add callibrtion (partial)

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

@@ -11,20 +11,30 @@
 #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
+
+#define POWERMETER     4
  
 // True = Forward; False = Reverse
 bool Direction_right = true;
  
 // Keep track of the number of right wheel pulses
 volatile long right_wheel_pulse_count = 0;
+volatile long pulscountswap = 0;
+volatile long absPulseCount = 0;
  
 // One-second interval for measurements
 int interval = 1000;
+int swapdelay = 500;
   
 // Counters for milliseconds during interval
 long previousMillis = 0;
@@ -39,28 +49,181 @@ float ang_velocity_right_deg = 0;
  
 const float rpm_to_radians = 0.10471975512;
 const float rad_to_deg = 57.29578;
+bool dir = false;
+bool motorruns = false;
  
+void right_wheel_pulse();
+
+
+// ***** function calls ******
+float getVPP()
+{
+  float result;
+  int readValue;                // value read from the sensor
+  int maxValue = 0;             // store max value here
+  int minValue = 4096;          // store min value here ESP32 ADC resolution
+  
+   uint32_t start_time = millis();
+   while((millis()-start_time) < 1000) //sample for 1 Sec
+   {
+       readValue = analogRead(POWERMETER);
+       // see if you have a new maxValue
+       if (readValue > maxValue) 
+       {
+           /*record the maximum sensor value*/
+           maxValue = readValue;
+       }
+       if (readValue < minValue) 
+       {
+           /*record the minimum sensor value*/
+           minValue = readValue;
+       }
+   }
+   
+   // Subtract min from max
+   result = ((maxValue - minValue) * 3.3)/4096.0; //ESP32 ADC resolution 4096
+  log_i("ADC: %0.0f", result);
+   return result;
+ }
+
+void run_stop()
+{
+  digitalWrite(MOTOR_IN1, LOW);
+  digitalWrite(MOTOR_IN2, LOW);
+  analogWrite(MOTOR_IN1, 0);
+  analogWrite(MOTOR_IN2, 0);
+  motorruns = false;
+  log_i("stop");
+
+}
+
+void run_to()
+{
+
+}
+
+void run_left(int speed = SPEED)
+{
+  // run_stop();
+  // delay(swapdelay);
+  digitalWrite(MOTOR_IN1, LOW);
+  analogWrite(MOTOR_IN2, speed);
+  log_i("left");
+  motorruns = true;
+  dir = true;
+}
+
+void run_right(int speed = SPEED)
+{
+  // run_stop();
+  // delay(swapdelay);
+  digitalWrite(MOTOR_IN2, LOW);
+  analogWrite(MOTOR_IN1, speed);
+  log_i("right");
+  motorruns = true;
+  dir = false;
+}
+
+bool run_to_pos()
+{
+  return false;
+}
+
+void swap_dir()
+{
+  if(dir)
+  {
+    run_right();
+  }
+  else{
+    run_left();
+  }
+  log_i("swap");
+}
+
+long previouspulses = 0;
+
+void calibratemotor()
+{
+  delay(300);
+  
+  bool stop = false;
+  run_right();
+  previouspulses = absPulseCount;
+  while(!stop)
+  {
+    delay(100);
+    if(absPulseCount - previouspulses > 40)
+    {
+      log_i("absPulseCount (%i)- previouspulses(%i) = %i", absPulseCount, previouspulses, absPulseCount - previouspulses);
+      previouspulses = absPulseCount;
+      delay(50);
+    }
+    else
+    {
+      stop = true;
+      run_stop();
+      log_i("left done, %i", absPulseCount);
+      absPulseCount = 0;
+    }
+  }
+  stop = false;
+  delay(1000);
+  run_left();
+  previouspulses = absPulseCount;
+  while(!stop)
+  {
+    delay(100);
+    if(absPulseCount - previouspulses < -30)
+    {
+      log_i("absPulseCount (%i)- previouspulses(%i) = %i", absPulseCount, previouspulses, absPulseCount - previouspulses);
+      previouspulses = absPulseCount;
+      delay(50);
+    }
+    else
+    {
+      stop = true;
+      run_stop();
+      log_i("right done, %i", absPulseCount);
+    }
+  }
+}
+
 void setup() {
  
   // Open the serial port at 9600 bps
-  serial.begin(9600); 
- 
+  Serial.begin(115200); 
+  delay(5000);
+  log_i("start sketch");
   // 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);
+  pinMode(POWERMETER, ANALOG);
+
+  
  
   // Every time the pin goes high, this is a pulse
   attachInterrupt(digitalPinToInterrupt(ENC_IN_RIGHT_A), right_wheel_pulse, RISING);
-   
+  
+  log_i("init done");  
+  calibratemotor();
+  //run_left();
 }
+
+
  
+long swaptime = 0;
+
 void loop() {
  
   // Record the time
   currentMillis = millis();
  
   // If one second has passed, print the number of pulses
-  if (currentMillis - previousMillis > interval) {
+  if ((currentMillis - previousMillis > interval) && (motorruns = true)) 
+  {
  
     previousMillis = currentMillis;
  
@@ -69,22 +232,35 @@ void loop() {
     ang_velocity_right = rpm_right * rpm_to_radians;   
     ang_velocity_right_deg = ang_velocity_right * rad_to_deg;
      
-    Serial.print(" Pulses: ");
-    Serial.println(right_wheel_pulse_count);
-    Serial.print(" Speed: ");
-    Serial.print(rpm_right);
-    Serial.println(" RPM");
-    Serial.print(" Angular Velocity: ");
-    Serial.print(rpm_right);
-    Serial.print(" rad per second");
-    Serial.print("\t");
-    Serial.print(ang_velocity_right_deg);
-    Serial.println(" deg per second");
-    Serial.println();
- 
+    log_i("Pulses/s: %i", right_wheel_pulse_count);
+    log_i("Speed: %0.0f", rpm_right);
+    log_i("RPM");
+    log_i("Angular Velocity: %0.00f", rpm_right);
+    log_i("rad per second \t %f deg per second", ang_velocity_right_deg);
+    log_i("powermeter %0.0f", getVPP());
+    log_i("absulote pulsecount = %i", absPulseCount);
+
     right_wheel_pulse_count = 0;
-   
+
   }
+
+  // if(pulscountswap > ENC_COUNT_REV/4)
+  // {
+  //   swap_dir();
+  //   pulscountswap = 0;
+  // }
+
+  // if(millis() - swaptime > 5000)
+  // {
+  //   swaptime = millis();
+  //   swap_dir();
+
+  // }
+
+  // if(rpm_right < 1 && dir)
+  // {
+  //   run_stop();
+  // }
 }
  
 // Increment the number of pulses by 1
@@ -102,8 +278,13 @@ void right_wheel_pulse() {
    
   if (Direction_right) {
     right_wheel_pulse_count++;
+    pulscountswap ++;
+    absPulseCount ++;
   }
   else {
     right_wheel_pulse_count--;
+    pulscountswap ++;
+    absPulseCount --;
   }
-}
+}
+