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led improvements and try improving motor controller

This commit is contained in:
interfisch 2020-04-26 15:30:35 +02:00
parent 90ca4840ef
commit 947d00e783
1 changed files with 130 additions and 69 deletions
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197
controller/mixercontroller_w5100_pio/src/main.cpp
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@ -29,6 +29,7 @@ void setMuteChannel(uint8_t i, boolean state);
void publishCurrentSetVolume();
void publishAllStates(int pn, String pTopicname, boolean (*pgetBit) (uint8_t));
void changeRelaisByNumber(uint8_t pn, String pTopicPrefix, String pTopic, String pspayload, void (*psetXChannel) (uint8_t, boolean));
float getSetVolume();
#define LEDPIN 9 //PB1 = D9 = Pin15
Adafruit_NeoPixel leds = Adafruit_NeoPixel(9, LEDPIN, NEO_GRB + NEO_KHZ800);
@ -48,13 +49,17 @@ EthernetClient ethClient;
PubSubClient mqttClient;
String mqttdevname="audiomixer/";
bool flag_publishCurrentSetVolume=false;
long last_send=0;
#define MAXIMUMMQTTSENDINTERVAL 100
#define MQTTRECONNECTDELAY 5000
unsigned long last_mqttreconnectattempt=0;
//Serial
long last_serialdebug=0;
#define INTERVAL_SERIALDEBUG 200
@ -84,6 +89,7 @@ uint16_t srbits=0;
#include <Encoder.h>
Encoder volEnc(PIN_ENCA,PIN_ENCB);
float encoderMultiplier=4.0;
int volEncVel=0;
//Servo stuff
#define PIN_MOTOR_IN1 PD5 //to L293(pin2) Motor IN1
@ -91,18 +97,22 @@ float encoderMultiplier=4.0;
//#define SRPIN_MOTOR_IN1 1 //L293(pin2) Motor IN1 -- moved to atmega pin
//#define SRPIN_MOTOR_IN2 2 //L293(pin7) Motor IN2 -- moved to atmega pin
uint8_t motorspeed=0;
int _motormove;
#define PIN_POT A0 //A0 = PC0, reference potentiometer wiper
#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 0.6 //0 to 1. 1 means old value stays forever
#define MAX_MOTOR_PWM 255 //0 to 255. Maximum pwm to output
#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
boolean poti_reachedposition=true; //set to true if position reached. after that stop turning
int last_potidifference=0;
int potidifference=0; //gets overwritten at start of each motorcheck
//#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);
@ -117,24 +127,23 @@ boolean poti_reachedposition=true; //set to true if position reached. after that
//Motorcheck
long last_motorcheck=0;
#define INTERVAL_MOTORCHECK 100 //check motor movement every x ms
#define INTERVAL_MOTORCHECK 50 //check motor movement every x ms
//int poti_read_last=0;
//int motor_vel=0; //analog read units per second //TODO: reintroduce into code or remove
//#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
float motorP=4.0;
float motorI=0.5;
float motorP=2.0;
float motorI=0.05;
float motorD=1;
float potidifference_integral=0;
#define MOTORI_ANTIWINDUP 200 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
#define MOTORI_ANTIWINDUP 100 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
//Motor starts moving at about speed=80
long last_potidifferenceLow=0;
#define DEADZONETIMEUNTILREACHED 250 //time [ms] poti read value has to be inside of deadzone to set reachedposition flag (and stop regulating)
//error
boolean motorerror=false;
//Menu system
uint8_t menu_mode=0; //0= volume set mode, 1=mute output selection, 2=output group selection
@ -327,10 +336,10 @@ void loop() {
//Read Encoder to velocity "volEncVel"
int volEncVel=0;
int _volEnc=volEnc.read();
if (_volEnc!=0){ //encoder moved
volEncVel=_volEnc;
volEncVel+=_volEnc;
volEnc.write(0); //reset value
}
@ -342,20 +351,23 @@ void loop() {
poti_set+=volEncVel*encoderMultiplier; //change poti set value
poti_set=constrain(poti_set, POT_MIN,POT_MAX);
poti_reachedposition=false;
publishCurrentSetVolume();
flag_publishCurrentSetVolume=true;
volEncVel=0; //reset vel for next loop
break;
case 1: case 2: //mute or group selection
menu_selectedChannel+=127; //offset to compensate negative values
menu_selectedChannel+=volEncVel;
menu_selectedChannel+=volEncVel/2; //every encoder detend is +-2
if (menu_selectedChannel<127){
menu_selectedChannel=127; //lower limit (0)
}else if (menu_selectedChannel > MENU_MAXCHANNEL+1) { //max channel and one extra for "nothing selected"
}else if (menu_selectedChannel > 127+MENU_MAXCHANNEL+1) { //max channel and one extra for "nothing selected"
menu_selectedChannel=127+MENU_MAXCHANNEL+1; //upper limit
}
menu_selectedChannel-=127; //take out offset
if (volEncVel/2 != 0) { //if value change was at least one detend
volEncVel=0; //reset vel for next loop
}
break;
}
@ -363,69 +375,110 @@ void loop() {
}
if (flag_publishCurrentSetVolume && loopmillis-last_send>MAXIMUMMQTTSENDINTERVAL){
flag_publishCurrentSetVolume=false;
last_send = loopmillis;
publishCurrentSetVolume();
}
//Motor Movement Routine #################
if (!motorerror) //motor not stuck etc
if (loopmillis-last_motorcheck>INTERVAL_MOTORCHECK)
{
if (loopmillis-last_motorcheck>INTERVAL_MOTORCHECK)
{
last_motorcheck=loopmillis;
int potidifference=poti_set-poti_read; //positive means poti needs to be moved higher. max poti value is 1023
if (poti_reachedposition) {
motorspeed=0;
potidifference_integral=0;
last_motorcheck=loopmillis;
last_potidifference = potidifference; //save last difference
potidifference=poti_set-poti_read; //positive means poti needs to be moved higher. max poti value is 1023
if (poti_reachedposition) {
motorspeed=0;
potidifference_integral=0;
MOTOR_STOP();
}else{ //not reached position
_motormove=0; //negative: move left, positive: move right. abs value: speed. 0 <= abs(_motormove) <= 255
potidifference_integral+=potidifference*motorI;
potidifference_integral=constrain(potidifference_integral,-MOTORI_ANTIWINDUP,MOTORI_ANTIWINDUP); //constrain
_motormove=potidifference*motorP + potidifference_integral + motorD*(last_potidifference-potidifference);
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();
}else{ //not reached position
int _motormove=0; //negative: move left, positive: move right. abs value: speed. 0 <= abs(_motormove) <= 255
potidifference_integral+=potidifference*motorI;
potidifference_integral=constrain(potidifference_integral,-MOTORI_ANTIWINDUP,MOTORI_ANTIWINDUP); //constrain
_motormove=potidifference*motorP+potidifference_integral;
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;
_motormove=0;
}else if (poti_read>=POT_MAX && _motormove>0){ //stop motor if soft endstops reached and wants to turn that way
MOTOR_STOP();
potidifference_integral=0;
_motormove=0;
}else{ //no endstop reached
if (_motormove<0) {
MOTOR_LEFT_PWM();
}else if (_motormove>0) {
MOTOR_RIGHT_PWM();
}else{
MOTOR_STOP();
}
}
if (abs(potidifference)<DEADZONE_POTI) {
if (last_potidifferenceLow==0){
last_potidifferenceLow=loopmillis; //save millis first time entered deadzone
}
if (loopmillis-last_potidifferenceLow>DEADZONETIMEUNTILREACHED) {
poti_reachedposition=true;
}
potidifference_integral=0;
_motormove=0;
}else if (poti_read>=POT_MAX && _motormove>0){ //stop motor if soft endstops reached and wants to turn that way
MOTOR_STOP();
potidifference_integral=0;
_motormove=0;
}else{ //no endstop reached
if (_motormove<0) {
MOTOR_LEFT_PWM();
}else if (_motormove>0) {
MOTOR_RIGHT_PWM();
}else{
last_potidifferenceLow = 0;
MOTOR_STOP();
}
}
if ( (potidifference>0 && last_potidifference<0) || (potidifference<0 && last_potidifference>0) ) { //different signs. potidifference has crossed 0. set value overshoot
potidifference_integral=0; //reset integral to stop further overshoot
}
/*
Serial.print(" diff=");
Serial.print(potidifference);
Serial.print(" iVal=");
Serial.print(potidifference_integral);
Serial.print(" dVal=");
Serial.print((last_potidifference-potidifference)*motorD);
Serial.print(" motormove=");
Serial.print(_motormove);
if (poti_reachedposition) {
Serial.print("!");
}
Serial.println("");
*/
if (abs(potidifference)<DEADZONE_POTI) {
if (last_potidifferenceLow==0){
last_potidifferenceLow=loopmillis; //save millis first time entered deadzone
}
if (loopmillis-last_potidifferenceLow>DEADZONETIMEUNTILREACHED) {
poti_reachedposition=true;
}
}else{
last_potidifferenceLow = 0;
}
}
}
if ( loopmillis > last_ledupdate+INTERVAL_LEDUPDATE){
last_ledupdate=loopmillis;
switch(menu_mode) {
case 0: //volume
for(uint8_t i=0;i<leds.numPixels();i++){ //set color of all leds
leds.setPixelColor(i, Wheel(wheelpos+i*10));
if (poti_reachedposition) { //idle
for(uint8_t i=0;i<leds.numPixels();i++){ //set color of all leds
leds.setPixelColor(i, Wheel(wheelpos+i*10));
}
}else{ //motor is currently moving
leds.clear();
leds.setPixelColor(min(getSetVolume()*8/100, 7), Wheel(wheelpos)); //show volume as bargraph
}
wheelpos+=1;
break;
@ -436,9 +489,9 @@ void loop() {
uint8_t _g=0;
uint8_t _b=0;
for(uint8_t i=0;i<leds.numPixels();i++){ //set color of all leds
for(uint8_t i=0;i<=MENU_MAXCHANNEL;i++){ //set color of all channel leds
if (menu_mode==1) { //in mute mode
if (!getMute(i)) { //not muted
if (getMute(i)) { //not muted
_r = 0; _g = 50; _b = 0;
}else{ //muted
_r = 50; _g = 0; _b = 50;
@ -456,7 +509,9 @@ void loop() {
_b*=4;
}
if (menu_selectedChannel==MENU_MAXCHANNEL+1) { //nothing selected
_r=50; _g=50; _b=50;
_r*=4; //make color brighter
_g*=4;
_b*=4;
}
leds.setPixelColor(i, leds.Color(_r,_g,_b));
}
@ -465,12 +520,11 @@ void loop() {
break;
}
leds.show();
}
/*
if ( loopmillis > last_serialdebug+INTERVAL_SERIALDEBUG){
last_serialdebug=loopmillis;
@ -478,8 +532,10 @@ void loop() {
Serial.print(poti_set);
Serial.print(" is=");
Serial.print(poti_read);
Serial.print(" mspeed=");
Serial.print(motorspeed);
//Serial.print(" mspeed=");
//Serial.print(motorspeed);
Serial.print(" motormove=");
Serial.print(_motormove);
Serial.print(" iVal=");
Serial.print(potidifference_integral);
if (poti_reachedposition) {
@ -487,6 +543,7 @@ void loop() {
}
Serial.println("");
}
*/
if (loopmillis%5001==0) { //TODO: remove when working
Serial.println(loopmillis); //alive print. for debugging
@ -595,7 +652,7 @@ void setMuteInt(uint8_t i) {
srbits = ((i<<NUMSELECTCHANNELS) & mask) | (srbits & ~mask);
srShiftOut();
}
boolean getMute(uint8_t pbit) {
boolean getMute(uint8_t pbit) { //low is muted
return srbits & (1<<(pbit+NUMSELECTCHANNELS)); //check bit at position
}
void setSelectionInt(uint8_t i) {
@ -621,7 +678,7 @@ void setMuteChannel(uint8_t i, boolean state){
void publishCurrentSetVolume()
{
float _setpercentage=map(poti_set,POT_MIN,POT_MAX, 0.0,100.0); //get percentage from set poti value
float _setpercentage=getSetVolume();
char pub_payload[8]; // Buffer big enough for 7-character float
dtostrf(_setpercentage, 1, 2, pub_payload);
mqttClient.publish("audiomixer/volume", pub_payload);
@ -661,3 +718,7 @@ void changeRelaisByNumber(uint8_t pn, String pTopicPrefix, String pTopic, String
}
}
}
float getSetVolume() {
return map(poti_set,POT_MIN,POT_MAX, 0.0,100.0); //get percentage from set poti value
}