add second blind. some sensor reading problems
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0b2e8ba4c0
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34c7134239
80
src/main.cpp
80
src/main.cpp
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@ -7,11 +7,19 @@
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/*
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TODO:
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- correct speedfactor when moving at pwm=100 for some time over opaque+clear OR implement speedfactor for up and lower state
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- implement failure detection (timeouts)
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- implement failure detection (timeouts),
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- has to stop when no sensor change detected for some time
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- in classifySensorValue() only allow a certain time of unclassified reading
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- has to stop when driving upwards (or in general) for too long (for example end marker missing)
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- homie commands (reset error, etc)
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- command to activate sensro raw value print over topics
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- do not allow certain commands if error mode
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*/
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//BIG TODO: fix sensor reading right blind. left blind too
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//right blind kind off delayed to commands??
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#define FW_NAME "blindctrl"
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#define FW_VERSION "1.0.0"
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@ -237,7 +245,13 @@ void setup() {
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blind1Node.advertise("estimationerror");
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blind1Node.advertise("mode");
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blind1Node.advertise("cmd").settable(blind_l_cmdHandler);
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//TODO: same for blind2
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blind2Node.advertise("position").settable(blind_r_positionHandler); //function inputHandler gets called on new message on topic/input/set
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blind2Node.advertise("debug");
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blind2Node.advertise("estimationerror");
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blind2Node.advertise("mode");
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blind2Node.advertise("cmd").settable(blind_r_cmdHandler);
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Homie.setup();
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@ -267,21 +281,21 @@ void loopHandler() {
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switch (sensorreadID) {
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case 0:
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readSensor(blind1,rawsensorvalue, blind1Node);
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sensorreadID++;
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digitalWrite(blind1.pin_sensor_led,LOW); //turn self off
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digitalWrite(blind2.pin_sensor_led,HIGH); //turn next on
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break;
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case 1:
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readSensor(blind2,rawsensorvalue, blind2Node);
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sensorreadID++;
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digitalWrite(blind2.pin_sensor_led,LOW); //turn self off
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digitalWrite(blind1.pin_sensor_led,HIGH); //turn next on
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break;
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default:
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sensorreadID=0; //reset
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sensorreadID=0; //reset, failsafe
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break;
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}
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last_sensor_led_switch=millis();
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sensorreadID++;
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sensorreadID=sensorreadID%2;
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}
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static float last_blind1_position=0;
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@ -291,7 +305,6 @@ void loopHandler() {
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last_blind1_position=blind1.position;
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lastsend_blind1_position=millis();
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}
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//TODO: same for blind2
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static uint8_t last_blind1_mode=100;
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if (last_blind1_mode!=blind1.mode)
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@ -300,6 +313,21 @@ void loopHandler() {
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last_blind1_mode=blind1.mode;
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}
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static float last_blind2_position=0;
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static unsigned long lastsend_blind2_position=0; //time
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if (last_blind2_position != blind2.position && millis()-lastsend_blind2_position>MINTIMEINTERVAL_POSITION) {
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blind2Node.setProperty("position").send((String)blind2.position);
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last_blind2_position=blind2.position;
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lastsend_blind2_position=millis();
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}
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static uint8_t last_blind2_mode=100;
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if (last_blind2_mode!=blind2.mode)
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{
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blind2Node.setProperty("mode").send(modeNumToString(blind2.mode));
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last_blind2_mode=blind2.mode;
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}
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checkModes(blind1, blind1Node);
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checkModes(blind2, blind2Node);
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@ -348,7 +376,8 @@ void classifySensorValue(blindmodel &blind) {
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} else if (filtered>=blind.sense_end_lower && filtered<=blind.sense_end_upper) {
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blind.sense_status=SENSESTATUS_END;
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blind.last_sense_ok=millis();
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}
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} //if not in these boundaries, keep last class
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}
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void checkButton(button &btn) {
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@ -552,7 +581,7 @@ void checkModes(blindmodel &blind, HomieNode &node) {
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case 1: //drive down slowly until passed end maker
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blind.speed=10; //down slow
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if (blind1.sense_status!=SENSESTATUS_END) {
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if (blind.sense_status!=SENSESTATUS_END) {
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blind.speed=0; //stop
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blind.position=0;
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blind.mode=MODE_IDLE;
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@ -576,20 +605,20 @@ void checkModes(blindmodel &blind, HomieNode &node) {
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break;
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}
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blind.speed=100; //down
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if (blind1.sense_status==SENSESTATUS_CLEAR) {
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if (blind.sense_status==SENSESTATUS_CLEAR) {
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blind.timing_start=millis();
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blind.mode_measure_speed_state++;
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}
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break;
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case 1: //on clear section
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blind.speed=100; //down
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if (blind1.sense_status==SENSESTATUS_OPAQUE) { //wait for opaque section
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if (blind.sense_status==SENSESTATUS_OPAQUE) { //wait for opaque section
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blind.mode_measure_speed_state++;
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}
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break;
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case 2: //on opaque section
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blind.speed=100; //down
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if (blind1.sense_status==SENSESTATUS_CLEAR) { //wait for clear section
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if (blind.sense_status==SENSESTATUS_CLEAR) { //wait for clear section
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blind.speedfactorLow=(blind.length_clear+blind.length_opaque)/ ((millis()-blind.timing_start)/1000.0); //calculate length per second
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blind.speedfactorHigh=blind.speedfactorLow; //use speedfactorLow for a first rough estimate (needed to know when position for speedfactorHigh measure reached)
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Serial.print("speedfactorLow=");
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@ -608,20 +637,20 @@ void checkModes(blindmodel &blind, HomieNode &node) {
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case 4: //drive further down, start timing at clear
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blind.speed=100; //down
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if (blind1.sense_status==SENSESTATUS_CLEAR) {
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if (blind.sense_status==SENSESTATUS_CLEAR) {
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blind.timing_start=millis();
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blind.mode_measure_speed_state++;
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}
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break;
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case 5: //on clear section
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blind.speed=100; //down
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if (blind1.sense_status==SENSESTATUS_OPAQUE) { //wait for opaque section
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if (blind.sense_status==SENSESTATUS_OPAQUE) { //wait for opaque section
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blind.mode_measure_speed_state++;
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}
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break;
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case 6: //on opaque section
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blind.speed=100; //down
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if (blind1.sense_status==SENSESTATUS_CLEAR) { //wait for clear section
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if (blind.sense_status==SENSESTATUS_CLEAR) { //wait for clear section
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blind.speedfactorHigh=(blind.length_clear+blind.length_opaque)/ ((millis()-blind.timing_start)/1000.0); //calculate length per second
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Serial.print("speedfactorHigh=");
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Serial.print(blind.speedfactorHigh);
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@ -728,9 +757,30 @@ bool blind_r_positionHandler(const HomieRange& range, const String& value) {
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return false; //if range is given but index is not in allowed range
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}
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Homie.getLogger() << "blind_r_positionHandler" << ": " << value << endl;
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blind2.set_position=constrain(value.toFloat(), blind2.softlimit_min, blind2.softlimit_max);
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blind2.mode=MODE_GO_TO_POS;
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return true;
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}
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bool blind_r_cmdHandler(const HomieRange& range, const String& value) {
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if (range.isRange) {
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return false; //if range is given but index is not in allowed range
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}
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Homie.getLogger() << "blind_r_cmdHandler" << ": " << value << endl;
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if (value=="END")
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{
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blind2.mode = MODE_FIND_END;
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blind2.mode_find_end_state=0; //reset mode find state
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}else if (value=="SPEEDFACTOR")
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{
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blind2.mode=MODE_MEASURE_SPEED; //measure speed
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}else{
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Homie.getLogger() << "command not known" << endl;
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return false;
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}
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blind2Node.setProperty("cmd").send(value); //can be done in main loop
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return true;
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}
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