clean-up

blinds/src/main.cpp

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+#include <Arduino.h>
+
+/*
+ * Author: Automatic Addison
+ * Website: https://automaticaddison.com
+ * Description: Calculate the angular velocity in radians/second of a DC motor
+ * with a built-in encoder (forward = positive; reverse = negative) 
+ */
+ 
+// Motor encoder output pulses per 360 degree revolution (measured manually)
+#define ENC_COUNT_REV (500 * 11) //12rmp motor
+ 
+// Encoder output to Arduino Interrupt pin. Tracks the pulse count.
+#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 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;
+long currentMillis = 0;
+ 
+// Variable for RPM measuerment
+float rpm_right = 0;
+ 
+// Variable for angular velocity measurement
+float ang_velocity_right = 0;
+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(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) && (motorruns = true)) 
+  {
+ 
+    previousMillis = currentMillis;
+ 
+    // Calculate revolutions per minute
+    rpm_right = (float)(right_wheel_pulse_count * 60 / ENC_COUNT_REV);
+    ang_velocity_right = rpm_right * rpm_to_radians;   
+    ang_velocity_right_deg = ang_velocity_right * rad_to_deg;
+     
+    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
+void right_wheel_pulse() {
+   
+  // Read the value for the encoder for the right wheel
+  int val = digitalRead(ENC_IN_RIGHT_B);
+ 
+  if(val == LOW) {
+    Direction_right = false; // Reverse
+  }
+  else {
+    Direction_right = true; // Forward
+  }
+   
+  if (Direction_right) {
+    right_wheel_pulse_count++;
+    pulscountswap ++;
+    absPulseCount ++;
+  }
+  else {
+    right_wheel_pulse_count--;
+    pulscountswap ++;
+    absPulseCount --;
+  }
+}
+