test in real hardware and motor bugs
This commit is contained in:
parent
143d218760
commit
6f257ebbd8
|
|
@ -2,8 +2,9 @@
|
|||
* Ideas/TODO:
|
||||
* 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.
|
||||
* Relais switching (selection and muting)
|
||||
* MQTT topics
|
||||
* Hardware: motorentstörkondensatoren einbauen direkt an motor. 47nF + zu - und zwei 10nF + zu case und - zu case
|
||||
* PI Optimieren. aktuell overshoot
|
||||
* Implement knob menu structure
|
||||
*/
|
||||
|
||||
#include <Arduino.h>
|
||||
|
|
@ -26,6 +27,7 @@ boolean getSelection(uint8_t pbit);
|
|||
boolean getMute(uint8_t pbit);
|
||||
void setSelectionChannel(uint8_t i, boolean state);
|
||||
void setMuteChannel(uint8_t i, boolean state);
|
||||
void publishCurrentSetVolume();
|
||||
|
||||
#define LEDPIN 9 //PB1 = D9 = Pin15
|
||||
Adafruit_NeoPixel leds = Adafruit_NeoPixel(9, LEDPIN, NEO_GRB + NEO_KHZ800);
|
||||
|
|
@ -64,10 +66,6 @@ long last_serialdebug=0;
|
|||
|
||||
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
|
||||
//connections: https://www.arduino.cc/en/tutorial/ShiftOut
|
||||
#define SRLATCH PD4 //D4 = PD4
|
||||
|
|
@ -91,10 +89,11 @@ float encoderMultiplier=4.0;
|
|||
uint8_t motorspeed=0;
|
||||
|
||||
#define PIN_POT A0 //A0 = PC0, reference potentiometer wiper
|
||||
#define DEADZONE_POTI 5 //maximum allowed error. stop when reached this zone
|
||||
#define POT_MIN 10 //minimum value pot can reach
|
||||
#define POT_MAX 1010 //maximum value pot can reach
|
||||
#define DEADZONE_POTI 10 //maximum allowed error. stop when reached this zone
|
||||
#define POT_MIN 45 //minimum 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 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_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
|
||||
//long last_motorTooSlow=0; //typically 0
|
||||
|
||||
float motorP=1.0;
|
||||
float motorP=2.0;
|
||||
float motorI=0.1;
|
||||
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;
|
||||
#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);
|
||||
while (!Serial) {};
|
||||
Serial.println("Starting");
|
||||
Serial.println("Boot");
|
||||
|
||||
leds.begin();
|
||||
leds.clear();
|
||||
|
|
@ -158,18 +158,17 @@ void setup() {
|
|||
|
||||
if (useethernet)
|
||||
{
|
||||
Serial.println("Setting up ethernet connection via DHCP");
|
||||
Serial.println("trying DHCP");
|
||||
if (Ethernet.begin(mac) == 0) { // setup ethernet communication using DHCP
|
||||
useethernet=false;
|
||||
//Unable to configure Ethernet using DHCP
|
||||
Serial.println("Unable to configure Ethernet using DHCP");
|
||||
Serial.println("DHCP Err");
|
||||
delay(200);
|
||||
//for (;;);
|
||||
|
||||
|
||||
}else{
|
||||
useethernet=true;
|
||||
Serial.println("Ethernet configured via DHCP");
|
||||
Serial.print("IP address: ");
|
||||
Serial.println(Ethernet.localIP());
|
||||
Serial.println();
|
||||
|
|
@ -184,10 +183,10 @@ void setup() {
|
|||
//Serial.println(ip);
|
||||
|
||||
// setup mqtt client
|
||||
Serial.println("Configuring MQTT");
|
||||
Serial.println("Conf MQTT");
|
||||
mqttClient.setClient(ethClient);
|
||||
mqttClient.setServer("10.0.0.1", 1883);
|
||||
Serial.println("MQTT configured");
|
||||
Serial.println("MQTT ok");
|
||||
mqttClient.setCallback(callback);
|
||||
}
|
||||
}else{
|
||||
|
|
@ -198,6 +197,7 @@ void setup() {
|
|||
poti_set=analogRead(PIN_POT);
|
||||
|
||||
Serial.println("Ready");
|
||||
|
||||
last_send = millis();
|
||||
|
||||
}
|
||||
|
|
@ -205,10 +205,11 @@ void setup() {
|
|||
void reconnect() {
|
||||
// Loop until reconnected
|
||||
if (!mqttClient.connected()) {
|
||||
Serial.print("Attempting MQTT connection...");
|
||||
Serial.print("Connect MQTT ..");
|
||||
// Attempt to connect
|
||||
if (mqttClient.connect(CLIENT_ID)) {
|
||||
Serial.println("connected");
|
||||
publishCurrentSetVolume();
|
||||
mqttClient.publish("audiomixer/ip", ip.c_str()); //Publish own ip
|
||||
mqttClient.subscribe("audiomixer/volume/set"); //subscribe to /set, republish without /set
|
||||
mqttClient.subscribe("audiomixer/mute/set"); //without range
|
||||
|
|
@ -221,6 +222,7 @@ void reconnect() {
|
|||
String sub_topic="audiomixer/select_"+String(i)+"/set";
|
||||
mqttClient.subscribe((char*) sub_topic.c_str());
|
||||
}
|
||||
|
||||
} else {
|
||||
Serial.print("failed, rc=");
|
||||
Serial.print(mqttClient.state());
|
||||
|
|
@ -291,6 +293,7 @@ void loop() {
|
|||
poti_set+=volEncVel*encoderMultiplier; //change poti set value
|
||||
poti_set=constrain(poti_set, POT_MIN,POT_MAX);
|
||||
poti_reachedposition=false;
|
||||
publishCurrentSetVolume();
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -371,7 +374,7 @@ void loop() {
|
|||
potidifference_integral+=potidifference*motorI;
|
||||
potidifference_integral=constrain(potidifference_integral,-MOTORI_ANTIWINDUP,MOTORI_ANTIWINDUP); //constrain
|
||||
_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
|
||||
MOTOR_STOP();
|
||||
potidifference_integral=0;
|
||||
|
|
@ -413,20 +416,19 @@ void loop() {
|
|||
last_serialdebug=loopmillis;
|
||||
|
||||
|
||||
|
||||
Serial.print(" set=");
|
||||
Serial.print(poti_set);
|
||||
Serial.print(" is=");
|
||||
Serial.print(poti_read);
|
||||
Serial.print(" motorspeed=");
|
||||
Serial.print(" mspeed=");
|
||||
Serial.print(motorspeed);
|
||||
Serial.print(" iValue=");
|
||||
Serial.print(" iVal=");
|
||||
Serial.print(potidifference_integral);
|
||||
Serial.println("");
|
||||
|
||||
if (button_flag){ //TODO: remove hier if correct behaviour implemented
|
||||
Serial.println("BUTTON Pressed");
|
||||
button_flag=false; //clear flag to reenable button triggering.
|
||||
if (poti_reachedposition) {
|
||||
Serial.print("!");
|
||||
}
|
||||
Serial.println("");
|
||||
|
||||
for(uint8_t i=0;i<leds.numPixels();i++){ //set color of all leds
|
||||
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) {
|
||||
payload[length] = '\0'; //add end of string character
|
||||
String spayload = String((char*)payload);
|
||||
Serial.print("Message arrived [");
|
||||
Serial.print("Message arrived:");
|
||||
Serial.print(topic);
|
||||
Serial.print("] ");//MQTT_BROKER
|
||||
for (unsigned int i = 0; i < length; i++) {
|
||||
Serial.print((char)payload[i]);
|
||||
}
|
||||
|
|
@ -480,20 +485,18 @@ void callback(char* topic, byte* payload, unsigned int length) {
|
|||
|
||||
float _floatvalue = spayload.toFloat();
|
||||
_floatvalue=constrain(_floatvalue,0.0,100.0);
|
||||
Serial.print("Volume string=");
|
||||
/*Serial.print("Volume string=");
|
||||
Serial.println(spayload);
|
||||
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_reachedposition=false; //aim for new position
|
||||
|
||||
char pub_payload[8]; // Buffer big enough for 7-character float
|
||||
dtostrf(_floatvalue, 1, 2, pub_payload);
|
||||
mqttClient.publish("audiomixer/volume", pub_payload);
|
||||
publishCurrentSetVolume();
|
||||
|
||||
}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();
|
||||
if (spayload.equalsIgnoreCase("false")) {
|
||||
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
|
||||
Serial.print("Mute range string="); Serial.println(spayload);
|
||||
//Serial.print("Mute range string="); Serial.println(spayload);
|
||||
uint8_t _index=255;
|
||||
for (uint8_t i=0; i<NUMMUTECHANNELS && _index==255; i++) {
|
||||
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
|
||||
Serial.print("Select string="); Serial.println(spayload);
|
||||
//Serial.print("Select string="); Serial.println(spayload);
|
||||
uint16_t ipayload=spayload.toInt();
|
||||
if (spayload.equalsIgnoreCase("false")) {
|
||||
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_")) {
|
||||
Serial.print("Select string="); Serial.println(spayload);
|
||||
//Serial.print("Select string="); Serial.println(spayload);
|
||||
uint8_t _index=255;
|
||||
for (uint8_t i=0; i<NUMSELECTCHANNELS && _index==255; i++) {
|
||||
if (String(topic).equals("audiomixer/select_"+String(i)+"/set")) {
|
||||
_index=i;
|
||||
}
|
||||
}
|
||||
Serial.print("Found index:"); Serial.println(_index);
|
||||
//Serial.print("Found index:"); Serial.println(_index);
|
||||
if (_index==255) {
|
||||
Serial.println("Index out of range");
|
||||
}else{ //index ok
|
||||
|
|
@ -622,7 +625,6 @@ void setMuteInt(uint8_t i) {
|
|||
uint16_t mask=(( (uint16_t)1<<(NUMMUTECHANNELS))-1 )<<NUMSELECTCHANNELS;
|
||||
srbits = ((i<<NUMSELECTCHANNELS) & mask) | (srbits & ~mask);
|
||||
srShiftOut();
|
||||
Serial.println(srbits);
|
||||
}
|
||||
boolean getMute(uint8_t pbit) {
|
||||
return srbits & (1<<(pbit+NUMSELECTCHANNELS)); //check bit at position
|
||||
|
|
@ -647,3 +649,12 @@ void setMuteChannel(uint8_t i, boolean state){
|
|||
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);
|
||||
}
|
||||
Loading…
Reference in New Issue