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demo_quadEnc_wTimi.spin2
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demo_quadEnc_wTimi.spin2
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'' =================================================================================================
''
'' File....... demo_quadEncWBtn.spin2
'' Purpose.... Demonstrate Basic quad encoder behavior driving Timi-130 display
'' Authors.... Stephen M Moraco
'' -- Copyright (c) 2023 Iron Sheep Productions, LLC
'' -- see below for terms of use
'' E-mail..... stephen@ironsheep.biz
'' Started.... May 2023
'' Updated.... 13 May 2023
''
'' =================================================================================================
CON { timing }
CLK_FREQ = 270_000_000 ' system freq as a constant
_clkfreq = CLK_FREQ ' set system clock
CON { fixed io pins }
RX1 = 63 { I } ' programming / debug
TX1 = 62 { O }
SF_CS = 61 { O } ' serial flash
SF_SCK = 60 { O }
SF_SDO = 59 { O }
SF_SDI = 58 { I }
CON { application io pins }
' NOTE: pins 24 & 25 also use 26 & 27 to determine rate of rotation
QUAD_ENC_CLK = 26 { I }
QUAD_ENC_DAT = 27 { I }
QUAD_ENC_BTN = 28 { I }
SRVO_OFST_RANGE = 750 ' NOTE customize this to adjut servo range span
SRVO_OFST_CNTR = 1500
SRVO_OFST_MIN = SRVO_OFST_CNTR - SRVO_OFST_RANGE
SRVO_OFST_MAX = SRVO_OFST_CNTR + SRVO_OFST_RANGE
SRVO_PULSE_WIDTH_MS = 50 ' pulse width in milliSeconds
MAX_SERVOS = 6
' multiply the runtime-determined spin rate of the encoder knob
ENC_RATE_SCALE = 4 ' 2 = 5 turns end-to-end, 4 = 3 turns end-to-end
' TIMI-130 display pins
TIMI_RX = 16
TIMI_TX = 17
TIMI_RST = 18
TIMI_BAUD_RATE = 9600
TIMI_PAGEID_DIAL = 0
TIMI_PAGEID_METER = 1
TIMI_PAGEID_LEDMTX = 2
TIMI_PAGEID_NET_MTR = 3
OBJ
quadEnc : "isp_quadEncWBtn_sp" ' 3-pin I/F to push button rotary encoder
timi : "isp_timi_mates" ' serial I/F to display
memstr : "isp_mem_strings" ' in-ram formatter for strings
DAT
servoIdx LONG 0
servoOffset LONG 1500
stateIdx LONG 0
msgLOW BYTE "LO",0
msgHIGH BYTE "HI",0
Title0 BYTE "ServoExer",0
Title1 BYTE "SRVO-1 LO",0
rateMsg BYTE " 1500",0
deltaPosition LONG 0
priorPosition LONG 0
desiredOffset LONG 0
PUB main() | pageId, bDidSucceed, currPosn, currRate, tmpOffset, bIsPressed, bIsDouble
quadEnc.start(QUAD_ENC_CLK, QUAD_ENC_DAT, QUAD_ENC_BTN)
timi.start(TIMI_TX, TIMI_RX, TIMI_RST, TIMI_BAUD_RATE)
' interfae prototype
' button pressess selects next servo or high/low range
' knob rotates incrementing servo offset value
' current effort is shown on the TIMI display
debug(" ")
debug("test... ")
{
repeat pageId from 0 to 3
bDidSucceed := timi.setPage(pageId, timi.MATES_RESPONSE_LTIMEOUT)
if not bDidSucceed
quit
waitms(2000) ' show for 2 sec
'}
' select the 4x LED matrix page
bDidSucceed := timi.setPage(TIMI_PAGEID_LEDMTX, timi.MATES_RESPONSE_LTIMEOUT)
if bDidSucceed
' set titles
timi.updateDotMatrixWidget(0, @Title0)
updateDisplay()
repeat
bIsPressed, bIsDouble := quadEnc.isButtonPressed()
if bIsPressed
if bIsPressed and not bIsDouble
debug(" ")
debug("* FINDING ---- ", zstr_(@Title1), " = ", sdec_(servoOffset), "----")
debug(" ")
debug("* Button Pressed, isDbl=", sdec_(bIsDouble))
stateIdx += (bIsDouble) ? -1 : +1
if stateIdx > 1
stateIdx := 0
servoIdx++
if servoIdx >= MAX_SERVOS
servoIdx := 0
elseif stateIdx < 0
stateIdx := 1
servoIdx--
if servoIdx < 0
servoIdx := MAX_SERVOS - 1
servoOffset := SRVO_OFST_CNTR
updateStateDisplay()
currPosn, currRate := quadEnc.positionRate()
if currPosn <> priorPosition
deltaPosition := currPosn - priorPosition
priorPosition := currPosn
'debug("* Rotary Encoder at ", sdec_(currPosn), ", delta=", sdec_(deltaPosition), ", rate=", sdec_(currRate))
if currRate == 0
tmpOffset := servoOffset + deltaPosition
else
tmpOffset := servoOffset + (deltaPosition * currRate * ENC_RATE_SCALE)
servoOffset := SRVO_OFST_MIN #> tmpOffset <# SRVO_OFST_MAX
'debug("* Offset ", sdec_(servoOffset))
'debug(" ")
updateOffsetDisplay()
debug("done... holding...")
repeat
PRI updateDisplay()
updateStateDisplay()
updateOffsetDisplay()
PRI updateStateDisplay() | pStateTitle
pStateTitle := genStateMsg(servoIdx, stateIdx)
timi.updateDotMatrixWidget(1, pStateTitle)
updateInstruDisplay()
PRI updateOffsetDisplay() | pRateMsg
pRateMsg := rightAlignValue(servoOffset, 9)
timi.updateDotMatrixWidget(2, pRateMsg)
PRI updateInstruDisplay() | pInstruMsg, pText
pText := (stateIdx == 0) ? @"to 750 -" : @"to 2250 -"
pInstruMsg := rightAlignString(pText, 9)
timi.updateDotMatrixWidget(3, pInstruMsg)
PRI genStateMsg(nServo, nState) : pMessage | lenBytes, pStateMsg
pStateMsg := (nState == 0) ? @msgLOW : @msgHIGH
lenBytes := memstr.sFormatStr2(@Title1, @"SRVO-%d %s", nServo, pStateMsg)
pMessage := @Title1
PRI rightAlignValue(value, width) : pMessage | lenBytes, BYTE fmtStr[20]
lenBytes := memstr.sFormatStr1(@fmtStr, @"\%%dd", width)
lenBytes := memstr.sFormatStr1(@rateMsg, @fmtStr, value)
pMessage := @rateMsg
PRI rightAlignString(pStr, width) : pMessage | lenBytes, BYTE fmtStr[20]
lenBytes := memstr.sFormatStr1(@fmtStr, @"\%%ds", width)
lenBytes := memstr.sFormatStr1(@rateMsg, @fmtStr, pStr)
pMessage := @rateMsg
CON { license }
{{
-------------------------------------------------------------------------------------------------
MIT License
Copyright (c) 2023 Iron Sheep Productions, LLC
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
=================================================================================================
}}