led improvements and try improving motor controller
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90ca4840ef
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947d00e783
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@ -29,6 +29,7 @@ void setMuteChannel(uint8_t i, boolean state);
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void publishCurrentSetVolume();
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void publishAllStates(int pn, String pTopicname, boolean (*pgetBit) (uint8_t));
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void changeRelaisByNumber(uint8_t pn, String pTopicPrefix, String pTopic, String pspayload, void (*psetXChannel) (uint8_t, boolean));
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float getSetVolume();
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#define LEDPIN 9 //PB1 = D9 = Pin15
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Adafruit_NeoPixel leds = Adafruit_NeoPixel(9, LEDPIN, NEO_GRB + NEO_KHZ800);
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@ -48,13 +49,17 @@ EthernetClient ethClient;
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PubSubClient mqttClient;
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String mqttdevname="audiomixer/";
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bool flag_publishCurrentSetVolume=false;
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long last_send=0;
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#define MAXIMUMMQTTSENDINTERVAL 100
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#define MQTTRECONNECTDELAY 5000
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unsigned long last_mqttreconnectattempt=0;
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//Serial
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long last_serialdebug=0;
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#define INTERVAL_SERIALDEBUG 200
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@ -84,6 +89,7 @@ uint16_t srbits=0;
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#include <Encoder.h>
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Encoder volEnc(PIN_ENCA,PIN_ENCB);
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float encoderMultiplier=4.0;
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int volEncVel=0;
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//Servo stuff
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#define PIN_MOTOR_IN1 PD5 //to L293(pin2) Motor IN1
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@ -91,18 +97,22 @@ float encoderMultiplier=4.0;
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//#define SRPIN_MOTOR_IN1 1 //L293(pin2) Motor IN1 -- moved to atmega pin
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//#define SRPIN_MOTOR_IN2 2 //L293(pin7) Motor IN2 -- moved to atmega pin
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uint8_t motorspeed=0;
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int _motormove;
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#define PIN_POT A0 //A0 = PC0, reference potentiometer wiper
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#define DEADZONE_POTI 10 //maximum allowed error. stop when reached this zone
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#define POT_MIN 45 //minimum value pot can reach
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#define POT_MAX 950 //maximum value pot can reach
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#define POTIFILTER 0.6 //0 to 1. 1 means old value stays forever
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#define MAX_MOTOR_PWM 255 //0 to 255. Maximum pwm to output
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#define POTIFILTER 0.8 //0 to 1. 1 means old value stays forever
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#define MAX_MOTOR_PWM 192 //0 to 255. Maximum pwm to output
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int poti_set; //set value, initial value will be read from poti
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int poti_read=0; //read value from poti
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boolean poti_reachedposition=true; //set to true if position reached. after that stop turning
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int last_potidifference=0;
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int potidifference=0; //gets overwritten at start of each motorcheck
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//#define MOTOR_STOP(); srWrite(SRPIN_MOTOR_IN1,LOW); srWrite(SRPIN_MOTOR_IN2,LOW);
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//#define MOTOR_LEFT(); srWrite(SRPIN_MOTOR_IN1,LOW); srWrite(SRPIN_MOTOR_IN2,HIGH);
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//#define MOTOR_RIGHT(); srWrite(SRPIN_MOTOR_IN1,HIGH); srWrite(SRPIN_MOTOR_IN2,LOW);
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@ -117,24 +127,23 @@ boolean poti_reachedposition=true; //set to true if position reached. after that
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//Motorcheck
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long last_motorcheck=0;
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#define INTERVAL_MOTORCHECK 100 //check motor movement every x ms
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#define INTERVAL_MOTORCHECK 50 //check motor movement every x ms
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//int poti_read_last=0;
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//int motor_vel=0; //analog read units per second //TODO: reintroduce into code or remove
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//#define MINIMUM_MOTORVEL 20 //minimum velocity motor should turn wenn active
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//#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
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//long last_motorTooSlow=0; //typically 0
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float motorP=4.0;
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float motorI=0.5;
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float motorP=2.0;
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float motorI=0.05;
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float motorD=1;
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float potidifference_integral=0;
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#define MOTORI_ANTIWINDUP 200 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
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#define MOTORI_ANTIWINDUP 100 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
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//Motor starts moving at about speed=80
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long last_potidifferenceLow=0;
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#define DEADZONETIMEUNTILREACHED 250 //time [ms] poti read value has to be inside of deadzone to set reachedposition flag (and stop regulating)
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//error
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boolean motorerror=false;
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//Menu system
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uint8_t menu_mode=0; //0= volume set mode, 1=mute output selection, 2=output group selection
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@ -327,10 +336,10 @@ void loop() {
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//Read Encoder to velocity "volEncVel"
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int volEncVel=0;
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int _volEnc=volEnc.read();
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if (_volEnc!=0){ //encoder moved
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volEncVel=_volEnc;
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volEncVel+=_volEnc;
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volEnc.write(0); //reset value
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}
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@ -342,20 +351,23 @@ void loop() {
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poti_set+=volEncVel*encoderMultiplier; //change poti set value
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poti_set=constrain(poti_set, POT_MIN,POT_MAX);
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poti_reachedposition=false;
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publishCurrentSetVolume();
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flag_publishCurrentSetVolume=true;
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volEncVel=0; //reset vel for next loop
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break;
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case 1: case 2: //mute or group selection
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menu_selectedChannel+=127; //offset to compensate negative values
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menu_selectedChannel+=volEncVel;
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menu_selectedChannel+=volEncVel/2; //every encoder detend is +-2
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if (menu_selectedChannel<127){
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menu_selectedChannel=127; //lower limit (0)
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}else if (menu_selectedChannel > MENU_MAXCHANNEL+1) { //max channel and one extra for "nothing selected"
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}else if (menu_selectedChannel > 127+MENU_MAXCHANNEL+1) { //max channel and one extra for "nothing selected"
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menu_selectedChannel=127+MENU_MAXCHANNEL+1; //upper limit
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}
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menu_selectedChannel-=127; //take out offset
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if (volEncVel/2 != 0) { //if value change was at least one detend
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volEncVel=0; //reset vel for next loop
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}
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break;
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}
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@ -363,25 +375,36 @@ void loop() {
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}
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if (flag_publishCurrentSetVolume && loopmillis-last_send>MAXIMUMMQTTSENDINTERVAL){
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flag_publishCurrentSetVolume=false;
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last_send = loopmillis;
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publishCurrentSetVolume();
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}
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//Motor Movement Routine #################
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if (!motorerror) //motor not stuck etc
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{
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if (loopmillis-last_motorcheck>INTERVAL_MOTORCHECK)
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{
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last_motorcheck=loopmillis;
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int potidifference=poti_set-poti_read; //positive means poti needs to be moved higher. max poti value is 1023
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last_potidifference = potidifference; //save last difference
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potidifference=poti_set-poti_read; //positive means poti needs to be moved higher. max poti value is 1023
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if (poti_reachedposition) {
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motorspeed=0;
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potidifference_integral=0;
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MOTOR_STOP();
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}else{ //not reached position
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_motormove=0; //negative: move left, positive: move right. abs value: speed. 0 <= abs(_motormove) <= 255
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int _motormove=0; //negative: move left, positive: move right. abs value: speed. 0 <= abs(_motormove) <= 255
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potidifference_integral+=potidifference*motorI;
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potidifference_integral=constrain(potidifference_integral,-MOTORI_ANTIWINDUP,MOTORI_ANTIWINDUP); //constrain
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_motormove=potidifference*motorP+potidifference_integral;
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_motormove=potidifference*motorP + potidifference_integral + motorD*(last_potidifference-potidifference);
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motorspeed=constrain(abs(_motormove), 0,MAX_MOTOR_PWM);
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if (poti_read<=POT_MIN && _motormove<0) { //stop motor if soft endstops reached and wants to turn that way
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MOTOR_STOP();
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potidifference_integral=0;
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@ -400,6 +423,29 @@ void loop() {
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}
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}
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if ( (potidifference>0 && last_potidifference<0) || (potidifference<0 && last_potidifference>0) ) { //different signs. potidifference has crossed 0. set value overshoot
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potidifference_integral=0; //reset integral to stop further overshoot
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}
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/*
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Serial.print(" diff=");
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Serial.print(potidifference);
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Serial.print(" iVal=");
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Serial.print(potidifference_integral);
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Serial.print(" dVal=");
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Serial.print((last_potidifference-potidifference)*motorD);
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Serial.print(" motormove=");
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Serial.print(_motormove);
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if (poti_reachedposition) {
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Serial.print("!");
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}
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Serial.println("");
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*/
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if (abs(potidifference)<DEADZONE_POTI) {
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if (last_potidifferenceLow==0){
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@ -412,9 +458,10 @@ void loop() {
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}else{
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last_potidifferenceLow = 0;
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}
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}
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}
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}
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@ -423,9 +470,15 @@ void loop() {
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switch(menu_mode) {
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case 0: //volume
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if (poti_reachedposition) { //idle
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for(uint8_t i=0;i<leds.numPixels();i++){ //set color of all leds
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leds.setPixelColor(i, Wheel(wheelpos+i*10));
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}
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}else{ //motor is currently moving
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leds.clear();
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leds.setPixelColor(min(getSetVolume()*8/100, 7), Wheel(wheelpos)); //show volume as bargraph
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}
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wheelpos+=1;
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break;
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@ -436,9 +489,9 @@ void loop() {
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uint8_t _g=0;
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uint8_t _b=0;
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for(uint8_t i=0;i<leds.numPixels();i++){ //set color of all leds
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for(uint8_t i=0;i<=MENU_MAXCHANNEL;i++){ //set color of all channel leds
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if (menu_mode==1) { //in mute mode
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if (!getMute(i)) { //not muted
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if (getMute(i)) { //not muted
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_r = 0; _g = 50; _b = 0;
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}else{ //muted
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_r = 50; _g = 0; _b = 50;
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@ -456,7 +509,9 @@ void loop() {
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_b*=4;
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}
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if (menu_selectedChannel==MENU_MAXCHANNEL+1) { //nothing selected
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_r=50; _g=50; _b=50;
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_r*=4; //make color brighter
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_g*=4;
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_b*=4;
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}
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leds.setPixelColor(i, leds.Color(_r,_g,_b));
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}
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@ -465,12 +520,11 @@ void loop() {
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break;
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}
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leds.show();
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}
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/*
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if ( loopmillis > last_serialdebug+INTERVAL_SERIALDEBUG){
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last_serialdebug=loopmillis;
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@ -478,8 +532,10 @@ void loop() {
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Serial.print(poti_set);
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Serial.print(" is=");
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Serial.print(poti_read);
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Serial.print(" mspeed=");
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Serial.print(motorspeed);
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//Serial.print(" mspeed=");
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//Serial.print(motorspeed);
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Serial.print(" motormove=");
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Serial.print(_motormove);
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Serial.print(" iVal=");
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Serial.print(potidifference_integral);
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if (poti_reachedposition) {
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@ -487,6 +543,7 @@ void loop() {
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}
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Serial.println("");
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}
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*/
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if (loopmillis%5001==0) { //TODO: remove when working
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Serial.println(loopmillis); //alive print. for debugging
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@ -595,7 +652,7 @@ void setMuteInt(uint8_t i) {
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srbits = ((i<<NUMSELECTCHANNELS) & mask) | (srbits & ~mask);
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srShiftOut();
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}
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boolean getMute(uint8_t pbit) {
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boolean getMute(uint8_t pbit) { //low is muted
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return srbits & (1<<(pbit+NUMSELECTCHANNELS)); //check bit at position
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}
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void setSelectionInt(uint8_t i) {
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@ -621,7 +678,7 @@ void setMuteChannel(uint8_t i, boolean state){
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void publishCurrentSetVolume()
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{
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float _setpercentage=map(poti_set,POT_MIN,POT_MAX, 0.0,100.0); //get percentage from set poti value
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float _setpercentage=getSetVolume();
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char pub_payload[8]; // Buffer big enough for 7-character float
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dtostrf(_setpercentage, 1, 2, pub_payload);
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mqttClient.publish("audiomixer/volume", pub_payload);
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@ -661,3 +718,7 @@ void changeRelaisByNumber(uint8_t pn, String pTopicPrefix, String pTopic, String
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}
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}
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}
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float getSetVolume() {
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return map(poti_set,POT_MIN,POT_MAX, 0.0,100.0); //get percentage from set poti value
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}
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