fix errors during code duplication

src/main.cpp

@@ -11,14 +11,12 @@
       - has to stop when no sensor change detected for some time
       - in classifySensorValue() only allow a certain time of unclassified reading
       - has to stop when driving upwards (or in general) for too long (for example end marker missing)
-  - homie commands (reset error, etc)
-  - command to activate sensro raw value print over topics
   - do not allow certain commands if error mode
+  - manual mover function should work better with iot commands (set position, no errors)
 */
 
 
-//BIG TODO: fix sensor reading right blind. left blind too
+//right blind kind off delayed to commands?? ////
-//right blind kind off delayed to commands??
 
 #define FW_NAME "blindctrl"
 #define FW_VERSION "1.0.0"
@@ -47,11 +45,12 @@ button button1;
 button button2;
 
 unsigned long last_sensor_read=0;
-#define SENSOR_READ_INTERVAL 5 //in ms
+#define SENSOR_READ_INTERVAL 50 //in ms
-#define SENSE_FILTER_SIZE 20 //value will have a delay of td = SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL
+
+#define SENSE_FILTER_SIZE 10 //value will have a delay of td = SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL
 
 #define CALCULATEPOSITIONESTIMATE_INTERVAL 100
-unsigned long last_calculate_position_estimate=0;
+
 
 #define POSITION_SPEEDMEASURE_HIGH 1000.0 //at which position (in mm) speedfactorHigh should be measured (should be at least two encoder segments beyond that left)
 
@@ -62,8 +61,9 @@ unsigned long last_print=0;
 #define PIN_SENSE_LED1 D7
 #define PIN_SENSE_LED2 D8
 uint8_t sensorreadID=0;
-unsigned long last_sensor_led_switch=0;
+
-#define SENSOR_SWITCH_INTERVAL 20 //should be lower or equal than SENSOR_READ_INTERVAL
+//#define SENSOR_SWITCH_INTERVAL 20 //should be lower or equal than SENSOR_READ_INTERVAL
+//unsigned long last_sensor_led_switch=0;
 
 //define directions for motors
 #define _UP _CCW
@@ -131,6 +131,8 @@ struct blindmodel
   float simulated_acc_dec=-100; //pwm/sec^2, speed getting more negative (accelerating up). this value should be negative. better choose too small absolute values
   float simulated_acc_inc=100; //pwm/sec^2, speed getting more positive (accelerating down)
 
+  unsigned long last_calculate_position_estimate=0; 
+
   uint8_t error=0;
 };
 
@@ -146,7 +148,7 @@ Motor M2(0x30, _MOTOR_B, 1000); //Motor B
 unsigned long last_motor_send=0;
 #define MOTOR_UPDATE_INTERVAL 100
 
-#define DIFF_ERROR_FACTOR 0.4 //between 0 and 1. 1=error when estimated position error is at maximum (between two possible encoder readings). 0=no deviation allowed
+#define DIFF_ERROR_FACTOR 0.6 //between 0 and 1. 1=error when estimated position error is at maximum (between two possible encoder readings). 0=no deviation allowed
 #define ERRORCODE_POSITIONDIFFTOOHIGH 1 //deviation too high on position correction
 #define ERRORCODE_N_NOT_NEXT 2 //skipped one transition. position jumped too far?
 
@@ -165,12 +167,14 @@ void errorCheck(blindmodel &blind);
 void updateMotor(blindmodel &blind, Motor motor);
 void setError(blindmodel &blind, uint8_t errorcode, HomieNode& node);
 String modeNumToString(uint8_t modenum);
+String sensestatusNumToString(uint8_t sensestatusnum);
 
 
 bool blind_l_positionHandler(const HomieRange& range, const String& value);
 bool blind_r_positionHandler(const HomieRange& range, const String& value);
 bool blind_l_cmdHandler(const HomieRange& range, const String& value);
 bool blind_r_cmdHandler(const HomieRange& range, const String& value);
+bool blind_cmdHandler(blindmodel &blind, HomieNode& node, const String& value); //referenced by blind_l and r _cmdHandler
 
 void loopHandler();
 
@@ -199,13 +203,13 @@ void setup() {
   blind1.length_clear=50;
   blind1.length_opaque=74;
   blind1.sense_clear_lower=40;
-  blind1.sense_clear_upper=100;
+  blind1.sense_clear_upper=200;
-  blind1.sense_opaque_lower=150;
+  blind1.sense_opaque_lower=400;
   blind1.sense_opaque_upper=800;
   blind1.sense_end_lower=850;
   blind1.sense_end_upper=1024;
-  blind1.speedfactorLow=29;
+  blind1.speedfactorLow=28.7;
-  blind1.speedfactorHigh=24.5;
+  blind1.speedfactorHigh=25.3;
   blind1.start_first_clear=27;
   blind1.simulated_acc_dec=-150;
   blind1.simulated_acc_inc=200;
@@ -216,13 +220,13 @@ void setup() {
   blind2.length_clear=50;
   blind2.length_opaque=74;
   blind2.sense_clear_lower=40;
-  blind2.sense_clear_upper=100;
+  blind2.sense_clear_upper=200;
-  blind2.sense_opaque_lower=150;
+  blind2.sense_opaque_lower=400;
   blind2.sense_opaque_upper=800;
   blind2.sense_end_lower=850;
   blind2.sense_end_upper=1024;
-  blind2.speedfactorLow=28;
+  blind2.speedfactorLow=27.6;
-  blind2.speedfactorHigh=24.5;
+  blind2.speedfactorHigh=23.5;
   blind2.start_first_clear=27;
   blind2.simulated_acc_dec=-150;
   blind2.simulated_acc_inc=200;
@@ -276,15 +280,22 @@ void loopHandler() {
 
 
   //Read sensor/encoder
-  if (millis() > last_sensor_led_switch + SENSOR_SWITCH_INTERVAL) {
+  if (millis() > last_sensor_read + SENSOR_READ_INTERVAL/2) {
     int rawsensorvalue=analogRead(PIN_SENSE);
+    
     switch (sensorreadID) {
       case 0:
+        if (millis() > last_print + 500 && blind1.speedSimulated!=0) { //when readSensor would print its status
+          Serial.print("1: ");
+        }
         readSensor(blind1,rawsensorvalue, blind1Node);
         digitalWrite(blind1.pin_sensor_led,LOW); //turn self off
         digitalWrite(blind2.pin_sensor_led,HIGH); //turn next on
         break;
       case 1:
+        if (millis() > last_print + 500 && blind2.speedSimulated!=0) { //when readSensor would print its status
+          Serial.print("2: ");
+        }
         readSensor(blind2,rawsensorvalue, blind2Node);
         digitalWrite(blind2.pin_sensor_led,LOW); //turn self off
         digitalWrite(blind1.pin_sensor_led,HIGH); //turn next on
@@ -293,7 +304,7 @@ void loopHandler() {
         sensorreadID=0; //reset, failsafe
         break;
     }
-    last_sensor_led_switch=millis();
+    last_sensor_read=millis();
     sensorreadID++;
     sensorreadID=sensorreadID%2;
   }  
@@ -339,8 +350,11 @@ void loopHandler() {
   estimatePosition(blind2, blind2Node);
 
   //Update Motor Driver
-  updateMotor(blind1, M1);
+  if (millis() > last_motor_send + MOTOR_UPDATE_INTERVAL) {  
-  updateMotor(blind2, M2);
+    updateMotor(blind1, M1);
+    updateMotor(blind2, M2);
+    last_motor_send=millis();
+  }
 }
 
 int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort
@@ -415,32 +429,16 @@ void manualMoveHandler(button &btn, blindmodel &blind)
 
 void readSensor(blindmodel &blind, int value, HomieNode &node)
 {
-  if (millis() > last_sensor_read + SENSOR_READ_INTERVAL) {
+  blind.sense_read_pos=(blind.sense_read_pos+1)%SENSE_FILTER_SIZE; //next element
-    blind.sense_read_pos=(blind.sense_read_pos+1)%SENSE_FILTER_SIZE; //next element
+  blind.sense_read[blind.sense_read_pos]=value;
-    blind.sense_read[blind.sense_read_pos]=value;
 
-    classifySensorValue(blind); //writes to blindmodel.sense_status
+  classifySensorValue(blind); //writes to blindmodel.sense_status
 
-    
-    last_sensor_read=millis();
-  }
 
   if (millis() > last_print + 500 && blind.speedSimulated!=0) {
     Serial.print("SenseStatus=");
-    switch(blind.sense_status){
+    Serial.print(sensestatusNumToString(blind.sense_status));
-      case SENSESTATUS_UNKNOWN:
+    
-        Serial.print("UNK");
-        break;
-      case SENSESTATUS_CLEAR:
-        Serial.print("CLE");
-        break;
-      case SENSESTATUS_OPAQUE:
-        Serial.print("OPA");
-        break;
-      case SENSESTATUS_END:
-        Serial.print("END");
-        break;
-    }
     Serial.print("("); Serial.print(getFitered(blind.sense_read, SENSE_FILTER_SIZE)); Serial.print(")");
     Serial.print(", mode=");
     Serial.print(modeNumToString(blind.mode));
@@ -467,12 +465,12 @@ void errorCheck(blindmodel &blind) {
 
 void estimatePosition(blindmodel &blind, HomieNode& node) {
   float positional_speedfactor = blind.speedfactorLow + constrain(blind.position, blind.softlimit_min, blind.softlimit_max)*(blind.speedfactorHigh-blind.speedfactorLow)/POSITION_SPEEDMEASURE_HIGH; //interpolate/extrapolate speedfactor (speed is different when rolled up)
-  if (millis() > last_calculate_position_estimate + CALCULATEPOSITIONESTIMATE_INTERVAL) {
+  if (millis() > blind.last_calculate_position_estimate + CALCULATEPOSITIONESTIMATE_INTERVAL) {
-    float _actualTime=(millis()-last_calculate_position_estimate)/1000.0; //in seconds
+    float _actualTime=(millis()-blind.last_calculate_position_estimate)/1000.0; //in seconds
     blind.speedSimulated+= constrain(blind.speed - blind.speedSimulated, blind.simulated_acc_dec*_actualTime, blind.simulated_acc_inc*_actualTime);
     
     blind.position+= blind.speedSimulated/100.0*positional_speedfactor * _actualTime;
-    last_calculate_position_estimate=millis();
+    blind.last_calculate_position_estimate=millis();
   }
 
   //if (blind.mode!= MODE_FIND_END) {
@@ -535,9 +533,9 @@ void estimatePosition(blindmodel &blind, HomieNode& node) {
           Serial.print(", diff=");
           Serial.println(blind.position-_position_before);
           //node.setProperty("debug").send("diff="+(String)(blind.position-_position_before));
-          node.setProperty("estimationerror").send((String)(blind.position-_position_before));
+          node.setProperty("estimationerror").send((String)(blind.position-_position_before)); //positive value means estimation position was too low (estimated speed to low), when driving down (positive dir)
 
-          if (blind.mode!= MODE_FIND_END) { //only check error if not in find_end mode
+          if (blind.mode != MODE_FIND_END && blind.mode != MODE_MEASURE_SPEED ) { //only check error if not in find_end mode or measure speed
             if (abs(blind.position-_position_before)>=(blind.length_clear+blind.length_opaque)/2.0*DIFF_ERROR_FACTOR) {
               setError(blind, ERRORCODE_POSITIONDIFFTOOHIGH, node);
             }
@@ -555,16 +553,15 @@ void updateMotor(blindmodel &blind, Motor motor)
   if (blind.error!=0) { //error appeared
     blind.speed=0; //set speed to 0
   }
-  if (millis() > last_motor_send + MOTOR_UPDATE_INTERVAL) {
+
-    if(blind.speed<0){
+  if(blind.speed<0){
-      motor.setmotor( _UP, abs(blind.speed));
+    motor.setmotor( _UP, abs(blind.speed));
-    }else if(blind.speed>0){
+  }else if(blind.speed>0){
-      motor.setmotor( _DOWN, abs(blind.speed));
+    motor.setmotor( _DOWN, abs(blind.speed));
-    }else{
+  }else{
-      motor.setmotor(_STOP);
+    motor.setmotor(_STOP);
-    }
-    last_motor_send=millis();
   }
+
 }
 
 void checkModes(blindmodel &blind, HomieNode &node) {
@@ -580,7 +577,7 @@ void checkModes(blindmodel &blind, HomieNode &node) {
           break;
 
         case 1: //drive down slowly until passed end maker
-          blind.speed=10; //down slow
+          blind.speed=25; //down slow
           if (blind.sense_status!=SENSESTATUS_END) {
             blind.speed=0; //stop
             blind.position=0;
@@ -708,6 +705,24 @@ String modeNumToString(uint8_t modenum){
         return "MODE_ERROR";
         break;
     }
+    return "UNDEF";
+}
+
+String sensestatusNumToString(uint8_t sensestatusnum){
+  switch(sensestatusnum){
+    case SENSESTATUS_UNKNOWN:
+      return "UNK";
+      break;
+    case SENSESTATUS_CLEAR:
+      return "CLE";
+      break;
+    case SENSESTATUS_OPAQUE:
+      return "OPA";
+      break;
+    case SENSESTATUS_END:
+      return "END";
+      break;
+  }
 }
 
 
@@ -729,28 +744,6 @@ bool blind_l_positionHandler(const HomieRange& range, const String& value) {
 
   return true;
 }
-bool blind_l_cmdHandler(const HomieRange& range, const String& value) {
-  if (range.isRange) {
-    return false; //if range is given but index is not in allowed range
-  }
-  Homie.getLogger() << "blind_l_cmdHandler" << ": " << value << endl;
-  
-  if (value=="END") 
-  {
-    blind1.mode = MODE_FIND_END;
-    blind1.mode_find_end_state=0; //reset mode find state
-  }else if (value=="SPEEDFACTOR") 
-  {
-    blind1.mode=MODE_MEASURE_SPEED; //measure speed
-  }else{
-    Homie.getLogger() << "command not known" << endl;
-    return false;
-  }
-  blind1Node.setProperty("cmd").send(value); //can be done in main loop
-
-  return true;
-}
-
 
 bool blind_r_positionHandler(const HomieRange& range, const String& value) {
   if (range.isRange) {
@@ -763,12 +756,27 @@ bool blind_r_positionHandler(const HomieRange& range, const String& value) {
   
   return true;
 }
+
+
+bool blind_l_cmdHandler(const HomieRange& range, const String& value) {
+  if (range.isRange) {
+    return false; //if range is given but index is not in allowed range
+  }
+  Homie.getLogger() << "blind_l_cmdHandler" << ": " << value << endl;
+  
+  return blind_cmdHandler(blind1,blind1Node, value);
+  
+}
+
+
 bool blind_r_cmdHandler(const HomieRange& range, const String& value) {
   if (range.isRange) {
     return false; //if range is given but index is not in allowed range
   }
   Homie.getLogger() << "blind_r_cmdHandler" << ": " << value << endl;
   
+  return blind_cmdHandler(blind2,blind2Node, value);
+  /*
   if (value=="END") 
   {
     blind2.mode = MODE_FIND_END;
@@ -776,11 +784,49 @@ bool blind_r_cmdHandler(const HomieRange& range, const String& value) {
   }else if (value=="SPEEDFACTOR") 
   {
     blind2.mode=MODE_MEASURE_SPEED; //measure speed
+    blind1Node.setProperty("cmd").send("cmd measure speed");
   }else{
-    Homie.getLogger() << "command not known" << endl;
+    Homie.getLogger() << "unknown command" << endl;
     return false;
   }
-  blind2Node.setProperty("cmd").send(value); //can be done in main loop
+  
+
+  return true;*/
+}
+
+
+bool blind_cmdHandler(blindmodel &blind, HomieNode& node, const String& value) {
+  if (value=="END") 
+  {
+    blind.mode = MODE_FIND_END;
+    blind.mode_find_end_state=0; //reset mode find state
+    node.setProperty("cmd").send("cmd end");
+  }else if (value=="SPEEDFACTOR") 
+  {
+    blind.mode=MODE_MEASURE_SPEED; //measure speed
+    node.setProperty("cmd").send("cmd measure speed");
+  }else if (value=="SENSOR")  //return adc values
+  {
+    Serial.print("("); Serial.print(getFitered(blind.sense_read, SENSE_FILTER_SIZE)); Serial.print(")");
+    Serial.print(", mode=");
+    Serial.print(modeNumToString(blind.mode));
+    node.setProperty("cmd").send(""+String(getFitered(blind.sense_read, SENSE_FILTER_SIZE))+" "+sensestatusNumToString(blind.sense_status));
+  }else if (value=="STOP")  //stop. go back to idle mode and stop driving
+  {
+    blind.speed=0; //stop
+    blind.mode=MODE_IDLE;
+    blind.set_position=blind.position; //use current position as set pos to stay there
+    node.setProperty("cmd").send("stop");
+  }else if (value=="RESET")  //reset from error
+  {
+    blind.error=0;
+    node.setProperty("cmd").send("reset");
+  }else{
+    Homie.getLogger() << "unknown command" << endl;
+    return false;
+  }
+  
 
   return true;
 }
+