move esp motor controller code to arduino
This commit is contained in:
parent
461b9a7963
commit
92c7d125fd
|
|
@ -7,32 +7,103 @@
|
|||
#include "Ethernet.h"
|
||||
#include "PubSubClient.h"
|
||||
|
||||
//Ethernet and MQTT
|
||||
String ip = "";
|
||||
uint8_t mac[6] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x06};
|
||||
|
||||
#define CLIENT_ID "Hal"
|
||||
#define CLIENT_ID "Mixer"
|
||||
EthernetClient ethClient;
|
||||
PubSubClient mqttClient;
|
||||
|
||||
#define PUBLISH_DELAY 10000
|
||||
long last_send=0;
|
||||
|
||||
|
||||
|
||||
//Serial
|
||||
long last_serialdebug=0;
|
||||
#define INTERVAL_SERIALDEBUG 200
|
||||
|
||||
//Inputs
|
||||
#define PIN_BUTTON 9
|
||||
#define PIN_ENCA 7
|
||||
#define PIN_ENCB 8
|
||||
#define BUTTON_RELEASE_DEBOUNCE 100 //minimum time after button release to reenable triggering
|
||||
|
||||
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 4
|
||||
#define SRCLOCK 5
|
||||
#define SRDATA 6
|
||||
uint16_t srbits=0;
|
||||
|
||||
#include <Encoder.h>
|
||||
Encoder volEnc(PIN_ENCA,PIN_ENCB);
|
||||
float encoderMultiplier=4.0;
|
||||
|
||||
//Servo stuff
|
||||
#define SRPIN_MOTOR_IN1 1 //L293(pin2) Motor IN1
|
||||
#define SRPIN_MOTOR_IN2 2 //L293(pin7) Motor IN2
|
||||
|
||||
#define PIN_POT A0 //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 POTIFILTER 0.8 //0 to 1. 1 means old value stays forever
|
||||
|
||||
int poti_set=512; //set value
|
||||
int poti_read=0; //read value from poti
|
||||
boolean poti_reachedposition=true; //set to true if position reached. after that stop turning
|
||||
|
||||
#define MOTOR_STOP(); srWrite(SRPIN_MOTOR_IN1,LOW); srWrite(SRPIN_MOTOR_IN2,LOW);
|
||||
#define MOTOR_LEFT(); srWrite(SRPIN_MOTOR_IN1,LOW); srWrite(SRPIN_MOTOR_IN2,HIGH);
|
||||
#define MOTOR_RIGHT(); srWrite(SRPIN_MOTOR_IN1,HIGH); srWrite(SRPIN_MOTOR_IN2,LOW);
|
||||
#define MOTOR_TURNING() (srRead(SRPIN_MOTOR_IN1) != srRead(SRPIN_MOTOR_IN2))
|
||||
|
||||
|
||||
//Motorcheck
|
||||
long last_motorcheck=0;
|
||||
#define INTERVAL_MOTORCHECK 100 //check motor movement every x ms
|
||||
int poti_read_last=0;
|
||||
int motor_vel=0; //analog read units per second
|
||||
#define MINIMUM_MOTORVEL 20 //minimum velocity motor should turn wenn active
|
||||
#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
|
||||
|
||||
//error
|
||||
uint8_t error=0;
|
||||
#define NOERROR 0
|
||||
#define MOTORDIDNOTTURN 1
|
||||
|
||||
void setup() {
|
||||
pinMode(LED_BUILTIN, OUTPUT);
|
||||
digitalWrite(LED_BUILTIN,HIGH);
|
||||
|
||||
// setup serial communication
|
||||
pinMode(PIN_BUTTON,INPUT_PULLUP);
|
||||
|
||||
pinMode(PIN_POT,INPUT);
|
||||
|
||||
pinMode(SRLATCH, OUTPUT);
|
||||
pinMode(SRCLOCK, OUTPUT);
|
||||
pinMode(SRDATA, OUTPUT);
|
||||
|
||||
Serial.begin(9600);
|
||||
while (!Serial) {};
|
||||
Serial.println(F("MQTT Arduino Demo"));
|
||||
Serial.println("Booting");
|
||||
|
||||
// setup ethernet communication using DHCP
|
||||
if (Ethernet.begin(mac) == 0) {
|
||||
//Serial.println(F("Unable to configure Ethernet using DHCP"));
|
||||
|
||||
if (Ethernet.begin(mac) == 0) { // setup ethernet communication using DHCP
|
||||
Serial.println("Unable to configure Ethernet using DHCP");
|
||||
Serial.flush();
|
||||
delay(200);
|
||||
for (;;);
|
||||
}
|
||||
|
||||
Serial.println(F("Ethernet configured via DHCP"));
|
||||
Serial.println("Ethernet configured via DHCP");
|
||||
Serial.print("IP address: ");
|
||||
Serial.println(Ethernet.localIP());
|
||||
Serial.println();
|
||||
|
|
@ -49,12 +120,11 @@ void setup() {
|
|||
// setup mqtt client
|
||||
mqttClient.setClient(ethClient);
|
||||
mqttClient.setServer("10.0.0.1", 1883);
|
||||
Serial.println(F("MQTT client configured"));
|
||||
Serial.println("MQTT client configured");
|
||||
mqttClient.setCallback(callback);
|
||||
|
||||
|
||||
Serial.println();
|
||||
Serial.println(F("Ready to send data"));
|
||||
Serial.println("Ready");
|
||||
last_send = millis();
|
||||
|
||||
|
||||
|
|
@ -62,7 +132,7 @@ void setup() {
|
|||
}
|
||||
|
||||
void reconnect() {
|
||||
// Loop until we're reconnected
|
||||
// Loop until reconnected
|
||||
while (!mqttClient.connected()) {
|
||||
Serial.print("Attempting MQTT connection...");
|
||||
// Attempt to connect
|
||||
|
|
@ -74,23 +144,136 @@ void reconnect() {
|
|||
Serial.print("failed, rc=");
|
||||
Serial.print(mqttClient.state());
|
||||
Serial.println(" try again in 5 seconds");
|
||||
// Wait 5 seconds before retrying
|
||||
delay(5000);
|
||||
delay(5000);// Wait 5 seconds before retrying
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void loop() {
|
||||
long loopmillis=millis();
|
||||
if (!mqttClient.connected()) {
|
||||
reconnect();
|
||||
}
|
||||
mqttClient.loop();
|
||||
|
||||
|
||||
|
||||
//Serial Input ##############################################
|
||||
while (Serial.available() > 0) {
|
||||
int _value = Serial.parseInt();
|
||||
if (Serial.read() == '\n') {
|
||||
Serial.print("value=");
|
||||
Serial.println(_value);
|
||||
//poti_set=_value;
|
||||
//poti_reachedposition=false; //aim for new position
|
||||
srWrite(_value,!srRead(_value));
|
||||
|
||||
}
|
||||
|
||||
if (millis() - last_send > PUBLISH_DELAY) {
|
||||
//sendData();
|
||||
last_send = millis();
|
||||
}
|
||||
|
||||
mqttClient.loop();
|
||||
//Inputs ###################################################
|
||||
poti_read=poti_read*POTIFILTER + (1.0-POTIFILTER)*analogRead(PIN_POT); //read poti
|
||||
|
||||
if (!digitalRead(PIN_BUTTON)){ //button pressed
|
||||
if (button_released){
|
||||
button_released=false; //flag: not released
|
||||
if(loopmillis-last_button_released > BUTTON_RELEASE_DEBOUNCE){
|
||||
button_flag=true;
|
||||
}
|
||||
}
|
||||
}else if(!button_flag && !button_released){ //button released and flag has been cleared
|
||||
last_button_released=loopmillis;
|
||||
button_released=true;
|
||||
}
|
||||
|
||||
//Read Encoder to velocity "volEncVel"
|
||||
int volEncVel=0;
|
||||
int _volEnc=volEnc.read();
|
||||
if (_volEnc!=0){ //encoder moved
|
||||
volEncVel=_volEnc;
|
||||
volEnc.write(0); //reset value
|
||||
}
|
||||
|
||||
|
||||
//Input Handling
|
||||
if (volEncVel!=0){ //knob moved
|
||||
poti_set+=volEncVel*encoderMultiplier; //change poti set value
|
||||
poti_set=constrain(poti_set, POT_MIN,POT_MAX);
|
||||
poti_reachedposition=false;
|
||||
}
|
||||
|
||||
|
||||
//Motor Movement Routine #################
|
||||
if (error==0){ //no errors
|
||||
|
||||
if (!poti_reachedposition && abs(poti_read-poti_set)>DEADZONE_POTI){ //error too high
|
||||
digitalWrite(LED_BUILTIN,HIGH);
|
||||
if (poti_read-poti_set < 0){
|
||||
MOTOR_LEFT();
|
||||
}else{
|
||||
MOTOR_RIGHT();
|
||||
}
|
||||
}else if(!poti_reachedposition){ //position reached but flag not set
|
||||
MOTOR_STOP();
|
||||
Serial.print("reached:");
|
||||
Serial.print(" set=");
|
||||
Serial.print(poti_set);
|
||||
Serial.print(" is=");
|
||||
Serial.print(poti_read);
|
||||
Serial.print(" vel=");
|
||||
Serial.println();
|
||||
poti_reachedposition=true; //position reached
|
||||
digitalWrite(LED_BUILTIN,LOW);
|
||||
}
|
||||
|
||||
|
||||
if ( loopmillis > last_motorcheck+INTERVAL_MOTORCHECK){
|
||||
last_motorcheck=loopmillis;
|
||||
|
||||
motor_vel=(poti_read-poti_read_last)*1000 /INTERVAL_MOTORCHECK ; //calculate current motor velocity
|
||||
poti_read_last=poti_read;
|
||||
|
||||
//motor fail check
|
||||
if (MOTOR_TURNING() && abs(motor_vel)<MINIMUM_MOTORVEL){ //motor is turning too slow
|
||||
if (last_motorTooSlow==0){ //first time slow motor recognized
|
||||
last_motorTooSlow=loopmillis;
|
||||
}else if (loopmillis-last_motorTooSlow > MOTOR_FAILTIME){
|
||||
error=MOTORDIDNOTTURN;
|
||||
Serial.println("MOTORDIDNOTTURN");
|
||||
}
|
||||
|
||||
}else if (last_motorTooSlow>0){ //was recognized too slow but is now turning fast again
|
||||
last_motorTooSlow=0; //reset
|
||||
}
|
||||
|
||||
}
|
||||
}else{ //an error occured. error!=0
|
||||
MOTOR_STOP();
|
||||
}
|
||||
|
||||
|
||||
|
||||
if ( loopmillis > last_serialdebug+INTERVAL_SERIALDEBUG){
|
||||
last_serialdebug=loopmillis;
|
||||
|
||||
|
||||
Serial.print(" set=");
|
||||
Serial.print(poti_set);
|
||||
Serial.print(" is=");
|
||||
Serial.print(poti_read);
|
||||
Serial.print(" vel=");
|
||||
Serial.print(motor_vel);
|
||||
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.
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void sendData() {
|
||||
|
|
@ -129,3 +312,20 @@ void callback(char* topic, byte* payload, unsigned int length) {
|
|||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void srWrite(uint8_t pin, boolean state){
|
||||
if (state==true){
|
||||
srbits |= 1UL << pin; //set bit
|
||||
}else{
|
||||
srbits &= ~(1UL << pin); //clear bit
|
||||
}
|
||||
digitalWrite(SRLATCH, LOW);
|
||||
shiftOut(SRDATA, SRCLOCK, MSBFIRST, srbits>>8);
|
||||
shiftOut(SRDATA, SRCLOCK, MSBFIRST, srbits);
|
||||
digitalWrite(SRLATCH, HIGH);
|
||||
}
|
||||
boolean srRead(uint8_t pin){
|
||||
return (srbits >> pin) & 1U;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue