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steppercontroller.h
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steppercontroller.h
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#pragma once
#include <esphome.h>
#include <stepper_modes.h>
#include <stepper_error.h>
#include <algorithm>
#define get_controller(constructor) static_cast<cStepperController *>(const_cast<esphome::custom_component::CustomComponentConstructor *>(&constructor)->get_component(0))
#define SECONDS_TO_MILLISECONDS 1000
#define MILLISECONDS_TO_MICROSECONDS 1000
#define SECONDS_TO_MICROSECONDS 1000000
#define NUMBER_OF_RANGEESTIMATIONS 5
#define MINUTES_TO_SECONDS 60
// kinematics
#define KINEMATICS_PLANT_GEAR_TEETH 12
#define KINEMATICS_PINION_WHEEL_RODS_UPPER 40
#define KINEMATICS_PINION_WHEEL_RODS_LOWER 64
#define KINEMATICS_TRANSMISSION_GEAR_BIG_TEETH 15
#define KINEMATICS_TRANSMISSION_GEAR_SMALL_TEETH 140
#define KINEMATICS_STEPS_PER_ROTATION 200
#define KINEMATICS_MICROSTEPS_PER_STEP 64
#define KINEMATICS_MOTOR_GEAR_TEETH 10
#define KINEMATICS_FULL_TURN_STEPS 764586
#define AUTOMATION_SEGMENT_ANGLE 60.0 // TODO: back to 60.0
#define AUTOMATION_STANDSTILL_FACTOR 0.5
#define AUTOMATION_SEGMENT_RESOLUTION 3
#define AUTOMATION_MINUTES_FOR_TRANSITION 9
#define AUTOMATION_SPEED_FACTOR 1.0
#define KINEMATICS_PLANT_GEAR_SLOTS 6
#define KINEMATICS_PLANT_GEAR_DEGREES_PER_SLOT 200
#define PINION_WHEEL_ERROR 5
#define HOMING_DIFF_ERROR 500
#define STEPPER_ERROR_FULL_TURN_STEPS 0.001
#define MAX_INTEGER 2147483647
// mutex definitions
static SemaphoreHandle_t mutex_main_loop = NULL;
static SemaphoreHandle_t mutex_automation_loop = NULL;
static SemaphoreHandle_t mutex_pinion_wheels = NULL;
//static SemaphoreHandle_t mutex_homing;
//static SemaphoreHandle_t mutex_rangeestimation;
//static SemaphoreHandle_t mutex_drive;
//static SemaphoreHandle_t mutex_manual;
static const char *TAG = "custom.StepperController";
class cStepperController : public PollingComponent, public CustomAPIDevice {
public:
float get_setup_priority() const override { return esphome::setup_priority::PROCESSOR; }
void dump_config()
{
ESP_LOGCONFIG(TAG, "Stepper Controller");
}
/********************************************************************************
** cCustomController Constructor
** loads all settings and other external objects like stepper, sensors, buttons
********************************************************************************/
cStepperController
(
int initial_speed_,
int max_speed_,
int acceleration_,
int max_acceleration_,
int deceleration_,
int max_deceleration_,
int step_width_,
std::string device_name_,
std::string stepper_id_,
std:: string controller_id_,
a4988::A4988 *stepper_,
gpio::GPIOBinarySensor *proximity_switch_home_,
gpio::GPIOBinarySensor *proximity_switch_global_home_,
gpio::GPIOBinarySensor *proximity_switch_pinion_wheel_,
template_::TemplateSensor *sensor_stepper_mode_,
int update_interval_ms_,
int sensor_update_interval_slow_,
int sensor_update_interval_mid_,
int sensor_update_interval_fast_,
int sensor_update_interval_realtime_,
int homing_high_speed_,
int homing_mid_speed_,
int homing_low_speed_
)
:
PollingComponent(update_interval_ms_),
CustomAPIDevice(),
m_max_speed(max_speed_),
m_max_acceleration(max_acceleration_),
m_max_deceleration(max_deceleration_),
m_device_name(device_name_),
m_stepper_id(stepper_id_),
m_controller_id(controller_id_),
m_stepper(stepper_),
m_proximity_switch_home(proximity_switch_home_),
m_proximity_switch_global_home(proximity_switch_global_home_),
m_proximity_switch_pinion_wheel(proximity_switch_pinion_wheel_),
m_sensor_stepper_mode(sensor_stepper_mode_),
m_update_interval_ms(update_interval_ms_),
m_sensor_update_interval_slow(sensor_update_interval_slow_),
m_sensor_update_interval_mid(sensor_update_interval_mid_),
m_sensor_update_interval_fast(sensor_update_interval_fast_),
m_sensor_update_interval_realtime(sensor_update_interval_realtime_),
m_homing(tHoming( homing_high_speed_,
homing_mid_speed_,
homing_low_speed_))
{
// initialize stepper parameters with set functions to check wromg input
speed(initial_speed_);
requested_speed(initial_speed_);
acceleration(acceleration_);
acceleration_requested(acceleration_);
deceleration(deceleration_);
deceleration_requested(deceleration_);
step_width(step_width_);
// initialize permanent global variable
// !!! attention: duplicated hashes may cause problems
// !!! watch out: esphome autopgenerates hashes itself (check main.cpp)
m_measured_full_turn_steps = new globals::RestoringGlobalsComponent<int>(KINEMATICS_FULL_TURN_STEPS);
m_measured_full_turn_steps->set_component_source("globals");
m_measured_full_turn_steps->set_name_hash(659212362);
App.register_component(m_measured_full_turn_steps);
m_number_of_cycles = new globals::RestoringGlobalsComponent<int>(0);
m_number_of_cycles->set_component_source("globals");
m_number_of_cycles->set_name_hash(79172764);
App.register_component(m_number_of_cycles);
m_sensor_check_position = new template_::TemplateBinarySensor();
m_sensor_check_position->set_component_source("template.binary_sensor");
App.register_component(m_sensor_check_position);
App.register_binary_sensor(m_sensor_check_position);
m_sensor_check_position->set_name(m_device_name + "." + m_stepper_id + "." + m_controller_id + "." + "check_and_reset_position");
m_sensor_check_position->set_disabled_by_default(false);
m_sensor_check_position->set_internal(true);
m_sensor_check_position->set_template([=]() -> optional<bool>
{
if(static_cast<int>(stepper_mode()) == STEPPER_MODE_OFF ||
static_cast<int>(stepper_mode()) == STEPPER_MODE_READY ||
static_cast<int>(stepper_mode()) == STEPPER_MODE_DRIVE ||
static_cast<int>(stepper_mode()) == STEPPER_MODE_MANUAL ||
(static_cast<int>(stepper_mode()) == STEPPER_MODE_HOMING && !m_calibration_mode_active))
{
return check_and_reset_position();
}else
{
return true;
}
});
}
/********************************************************************************
** Overloading Setup method of Base class
** register services for Home Assistant integration
********************************************************************************/
void setup() override
{
// Declare a service "stepper_set_requested_target_position"
// - Service will be called "esphome.<NODE_NAME>_<m_stepper_id>_<m_controller_id>_set_requested_target_position" in Home Assistant.
// - The service has one argument (type inferred from method definition):
// - requested_target_position: integer
// - The function on_set_requested_target_position declared below will attached to the service.
register_service(&cStepperController::on_set_requested_target_position,
m_stepper_id + "_" + m_controller_id + "_" + "set_requested_target_position",
{"requested_target_position"});
register_service(&cStepperController::on_set_requested_target_angle,
m_stepper_id + "_" + m_controller_id + "_" + "set_requested_target_angle",
{"requested_target_angle"});
register_service(&cStepperController::on_set_deceleration,
m_stepper_id + "_" + m_controller_id + "_" + "set_deceleration",
{"deceleration"});
register_service(&cStepperController::on_set_acceleration,
m_stepper_id + "_" + m_controller_id + "_" + "set_acceleration",
{"acceleration"});
register_service(&cStepperController::on_set_speed,
m_stepper_id + "_" + m_controller_id + "_" + "set_speed",
{"speed"});
register_service(&cStepperController::on_set_speed_turns_per_hour,
m_stepper_id + "_" + m_controller_id + "_" + "set_speed_turns_per_hour",
{"turns_per_hour"});
register_service(&cStepperController::on_set_step_width,
m_stepper_id + "_" + m_controller_id + "_" + "set_step_width",
{"step_width"});
register_service(&cStepperController::on_set_step_angle,
m_stepper_id + "_" + m_controller_id + "_" + "set_step_angle",
{"step_angle"});
register_service(&cStepperController::on_set_zero_position,
m_stepper_id + "_" + m_controller_id + "_" + "set_zero_position",
{"zero_position"});
register_service(&cStepperController::on_set_zero_angle,
m_stepper_id + "_" + m_controller_id + "_" + "set_zero_angle",
{"zero_angle"});
mutex_main_loop = xSemaphoreCreateMutex();
mutex_automation_loop = xSemaphoreCreateMutex();
mutex_pinion_wheels = xSemaphoreCreateMutex();
//mutex_homing = xSemaphoreCreateMutex();
//mutex_rangeestimation = xSemaphoreCreateMutex();
//mutex_drive = xSemaphoreCreateMutex();
//mutex_manual = xSemaphoreCreateMutex();
};
/********************************************************************************
** Overloading Update method of PollingComponent class
** called every m_update_interval_ms milliseconds
********************************************************************************/
void update() override
{
// This will be called every "update_interval" milliseconds.
automation_loop();
main_loop();
}
/*************************************************************************
*************** GETTER, SETTER AND SERVICE METHOD DEFINITIONS ************
**************************************************************************/
/***************************************
** direction_forward (get/set - methods)
***************************************/
void direction_forward(bool direction_forward_)
{
m_direction_forward = direction_forward_;
}
bool direction_forward(){return m_direction_forward;}
int direction_sign(){return (direction_forward() == true ? 1 : -1);}
/***************************************
** full_turn_steps (get/set/service - methods)
***************************************/
int measured_full_turn_steps(){return m_measured_full_turn_steps->value();}
/***************************************
** target_position (get/set - methods)
***************************************/
void target_position(int target_position_)
{
m_target_position = target_position_;
}
int target_position(){return m_stepper->target_position;}
/***************************************
** speed (get/set - methods)
***************************************/
void speed(int speed_)
{
int loc_speed = (speed_ > m_max_speed) ? m_max_speed : speed_;
loc_speed = (loc_speed < 0 ) ? 0 : loc_speed;
m_speed = loc_speed;
float calibrated_speed = get_speed_lookup(loc_speed);
m_stepper->set_max_speed(calibrated_speed);
m_stepper->on_update_speed();
}
/************************************************************************
* get_speed_lookup function
*
* lookup table from:
*
* https://stackoverflow.com/questions/7091294/how-to-build-a-lookup-table-in-c-sdcc-compiler-with-linear-interpolation
*
************************************************************************/
float get_speed_lookup(int x)
{
/* NOTE: xs MUST be sorted */
static const double xs[] = { 0.00, 18.16, 40.59, 75.14, 124.84, 231.77, 290.35, 400.70, 479.06, 616.44, 653.09, 687.38, 869.60, 886.04, 1007.09 };
static const double ys[] = { 0.00, 20.00, 50.00, 100.00, 200.00, 400.00, 523.00, 750.00, 1000.00, 1250.00, 1500.00, 1600.00, 1650.00, 2000.00, 3000.00 };
/* number of elements in the array */
static const int count = sizeof(xs)/sizeof(xs[0]);
int i;
double dx, dy;
if (x < xs[0]) {
/* x is less than the minimum element
* handle error here if you want */
return ys[0]; /* return minimum element */
}
if (x > xs[count-1]) {
return ys[count-1]; /* return maximum */
}
/* find i, such that xs[i] <= x < xs[i+1] */
for (i = 0; i < count-1; i++) {
if (xs[i+1] > x) {
break;
}
}
/* interpolate */
dx = xs[i+1] - xs[i];
dy = ys[i+1] - ys[i];
return ys[i] + (x - xs[i]) * dy / dx;
}
int speed(){return m_speed;}
void on_set_speed(int speed_)
{
xSemaphoreTake(mutex_main_loop, 100);
requested_speed(speed_);
speed(speed_);
xSemaphoreGive(mutex_main_loop);
}
void on_set_speed_turns_per_hour(float turns_per_hour_)
{
xSemaphoreTake(mutex_main_loop, 100);
float angular_velocity = turns_per_hour_ / (60 * 60 / 360.0);
float speed_ = angular_velocity / (360.0 / KINEMATICS_FULL_TURN_STEPS);
requested_speed(speed_);
speed(speed_);
xSemaphoreGive(mutex_main_loop);
}
void set_speed_zero()
{
speed(0);
}
void set_speed_requested()
{
speed(m_requested_speed);
}
void set_speed_high()
{
speed(m_homing.high_speed);
}
void set_speed_mid()
{
speed(m_homing.mid_speed);
}
void set_speed_low()
{
speed(m_homing.low_speed);
}
/***************************************
** requested_speed (get/set - methods)
***************************************/
void requested_speed(int requested_speed_)
{
m_requested_speed = requested_speed_;
}
int requested_speed(){return m_requested_speed;}
/***************************************
** acceleration (get/set - methods)
***************************************/
void acceleration(int acceleration_)
{
int loc_acceleration = (acceleration_ > m_max_acceleration) ? m_max_acceleration : acceleration_;
m_acceleration = loc_acceleration;
m_stepper->set_acceleration(loc_acceleration);
}
int acceleration(){return m_acceleration;}
void set_acceleration_max()
{
acceleration(m_max_acceleration);
}
void set_acceleration_requested()
{
acceleration(m_acceleration_requested);
}
void on_set_acceleration(int acceleration_)
{
xSemaphoreTake(mutex_main_loop, 100);
ESP_LOGD(TAG, "Set: acceleration!");
acceleration_requested(acceleration_);
acceleration(acceleration_);
xSemaphoreGive(mutex_main_loop);
}
void acceleration_requested(int acceleration_)
{
m_acceleration_requested = acceleration_;
}
/***************************************
** deceleration (get/set - methods)
***************************************/
void deceleration(int deceleration_)
{
int loc_deceleration = (deceleration_ > m_max_deceleration) ? m_max_deceleration : deceleration_;
m_deceleration = loc_deceleration;
m_stepper->set_deceleration(loc_deceleration);
}
int deceleration(){return m_deceleration;}
void set_deceleration_max()
{
deceleration(m_max_deceleration);
}
void set_deceleration_requested()
{
deceleration(m_deceleration_requested);
}
void on_set_deceleration(int deceleration_)
{
xSemaphoreTake(mutex_main_loop, 100);
ESP_LOGD(TAG, "Set: deceleration!");
deceleration_requested(deceleration_);
deceleration(deceleration_);
xSemaphoreGive(mutex_main_loop);
}
void deceleration_requested(int deceleration_)
{
m_deceleration_requested = deceleration_;
}
/***************************************
** step_width (get/set - methods)
***************************************/
void step_width(int step_width_)
{
m_step_width = step_width_;
}
int step_width(){return m_step_width;}
void on_set_step_width(int step_width_)
{
xSemaphoreTake(mutex_main_loop, 100);
ESP_LOGD(TAG, "Set: step_width!");
step_width(step_width_);
xSemaphoreGive(mutex_main_loop);
}
void on_set_step_angle(float step_angle_)
{
xSemaphoreTake(mutex_main_loop, 100);
float step_width_ = angle_to_steps(step_angle_);
step_width(step_width_);
xSemaphoreGive(mutex_main_loop);
}
float step_angle()
{
return (step_width() / (float)KINEMATICS_FULL_TURN_STEPS ) * 360.0;
}
float angle_to_steps(int angle_)
{
return (float)KINEMATICS_FULL_TURN_STEPS * (angle_ / 360.0);
}
/***************************************
** stepper_error (get/set - methods)
***************************************/
void stepper_error(int stepper_error_)
{
m_stepper_error = static_cast<eStepperError>(stepper_error_);
// TODO: update stepper errpr sensor
}
eStepperError stepper_error(){return m_stepper_error;}
/***************************************
** stepper_mode (get/set - methods)
***************************************/
void stepper_mode(int stepper_mode_)
{
eStepperModes loc_stepper_mode = static_cast<eStepperModes>(stepper_mode_);
if(m_stepper_mode != loc_stepper_mode)
init_stepper_mode(loc_stepper_mode);
m_stepper_mode = loc_stepper_mode;
m_sensor_stepper_mode->update();
update();
}
eStepperModes stepper_mode(){return m_stepper_mode;}
eAutomationModes automation_mode(){return m_automation_mode;}
/***************************************
** motor_enabled (get/set - methods)
***************************************/
void motor_enabled(bool motor_enabled_)
{
m_motor_enabled = motor_enabled_;
if(motor_enabled_)
{
stepper_mode(STEPPER_MODE_READY);
}else
{
stop();
m_automation_mode = AUTOMATION_MODE_OFF;
m_stepper_mode = STEPPER_MODE_OFF;
}
}
bool motor_enabled(){return m_motor_enabled;}
void enable_motor(){motor_enabled(true);}
void disable_motor(){motor_enabled(false);}
void emergency_stop(const char* error_msg, eStepperError errorLevel)
{
ESP_LOGD(TAG, "Emergency-stop: %s (errorCode: %d)", error_msg, errorLevel);
disable_motor();
stepper_error(errorLevel);
}
void reset_error_homing_difference()
{
m_homing_difference = 0;
}
void reset_error_pinion_wheel_count()
{
m_pinion_wheel_count = (int)expected_pinion_wheel_count();
}
void reset_error_code()
{
stepper_error(STEPPER_ERROR_NONE);
}
/***************************************
** requested_target_position (get/set/service - methods)
***************************************/
void requested_target_position(int requested_target_position_)
{
m_requested_target_position = requested_target_position_;
}
int requested_target_position(){return m_requested_target_position;}
void on_set_requested_target_position(int requested_target_position_)
{
xSemaphoreTake(mutex_main_loop, 100);
ESP_LOGD(TAG, "Set: requested_target_position!");
requested_target_position(requested_target_position_);
xSemaphoreGive(mutex_main_loop);
}
void on_set_requested_target_angle(float requested_target_angle_)
{
xSemaphoreTake(mutex_main_loop, 100);
ESP_LOGD(TAG, "Set: requested_target_angle!");
requested_target_position((int)angle_to_steps(requested_target_angle_));
xSemaphoreGive(mutex_main_loop);
}
/***************************************
** set_zero_position
***************************************/
void set_zero_position(int zero_position)
{
xSemaphoreTake(mutex_pinion_wheels, 100 );
int position = current_position() + zero_position;
//if(position < 0 )
//{
// position = 3 * KINEMATICS_FULL_TURN_STEPS + position;
//}else if(position >= 3*KINEMATICS_FULL_TURN_STEPS)
//{
// position = position - 3*KINEMATICS_FULL_TURN_STEPS;
//}
stop();
set_position(position);
set_target(position);
pinion_wheel_count((int)expected_pinion_wheel_count());
set_homing_invalid();
//m_first_pinionwheel_measured = false;
stop();
xSemaphoreGive(mutex_pinion_wheels);
}
void on_set_zero_position(int zero_position_)
{
xSemaphoreTake(mutex_main_loop, 100);
ESP_LOGD(TAG, "Set: zero_position!");
set_zero_position(-zero_position_);
xSemaphoreGive(mutex_main_loop);
}
void on_set_zero_angle(float zero_angle_)
{
xSemaphoreTake(mutex_main_loop, 100);
ESP_LOGD(TAG, "Set: zero_angle!");
set_zero_position(-(int)angle_to_steps(zero_angle_));
xSemaphoreGive(mutex_main_loop);
}
void set_current_position_to_zero()
{
xSemaphoreTake(mutex_pinion_wheels, 100 );
ESP_LOGD(TAG, "Set: zero_position = current_position!");
stop();
set_position(0);
set_target(0);
set_homing_invalid();
pinion_wheel_count(0);
//m_first_pinionwheel_measured = false;
stop();
xSemaphoreGive(mutex_pinion_wheels);
}
/***************************************
** current_position (steps)
***************************************/
int current_position()
{
return m_stepper->current_position;
}
float number_of_cycles()
{
float result = m_number_of_cycles->value();
if (homing_is_valid() && m_automation_mode != AUTOMATION_MODE_OFF)
{
result += current_angle() / (3.0 * 360.0);
}
return result;
}
bool check_and_reset_position()
{
int position_loc = current_position();
if (position_loc >= 3 * KINEMATICS_FULL_TURN_STEPS)
{
if (homing_is_valid() && m_automation_mode != AUTOMATION_MODE_OFF)
{
m_number_of_cycles->value() += 1;
}
xSemaphoreTake(mutex_main_loop, 100);
xSemaphoreTake(mutex_pinion_wheels, 100 );
{
//pause();
int position = current_position();
int new_position = position - (3 * KINEMATICS_FULL_TURN_STEPS);
int new_target = m_target_position - (3 * KINEMATICS_FULL_TURN_STEPS);
set_position(new_position);
target_position(new_target);
//int new_pinion_wheel_count = pinion_wheel_count() - (3 * KINEMATICS_PINION_WHEEL_RODS_LOWER);
int new_pinion_wheel_count = 0;
pinion_wheel_count(new_pinion_wheel_count);
//pause();
}
xSemaphoreGive(mutex_pinion_wheels);
xSemaphoreGive(mutex_main_loop);
return false;
}else if(position_loc < 0)
{
if (homing_is_valid() && m_automation_mode != AUTOMATION_MODE_OFF)
{
m_number_of_cycles->value() -= 1;
}
xSemaphoreTake(mutex_main_loop, 100);
xSemaphoreTake(mutex_pinion_wheels, 100 );
{
//pause();
int position = current_position();
int new_position = (3 * KINEMATICS_FULL_TURN_STEPS -1) + position;
int new_target = (3 * KINEMATICS_FULL_TURN_STEPS -1) + m_target_position;
set_position(new_position);
//pause();
target_position(new_target);
pinion_wheel_count(expected_pinion_wheel_count());
//int new_pinion_wheel_count = (3 * KINEMATICS_FULL_TURN_STEPS -1) + pinion_wheel_count();
int new_pinion_wheel_count = 0;
pinion_wheel_count(new_pinion_wheel_count);
//pause();
}
xSemaphoreGive(mutex_pinion_wheels);
xSemaphoreGive(mutex_main_loop);
return false;
}else
{
return true;
}
}
/***************************************
** current_angle (Degree)
***************************************/
float current_angle()
{
return (current_position() / (float)KINEMATICS_FULL_TURN_STEPS) * 360.0;
}
/***************************************
** current_global_angle (Degree)
***************************************/
float current_global_angle()
{
return number_of_cycles() * 3 * 360.0;
}
/***************************************
** current_angular_velocity (Degree)
***************************************/
float current_angular_velocity()
{
return speed() * (360.0 / (float)KINEMATICS_FULL_TURN_STEPS) ;
}
/***************************************
** current_turns_per_hour (Degree)
***************************************/
float current_turns_per_hour()
{
return current_angular_velocity() * 60 * 60 / (360.0);
}
/***************************************
** current_cycles_per_hour (Degree)
***************************************/
float current_cycles_per_hour()
{
return current_turns_per_hour()*3.0;
}
/***************************************
** Plant gear angle
***************************************/
float plant_gear_rotation_angle()
{
//float total_angle = ((float)KINEMATICS_PLANT_GEAR_DEGREES_PER_SLOT/(float)KINEMATICS_PLANT_GEAR_SLOTS) *
current_angle();
float total_angle = (200.0/60.0) * current_angle();
float relative_angle = total_angle / 360.0;
return 360.0 * (relative_angle - (int)relative_angle);
}
/***************************************
** pinion_wheel_count
***************************************/
int pinion_wheel_count(){return m_pinion_wheel_count;}
void pinion_wheel_count(int count_)
{
m_pinion_wheel_count = count_;
}
double expected_pinion_wheel_count()
{
double position = current_position();
double expected_pinion_wheel_count = 0;
if (position != 0)
{
expected_pinion_wheel_count = 0.5 + (position / (float)KINEMATICS_FULL_TURN_STEPS ) * (float)KINEMATICS_PINION_WHEEL_RODS_LOWER;
}
return expected_pinion_wheel_count;
}
bool get_pinion_wheel_diff_error()
{
float diff = abs(pinion_wheel_count() - expected_pinion_wheel_count());
if (diff > PINION_WHEEL_ERROR && diff < KINEMATICS_PINION_WHEEL_RODS_LOWER*3 - PINION_WHEEL_ERROR)
{
return true;
}
else
{
return false;
}
}
bool get_homing_diff_error()
{
int diff = homing_difference();
if (abs(diff) > HOMING_DIFF_ERROR && homing_is_valid())
{
return true;
}else
{
return false;
}
}
/***************************************
** homing_valid?
***************************************/
bool homing_is_valid()
{
return m_homing.valid;
}
void set_homing_invalid()
{
m_homing.valid = false;
}
void set_homing_valid()
{
m_homing.valid = true;
m_homing_difference = 0;
}
/***************************************
** start/stop/pause/resume?
***************************************/
void start()
{
if (motor_enabled())
{
ESP_LOGD(TAG, "Start stepper motor");
set_target(m_target_position);
}else
{
ESP_LOGD(TAG, "Motor is not enabled");
stop();
m_stepper_mode = STEPPER_MODE_OFF;
}
}
void stop()
{
ESP_LOGD(TAG, "Stop stepper motor");
set_target(current_position());
stepper_mode(STEPPER_MODE_READY);
}
void on_button_stop()
{
m_automation_mode = AUTOMATION_MODE_OFF;
stop();
}
void pause()
{
//ESP_LOGD(TAG, "Pause stepper motor");
set_target(current_position());
}
void start_global_homing()
{
//xSemaphoreTake(mutex_main_loop, portMAX_DELAY);
m_calibration_mode_active = true;
m_global_homing = true;
direction_forward(true);
stepper_mode(STEPPER_MODE_HOMING);
//xSemaphoreGive(mutex_main_loop);
}
void start_local_homing()
{
//xSemaphoreTake(mutex_main_loop, portMAX_DELAY);
// use recalibration only when position is generelly known
m_calibration_mode_active = true;
m_global_homing = false;
direction_forward(true);
stepper_mode(STEPPER_MODE_HOMING);
//xSemaphoreGive(mutex_main_loop);
}
void find_next_home()
{
//xSemaphoreTake(mutex_main_loop, portMAX_DELAY);
m_calibration_mode_active = false;
m_global_homing = false;
direction_forward(true);
stepper_mode(STEPPER_MODE_HOMING);
//xSemaphoreGive(mutex_main_loop);
}
void find_next_global_home()
{
//xSemaphoreTake(mutex_main_loop, portMAX_DELAY);
m_calibration_mode_active = false;
m_global_homing = true;
direction_forward(true);
stepper_mode(STEPPER_MODE_HOMING);
//xSemaphoreGive(mutex_main_loop);
}
int homing_difference(){return m_homing_difference;}
void start_rangeestimation()
{
if(motor_enabled())
stepper_mode(STEPPER_MODE_RANGEESTIMATION);
}
void stop_automation()
{
stop();
m_automation_mode = AUTOMATION_MODE_OFF;
}
void start_automation()
{
if(homing_is_valid() && motor_enabled())
{
float current_angle_ = current_angle();
m_automation.target_angle = 0.0;
while (true)
{
if (m_automation.target_angle > std::ceil(current_angle_))
break;
m_automation.target_angle += AUTOMATION_SEGMENT_ANGLE;
}
m_automation.start_angle = m_automation.target_angle - AUTOMATION_SEGMENT_ANGLE;
m_automation.segment_resolution = AUTOMATION_SEGMENT_RESOLUTION; //TODO: back to 10
m_automation.step_angle = AUTOMATION_SEGMENT_ANGLE / (float)m_automation.segment_resolution;
m_automation.standstill_factor = AUTOMATION_STANDSTILL_FACTOR;
int minutes_for_transition = AUTOMATION_MINUTES_FOR_TRANSITION; //TODO: back to 8
m_automation.time_for_transition = minutes_for_transition * MINUTES_TO_SECONDS * SECONDS_TO_MILLISECONDS;
m_automation.time_delta = m_automation.time_for_transition / m_automation.segment_resolution;
m_automation.speed_factor = AUTOMATION_SPEED_FACTOR; //TODO: lookup table for true velocity since the set value differs from measurements
m_automation.speed = (1.0/(1.0 - m_automation.standstill_factor)) * m_automation.speed_factor * (angle_to_steps(AUTOMATION_SEGMENT_ANGLE) / (float)(m_automation.time_for_transition / SECONDS_TO_MILLISECONDS) );
m_automation.segment_counter = 0;
while (true)
{
if (m_automation.start_angle + (m_automation.segment_counter + 1) * m_automation.step_angle > current_angle_)
break;
m_automation.segment_counter += 1;
}
//m_automation.segment_counter = (int)(std::abs(current_angle_ - m_automation.start_angle) / m_automation.step_angle);
m_automation.timestamp_0 = esp_timer_get_time() - m_automation.time_delta * MILLISECONDS_TO_MICROSECONDS;
m_automation.started = false;
m_automation_mode = AUTOMATION_MODE_NEXT_PLANT_POSITION;
}
}
/***************************************
** Control methods
***************************************/