speed counter

blinds/platformio.ini

@@ -8,7 +8,15 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
-[env:wemos_d1_mini32]
+[env:esp32-c3]
 platform = espressif32
-board = wemos_d1_mini32
+board = lolin_c3_mini
 framework = arduino
+monitor_speed = 115200
+lib_deps = 
+	#gyverlibs/AccelMotor@^1.3
+	#simplefoc/SimpleDCMotor@^1.0.1
+lib_ldf_mode = deep+
+build_flags = 
+	-DCORE_DEBUG_LEVEL=3
+	-DNDEF_DEBUG=1

blinds/src/main.cpp

@@ -11,11 +11,16 @@
 #define ENC_COUNT_REV (500 * 11) //12rmp motor
  
 // Encoder output to Arduino Interrupt pin. Tracks the pulse count.
-#define ENC_IN_RIGHT_A 2
+#define ENC_IN_RIGHT_A 10
  
 // Other encoder output to Arduino to keep track of wheel direction
 // Tracks the direction of rotation.
-#define ENC_IN_RIGHT_B 4
+#define ENC_IN_RIGHT_B 9
+
+#define MOTOR_IN1      6
+#define MOTOR_IN2      7
+
+#define SPEED 92
  
 // True = Forward; False = Reverse
 bool Direction_right = true;
@@ -25,6 +30,7 @@ volatile long right_wheel_pulse_count = 0;
  
 // One-second interval for measurements
 int interval = 1000;
+int swapdelay = 500;
   
 // Counters for milliseconds during interval
 long previousMillis = 0;
@@ -39,21 +45,82 @@ float ang_velocity_right_deg = 0;
  
 const float rpm_to_radians = 0.10471975512;
 const float rad_to_deg = 57.29578;
+bool dir = false;
  
+void right_wheel_pulse();
+
+void run_stop()
+{
+  digitalWrite(MOTOR_IN1, LOW);
+  digitalWrite(MOTOR_IN2, LOW);
+  log_i("stop");
+
+}
+
+void run_to()
+{
+
+}
+
+void run_left()
+{
+  run_stop();
+  delay(swapdelay);
+  digitalWrite(MOTOR_IN1, LOW);
+  analogWrite(MOTOR_IN2, SPEED);
+    log_i("left");
+
+  dir = true;
+}
+
+void run_right()
+{
+  run_stop();
+  delay(swapdelay);
+  digitalWrite(MOTOR_IN2, LOW);
+  analogWrite(MOTOR_IN1, SPEED);
+  log_i("right");
+
+  dir = false;
+}
+
+bool run_to_pos()
+{
+  return false;
+}
+
+void swap_dir()
+{
+  if(dir)
+  {
+    run_right();
+  }
+  else{
+    run_left();
+  }
+  log_i("swap");
+}
+
 void setup() {
  
   // Open the serial port at 9600 bps
-  serial.begin(9600); 
+  Serial.begin(115200); 
  
   // Set pin states of the encoder
   pinMode(ENC_IN_RIGHT_A , INPUT_PULLUP);
   pinMode(ENC_IN_RIGHT_B , INPUT);
+  pinMode(MOTOR_IN1, OUTPUT);
+  pinMode(MOTOR_IN2, OUTPUT);
+
  
   // Every time the pin goes high, this is a pulse
   attachInterrupt(digitalPinToInterrupt(ENC_IN_RIGHT_A), right_wheel_pulse, RISING);
-   
+  
+  run_left();
 }
  
+long swaptime = 0;
+
 void loop() {
  
   // Record the time
@@ -69,7 +136,7 @@ void loop() {
     ang_velocity_right = rpm_right * rpm_to_radians;   
     ang_velocity_right_deg = ang_velocity_right * rad_to_deg;
      
-    Serial.print(" Pulses: ");
+    Serial.print(" Pulses/s: ");
     Serial.println(right_wheel_pulse_count);
     Serial.print(" Speed: ");
     Serial.print(rpm_right);
@@ -83,8 +150,19 @@ void loop() {
     Serial.println();
  
     right_wheel_pulse_count = 0;
-   
   }
+
+  if(millis() - swaptime > 5000)
+  {
+    swaptime = millis();
+    swap_dir();
+
+  }
+
+  // if(rpm_right < 1 && dir)
+  // {
+  //   run_stop();
+  // }
 }
  
 // Increment the number of pulses by 1
@@ -106,4 +184,5 @@ void right_wheel_pulse() {
   else {
     right_wheel_pulse_count--;
   }
-}
+}
+