552 lines
18 KiB
C++
552 lines
18 KiB
C++
#include <Arduino.h>
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#include <Wire.h>
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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 drive to position
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- implement failure detection
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- implement homie
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*/
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#include "WEMOS_Motor.h"
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//follow firmware flash guide for new wemos motor shield v1.0 https://github.com/thomasfredericks/wemos_motor_shield
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#define BUTTON_DEBOUNCE 200
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#define PIN_BUTTON1 D5
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#define PIN_BUTTON2 D6
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struct button{
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uint8_t pin;
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unsigned long last_time_read=0;
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bool down=false;
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bool changed=false;
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bool manual_drive_direction=false;
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};
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button button1;
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button button2;
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unsigned long last_sensor_read=0;
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#define SENSOR_READ_INTERVAL 20 //in ms
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#define SENSE_FILTER_SIZE 20 //value will have a delay of td = SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL
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#define CALCULATEPOSITIONESTIMATE_INTERVAL 100
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unsigned long last_calculate_position_estimate=0;
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#define PIN_SENSE A0
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unsigned long last_print=0;
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#define PIN_SENSE_LED1 D7
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#define PIN_SENSE_LED2 D8
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uint8_t sensorreadID=0;
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unsigned long last_sensor_led_switch=0;
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#define SENSOR_SWITCH_INTERVAL 20 //should be lower or equal than SENSOR_READ_INTERVAL
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//define directions for motors
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#define _UP _CCW
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#define _DOWN _CW
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#define SENSESTATUS_CLEAR 1
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#define SENSESTATUS_OPAQUE 2
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#define SENSESTATUS_END 3
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#define SENSESTATUS_UNKNOWN 0
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#define MODE_IDLE 0
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#define MODE_FIND_END 1
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#define MODE_MEASURE_SPEED 2
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#define MODE_GO_TO_POS 3
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//model parameters/variables
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struct blindmodel
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{
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unsigned long lastreadtime=0;
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float position=0; //0 is furthest open. positive is down (closing). unit is mm. estimated position
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int8_t last_n=0; //-1 means not defined/unknown
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float length_clear; //length of clear part in position units
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float length_opaque; //lengt of opaque part in position units
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float start_first_clear; //distance from end marker to beginning of first clear section
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//end marker should be on the opaque section. So that a full clear section follows
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float speedfactor=1; //how much position units (mm) per second at pwm=100
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int sense_clear_lower; //adc value lower limit for clear part. clear is around 70
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int sense_clear_upper; //adc value upper limit for clear part
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int sense_opaque_lower; //adc value lower limit for opaque part. opaque is around 675
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int sense_opaque_upper; //adc value upper limit for opaque part
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int sense_end_lower; //adc value lower limit for end marker
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int sense_end_upper; //adc value upper limit for end marker
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uint8_t sense_status=0;
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uint8_t last_sense_status=0;
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int sense_read[SENSE_FILTER_SIZE] = {0};
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uint8_t sense_read_pos=0; //position of last element written to
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uint8_t pin_sensor_led; //pin to activate sensor. high activates sensor
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float set_position=0;
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unsigned long last_sense_ok=0; //last time sensor measured class ok
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//TODO: implement timeout if last_sense_ok gets too high.
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uint8_t mode=MODE_IDLE;
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uint8_t mode_find_end_state=0;
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uint8_t mode_measure_speed_state=0;
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unsigned long timing_start;
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int speed=0; //-100 to 100. commanded speed to motor. negative means upwards
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int speedSimulated=0; //software simulated motor speed up and slow down
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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
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float simulated_acc_inc=100; //pwm/sec^2, speed getting more positive (accelerating down)
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uint8_t error=0;
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};
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blindmodel blind1;
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blindmodel blind2;
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//Motor shield default I2C Address: 0x30
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//PWM frequency: 1000Hz(1kHz)
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Motor M1(0x30, _MOTOR_A, 1000); //Motor A
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Motor M2(0x30, _MOTOR_B, 1000); //Motor B
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unsigned long last_motor_send=0;
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#define MOTOR_UPDATE_INTERVAL 100
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#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
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#define ERRORCODE_POSITIONDIFFTOOHIGH 1 //deviation too high on position correction
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#define ERRORCODE_N_NOT_NEXT 2 //skipped one transition. position jumped too far?
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int getFitered(int* values,uint8_t size);
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void classifySensorValue(blindmodel &blind);
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void checkButton(button &btn);
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void checkModes(blindmodel &blind);
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void manualMoveHandler(button &btn, blindmodel &blind);
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void readSensor(blindmodel &blind, int value);
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void estimatePosition(blindmodel &blind);
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void errorCheck(blindmodel &blind);
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void updateMotor(blindmodel &blind, Motor motor);
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void setError(blindmodel &blind, uint8_t errorcode);
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void setup() {
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Serial.begin(115200);
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Serial.println("Starting");
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button1.pin=PIN_BUTTON1;
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button2.pin=PIN_BUTTON2;
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pinMode(button1.pin, INPUT_PULLUP);
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pinMode(button2.pin, INPUT_PULLUP);
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pinMode(PIN_SENSE, INPUT);
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pinMode(PIN_SENSE_LED1,OUTPUT);
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pinMode(PIN_SENSE_LED2,OUTPUT);
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digitalWrite(PIN_SENSE_LED1, LOW);
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digitalWrite(PIN_SENSE_LED2, LOW);
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M1.setmotor(_STOP);
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M2.setmotor(_STOP);
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//settings for blind
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blind1.pin_sensor_led=PIN_SENSE_LED1;
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blind1.length_clear=50;
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blind1.length_opaque=74;
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blind1.sense_clear_lower=40;
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blind1.sense_clear_upper=200;
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blind1.sense_opaque_lower=500;
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blind1.sense_opaque_upper=850;
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blind1.sense_end_lower=850;
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blind1.sense_end_upper=1024;
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blind1.speedfactor=29;
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blind1.start_first_clear=27;
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blind1.simulated_acc_dec=-150;
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blind1.simulated_acc_inc=200;
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blind2.pin_sensor_led=PIN_SENSE_LED2;
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blind2.length_clear=50;
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blind2.length_opaque=74;
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blind2.sense_clear_lower=40;
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blind2.sense_clear_upper=200;
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blind2.sense_opaque_lower=500;
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blind2.sense_opaque_upper=850;
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blind2.sense_end_lower=850;
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blind2.sense_end_upper=1024;
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blind2.speedfactor=29;
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blind2.start_first_clear=27;
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blind2.simulated_acc_dec=-150;
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blind2.simulated_acc_inc=200;
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//Test
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blind1.mode = MODE_FIND_END;
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blind1.mode_find_end_state=0; //reset mode find state
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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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}
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void loop() {
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checkButton(button1);
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checkButton(button2);
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//Manual movement by button
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manualMoveHandler(button1, blind1);
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manualMoveHandler(button2, blind2);
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//Read sensor/encoder
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if (millis() > last_sensor_led_switch + SENSOR_SWITCH_INTERVAL) {
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int rawsensorvalue=analogRead(PIN_SENSE);
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switch (sensorreadID) {
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case 0:
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readSensor(blind1,rawsensorvalue);
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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);
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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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break;
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}
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last_sensor_led_switch=millis();
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}
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checkModes(blind1);
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checkModes(blind2);
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errorCheck(blind1);
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errorCheck(blind2);
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//Estimate blind position and correct
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estimatePosition(blind1);
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estimatePosition(blind2);
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//Update Motor Driver
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updateMotor(blind1, M1);
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updateMotor(blind2, M2);
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}
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int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort
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{
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// Need to cast the void * to int *
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int a = *((int *)cmp1);
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int b = *((int *)cmp2);
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// The comparison
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return a > b ? -1 : (a < b ? 1 : 0);
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// A simpler, probably faster way:
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//return b - a;
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}
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int getFitered(int* values,uint8_t size) {
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int copied_values[size];
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for(int i=0;i<size;i++) {
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copied_values[i] = values[i]; //TODO: maybe some value filtering/selection here
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}
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int copied_values_length = sizeof(copied_values) / sizeof(copied_values[0]);
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qsort(copied_values, copied_values_length, sizeof(copied_values[0]), sort_desc);
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return copied_values[size/2];
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}
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void classifySensorValue(blindmodel &blind) {
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int filtered=getFitered(blind.sense_read, SENSE_FILTER_SIZE);
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if (filtered>=blind.sense_clear_lower && filtered<=blind.sense_clear_upper) {
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blind.sense_status=SENSESTATUS_CLEAR;
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blind.last_sense_ok=millis();
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} else if (filtered>=blind.sense_opaque_lower && filtered<=blind.sense_opaque_upper) {
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blind.sense_status=SENSESTATUS_OPAQUE;
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blind.last_sense_ok=millis();
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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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}
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void checkButton(button &btn) {
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btn.changed=false;
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if (millis() > btn.last_time_read + BUTTON_DEBOUNCE) {
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bool new_pin_button_down=!digitalRead(btn.pin);
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if (btn.down != new_pin_button_down) { //changed
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btn.down = new_pin_button_down; //update
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btn.changed=true;
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btn.last_time_read=millis(); //delay next check
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}
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}
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}
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void manualMoveHandler(button &btn, blindmodel &blind)
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{
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if (btn.changed) {
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blind.mode=MODE_IDLE;
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if (btn.down) { //changed to pressed
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if (btn.manual_drive_direction) {
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//M1.setmotor( _CW, 100);
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blind.speed=-100;
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//Serial.print("CW PWM: ");
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}else{
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blind.speed=100;
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//Serial.print("CCW PWM: ");
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}
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btn.manual_drive_direction=!btn.manual_drive_direction; //switch direction every new press
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}else{ //changed to released
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//Serial.println("Motor STOP");
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blind.speed=0;
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}
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}
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}
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void readSensor(blindmodel &blind, int value)
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{
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if (millis() > last_sensor_read + SENSOR_READ_INTERVAL) {
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blind.sense_read_pos=(blind.sense_read_pos+1)%SENSE_FILTER_SIZE; //next element
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blind.sense_read[blind.sense_read_pos]=value;
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classifySensorValue(blind); //writes to blindmodel.sense_status
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last_sensor_read=millis();
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}
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if (millis() > last_print + 500 && blind.speedSimulated!=0) {
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Serial.print("SenseStatus=");
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switch(blind.sense_status){
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case SENSESTATUS_UNKNOWN:
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Serial.print("UNK");
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break;
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case SENSESTATUS_CLEAR:
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Serial.print("CLE");
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break;
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case SENSESTATUS_OPAQUE:
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Serial.print("OPA");
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break;
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case SENSESTATUS_END:
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Serial.print("END");
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break;
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}
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Serial.print("("); Serial.print(getFitered(blind.sense_read, SENSE_FILTER_SIZE)); Serial.print(")");
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Serial.print(", mode=");
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switch(blind.mode){
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case MODE_IDLE:
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Serial.print("IDL");
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break;
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case MODE_FIND_END:
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Serial.print("FIN");
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break;
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case MODE_GO_TO_POS:
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Serial.print("POS");
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break;
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case MODE_MEASURE_SPEED:
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Serial.print("MSP");
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break;
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}
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Serial.print(", speed=");
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Serial.print(blind.speed);
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Serial.print(", speedSim=");
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Serial.print(blind.speedSimulated);
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Serial.print(", pos=");
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Serial.println(blind.position);
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last_print=millis();
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}
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}
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void errorCheck(blindmodel &blind) {
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if (blind.sense_status==SENSESTATUS_END) {
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if (blind.speed<0) { //stop driving up
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blind.speed=0;
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}
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}
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//TODO: led self test. turn off ,should be high value
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}
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void estimatePosition(blindmodel &blind) {
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if (millis() > last_calculate_position_estimate + CALCULATEPOSITIONESTIMATE_INTERVAL) {
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float _actualTime=(millis()-last_calculate_position_estimate)/1000.0; //in seconds
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blind.speedSimulated+= constrain(blind.speed - blind.speedSimulated, blind.simulated_acc_dec*_actualTime, blind.simulated_acc_inc*_actualTime);
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blind.position+= blind.speedSimulated/100.0*blind.speedfactor * _actualTime;
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last_calculate_position_estimate=millis();
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}
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if (blind.mode!= MODE_FIND_END) {
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if (blind.sense_status == SENSESTATUS_END && blind.last_sense_status != SENSESTATUS_END) { //entered end marker
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blind.position=0;
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float _filterdelay_correction=blind.speedSimulated/100.0*blind.speedfactor *SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL/1000.0;
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blind.position += _filterdelay_correction; //correct for filter delay
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Serial.print("Reached End marker. set Position="); Serial.println(blind.position);
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}
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if (blind.sense_status == SENSESTATUS_CLEAR || blind.sense_status == SENSESTATUS_OPAQUE || blind.sense_status == SENSESTATUS_END) { //either opaque or clear (or end, only for last update used)
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if (blind.sense_status != blind.last_sense_status) { //status changed
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if (blind.last_sense_status == SENSESTATUS_CLEAR || blind.last_sense_status == SENSESTATUS_OPAQUE) { //only changes from clear to opaque or opaque to clear
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float _position_before=blind.position;//only for text output debugging
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if ((blind.speedSimulated>0 && blind.sense_status==SENSESTATUS_OPAQUE) || (blind.speedSimulated<0 && blind.sense_status==SENSESTATUS_CLEAR)) { //moving down from and clear to opaque OR moving up and from opaque to clear
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//estimated_position_difference = -blind.position + blind.start_first_clear+blind.length_clear + _n*(blind.length_clear+blind.length_opaque); //possible occurances. let estimated_position=0 , solve for n
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int _n = round((blind.position -blind.start_first_clear - blind.length_clear)/(blind.length_clear+blind.length_opaque)); //find closest n
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blind.position = blind.start_first_clear+blind.length_clear + _n*(blind.length_clear+blind.length_opaque); //calculate position from _n
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float _filterdelay_correction=blind.speedSimulated/100.0*blind.speedfactor *SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL/1000.0;
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blind.position += _filterdelay_correction; //correct for filter delay
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Serial.print("nearest n="); Serial.println(_n);
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if (blind.last_n !=-1 && abs(blind.last_n-_n>1)) { //if last_n is known and if n is not the next (error)
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setError(blind, ERRORCODE_N_NOT_NEXT);
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}
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blind.last_n=_n; //for error check
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Serial.print("posCorrection="); Serial.print(_filterdelay_correction);
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Serial.print(", DOWN&CLE->OPA or UP&OPA->CLE, before=");
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}else if((blind.speedSimulated>0 && blind.sense_status==SENSESTATUS_CLEAR) || (blind.speedSimulated<0 && blind.sense_status==SENSESTATUS_OPAQUE)) { //the other transition
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//estimated_position_difference = -blind.position + blind.start_first_clear + _n*(blind.length_clear+blind.length_opaque); //possible occurances. let estimated_position=0 , solve for n
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int _n = round(( blind.position - blind.start_first_clear)/(blind.length_clear+blind.length_opaque)); //find closest n
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Serial.print("n=");
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Serial.println(_n);
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blind.position = blind.start_first_clear + _n*(blind.length_clear+blind.length_opaque); //calculate position from _n
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float _filterdelay_correction=blind.speedSimulated/100.0*blind.speedfactor*SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL/1000.0;
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blind.position += _filterdelay_correction; //correct for filter delay
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Serial.print("posCorrection="); Serial.print(_filterdelay_correction);
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Serial.print(", UP&CLE->OPA or DOWN&OPA->CLE, before=");
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}
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Serial.print(_position_before);
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Serial.print(", after=");
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Serial.print(blind.position);
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Serial.print(", diff=");
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Serial.println(blind.position-_position_before);
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if (abs(blind.position-_position_before)>=(blind.length_clear+blind.length_opaque)/2.0*DIFF_ERROR_FACTOR) {
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setError(blind, ERRORCODE_POSITIONDIFFTOOHIGH);
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}
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}
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blind.last_sense_status = blind.sense_status; //update only if new one is opaque or clear
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}
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}
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}
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}
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void updateMotor(blindmodel &blind, Motor motor)
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{
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if (blind.error!=0) { //error appeared
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blind.speed=0; //set speed to 0
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}
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if (millis() > last_motor_send + MOTOR_UPDATE_INTERVAL) {
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if(blind.speed<0){
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motor.setmotor( _UP, abs(blind.speed));
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}else if(blind.speed>0){
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motor.setmotor( _DOWN, abs(blind.speed));
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}else{
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motor.setmotor(_STOP);
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}
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last_motor_send=millis();
|
|
}
|
|
}
|
|
|
|
void checkModes(blindmodel &blind) {
|
|
switch(blind.mode) {
|
|
case MODE_FIND_END:
|
|
switch(blind.mode_find_end_state) {
|
|
case 0: //drive up until end sensed
|
|
blind.speed=-100; //up
|
|
if (blind.sense_status==SENSESTATUS_END) {
|
|
blind.speed=0; //stop. for safety
|
|
blind.mode_find_end_state++;
|
|
}
|
|
break;
|
|
|
|
case 1: //drive down slowly until passed end maker
|
|
blind.speed=10; //down slow
|
|
if (blind1.sense_status!=SENSESTATUS_END) {
|
|
blind.speed=0; //stop
|
|
blind.position=0;
|
|
//blind.mode=MODE_IDLE;
|
|
blind.mode=MODE_MEASURE_SPEED; //next measure speed
|
|
blind.mode_find_end_state=0; //reset
|
|
blind.last_n=-1; //unknown
|
|
}
|
|
break;
|
|
}
|
|
|
|
break;
|
|
|
|
case MODE_MEASURE_SPEED:
|
|
switch(blind.mode_measure_speed_state) {
|
|
case 0: //drive down, start timing at clear
|
|
blind.speed=100; //down
|
|
if (blind1.sense_status==SENSESTATUS_CLEAR) {
|
|
blind.timing_start=millis();
|
|
blind.mode_measure_speed_state++;
|
|
}
|
|
break;
|
|
case 1: //on clear section
|
|
blind.speed=100; //down
|
|
if (blind1.sense_status==SENSESTATUS_OPAQUE) { //wait for opaque section
|
|
blind.mode_measure_speed_state++;
|
|
}
|
|
break;
|
|
case 2: //on opaque section
|
|
blind.speed=100; //down
|
|
if (blind1.sense_status==SENSESTATUS_CLEAR) { //wait for clear section
|
|
blind.speedfactor=(blind.length_clear+blind.length_opaque)/ ((millis()-blind.timing_start)/1000.0); //calculate length per second
|
|
Serial.print("speedfactor=");
|
|
Serial.print(blind.speedfactor);
|
|
Serial.println(" mm/s");
|
|
blind.position = blind.length_opaque+blind.length_clear+blind.start_first_clear; //set position
|
|
blind.speed=0; //stop
|
|
blind.mode_measure_speed_state=0; // reset
|
|
blind.mode=MODE_IDLE;
|
|
}
|
|
break;
|
|
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
case MODE_GO_TO_POS:
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
void setError(blindmodel &blind, uint8_t errorcode){
|
|
if (blind.error==0) { //only set error if no error appeared before
|
|
blind.error=errorcode;
|
|
}
|
|
Serial.print("ERROR CODE="); Serial.println(errorcode);
|
|
} |