), 0,255); motorspeed=constrain(abs(_motormove), 0,MAX_MOTOR_PWM);
if (poti_read<=POT_MIN && _motormove<0) { //stop motor if soft endstops reached and wants to turn that way if (poti_read<=POT_MIN && _motormove<0) { //stop motor if soft endstops reached and wants to turn that way
MOTOR_STOP(); MOTOR_STOP();
potidifference_integral=0; potidifference_integral=0;
@ -413,20 +416,19 @@ void loop() {
last_serialdebug=loopmillis; last_serialdebug=loopmillis;
Serial.print(" set="); Serial.print(" set=");
Serial.print(poti_set); Serial.print(poti_set);
Serial.print(" is="); Serial.print(" is=");
Serial.print(poti_read); Serial.print(poti_read);
Serial.print(" motorspeed="); Serial.print(" mspeed=");
Serial.print(motorspeed); Serial.print(motorspeed);
Serial.print(" iValue="); Serial.print(" iVal=");
Serial.print(potidifference_integral); Serial.print(potidifference_integral);
Serial.println(""); if (poti_reachedposition) {
Serial.print("!");
if (button_flag){ //TODO: remove hier if correct behaviour implemented
Serial.println("BUTTON Pressed");
button_flag=false; //clear flag to reenable button triggering.
} }
Serial.println("");
for(uint8_t i=0;i<leds.numPixels();i++){ //set color of all leds for(uint8_t i=0;i<leds.numPixels();i++){ //set color of all leds
leds.setPixelColor(i, Wheel(wheelpos+i*10)); leds.setPixelColor(i, Wheel(wheelpos+i*10));
@ -439,6 +441,10 @@ void loop() {
} }
if (loopmillis%5001==0) {
Serial.println(loopmillis); //alive print. for debugging
}
} }
@ -460,9 +466,8 @@ void sendData() {
void callback(char* topic, byte* payload, unsigned int length) { void callback(char* topic, byte* payload, unsigned int length) {
payload[length] = '\0'; //add end of string character payload[length] = '\0'; //add end of string character
String spayload = String((char*)payload); String spayload = String((char*)payload);
Serial.print("Message arrived ["); Serial.print("Message arrived:");
Serial.print(topic); Serial.print(topic);
Serial.print("] ");//MQTT_BROKER
for (unsigned int i = 0; i < length; i++) { for (unsigned int i = 0; i < length; i++) {
Serial.print((char)payload[i]); Serial.print((char)payload[i]);
} }
@ -480,20 +485,18 @@ void callback(char* topic, byte* payload, unsigned int length) {
float _floatvalue = spayload.toFloat(); float _floatvalue = spayload.toFloat();
_floatvalue=constrain(_floatvalue,0.0,100.0); _floatvalue=constrain(_floatvalue,0.0,100.0);
Serial.print("Volume string="); /*Serial.print("Volume string=");
Serial.println(spayload); Serial.println(spayload);
Serial.print("setvalue="); Serial.print("setvalue=");
Serial.println(_floatvalue); Serial.println(_floatvalue);*/
poti_set=constrain(map(_floatvalue,0.0,100.0,POT_MIN,POT_MAX),POT_MIN,POT_MAX); //set new poti position poti_set=constrain(map(_floatvalue,0.0,100.0,POT_MIN,POT_MAX),POT_MIN,POT_MAX); //set new poti position
poti_reachedposition=false; //aim for new position poti_reachedposition=false; //aim for new position
char pub_payload[8]; // Buffer big enough for 7-character float publishCurrentSetVolume();
dtostrf(_floatvalue, 1, 2, pub_payload);
mqttClient.publish("audiomixer/volume", pub_payload);
}else if (String(topic).equals("audiomixer/mute/set")) { //withouth range }else if (String(topic).equals("audiomixer/mute/set")) { //withouth range
Serial.print("Mute string="); Serial.println(spayload); //Serial.print("Mute string="); Serial.println(spayload);
uint16_t ipayload=spayload.toInt(); uint16_t ipayload=spayload.toInt();
if (spayload.equalsIgnoreCase("false")) { if (spayload.equalsIgnoreCase("false")) {
setMuteInt(0); //all unmuted setMuteInt(0); //all unmuted
@ -515,7 +518,7 @@ void callback(char* topic, byte* payload, unsigned int length) {
} }
}else if (String(topic).startsWith("audiomixer/mute_")) { //with range }else if (String(topic).startsWith("audiomixer/mute_")) { //with range
Serial.print("Mute range string="); Serial.println(spayload); //Serial.print("Mute range string="); Serial.println(spayload);
uint8_t _index=255; uint8_t _index=255;
for (uint8_t i=0; i<NUMMUTECHANNELS && _index==255; i++) { for (uint8_t i=0; i<NUMMUTECHANNELS && _index==255; i++) {
if (String(topic).equals("audiomixer/mute_"+String(i)+"/set")) { if (String(topic).equals("audiomixer/mute_"+String(i)+"/set")) {
@ -537,7 +540,7 @@ void callback(char* topic, byte* payload, unsigned int length) {
} }
}else if (String(topic).equals("audiomixer/select/set")) { //withouth range }else if (String(topic).equals("audiomixer/select/set")) { //withouth range
Serial.print("Select string="); Serial.println(spayload); //Serial.print("Select string="); Serial.println(spayload);
uint16_t ipayload=spayload.toInt(); uint16_t ipayload=spayload.toInt();
if (spayload.equalsIgnoreCase("false")) { if (spayload.equalsIgnoreCase("false")) {
setSelectionInt(0); //all select to NC setSelectionInt(0); //all select to NC
@ -559,14 +562,14 @@ void callback(char* topic, byte* payload, unsigned int length) {
} }
}else if (String(topic).startsWith("audiomixer/select_")) { }else if (String(topic).startsWith("audiomixer/select_")) {
Serial.print("Select string="); Serial.println(spayload); //Serial.print("Select string="); Serial.println(spayload);
uint8_t _index=255; uint8_t _index=255;
for (uint8_t i=0; i<NUMSELECTCHANNELS && _index==255; i++) { for (uint8_t i=0; i<NUMSELECTCHANNELS && _index==255; i++) {
if (String(topic).equals("audiomixer/select_"+String(i)+"/set")) { if (String(topic).equals("audiomixer/select_"+String(i)+"/set")) {
_index=i; _index=i;
} }
} }
Serial.print("Found index:"); Serial.println(_index); //Serial.print("Found index:"); Serial.println(_index);
if (_index==255) { if (_index==255) {
Serial.println("Index out of range"); Serial.println("Index out of range");
}else{ //index ok }else{ //index ok
@ -622,7 +625,6 @@ void setMuteInt(uint8_t i) {
uint16_t mask=(( (uint16_t)1<<(NUMMUTECHANNELS))-1 )<<NUMSELECTCHANNELS; uint16_t mask=(( (uint16_t)1<<(NUMMUTECHANNELS))-1 )<<NUMSELECTCHANNELS;
srbits = ((i<<NUMSELECTCHANNELS) & mask) | (srbits & ~mask); srbits = ((i<<NUMSELECTCHANNELS) & mask) | (srbits & ~mask);
srShiftOut(); srShiftOut();
Serial.println(srbits);
} }
boolean getMute(uint8_t pbit) { boolean getMute(uint8_t pbit) {
return srbits & (1<<(pbit+NUMSELECTCHANNELS)); //check bit at position return srbits & (1<<(pbit+NUMSELECTCHANNELS)); //check bit at position
@ -646,4 +648,13 @@ void setMuteChannel(uint8_t i, boolean state){
if (i<NUMMUTECHANNELS) { if (i<NUMMUTECHANNELS) {
srWrite(i+NUMSELECTCHANNELS, state); //offset. selection is first shift register srWrite(i+NUMSELECTCHANNELS, state); //offset. selection is first shift register
} }
}
void publishCurrentSetVolume()
{
float _setpercentage=map(poti_set,POT_MIN,POT_MAX, 0.0,100.0); //get percentage from set poti value
char pub_payload[8]; // Buffer big enough for 7-character float
dtostrf(_setpercentage, 1, 2, pub_payload);
mqttClient.publish("audiomixer/volume", pub_payload);
Serial.print("pub="); Serial.println(_setpercentage);
} }