MotorController works
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1ecf83fcc7
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c62427a3a1
@ -4,56 +4,119 @@
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const MotorConfig defaultConfig = {
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.minPWM = 0,
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.maxPWM = 255,
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.inverted = false,
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.responseSpeed = 10,
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.lookupTable = {0, 28, 57, 85, 114, 142, 171, 199, 228, 255}
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.inverted = true,
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.responseSpeed = 50,
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.lookupTable = {0, 10, 20, 30, 40, 50, 60, 70, 80, 100} // Percent values for 0% to 100%
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};
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MotorController::MotorController(int motorPin)
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: motorPWMPin(motorPin), currentSpeed(0) {
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: motorPWMPin(motorPin), currentSpeed(0), targetSpeed(0)
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{
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loadDefaults();
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pinMode(motorPWMPin, OUTPUT);
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stopMotor();
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}
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void MotorController::loadDefaults() {
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void MotorController::loadDefaults()
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{
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config = defaultConfig;
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}
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void MotorController::setTargetSpeed(int targetSpeedPercent) {
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targetSpeedPercent = constrain(targetSpeedPercent, 0, 100);
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int tableIndex = map(targetSpeedPercent, 0, 100, 0, MotorConfig::lookupTableSize - 1);
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uint8_t targetPWM = config.lookupTable[tableIndex];
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uint8_t adjustedPWM = applyDynamicResponse(targetPWM);
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setPWM(adjustedPWM);
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currentSpeed = targetSpeedPercent;
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void MotorController::setTargetSpeed(int targetSpeedPercent)
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{
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if (targetSpeed != targetSpeedPercent)
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{
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Serial.print("MC: set targetSpeed to: ");
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Serial.println(targetSpeed);
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}
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targetSpeed = constrain(targetSpeedPercent, 0, 100);
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}
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int MotorController::getSpeed() const {
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void MotorController::maintain()
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{
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targetSpeed = constrain(targetSpeed, 0, 100); // Ensure targetSpeed is valid
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int adjustedSpeed = applyDynamicResponse(targetSpeed); // Dynamic adjustment in percentage
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// Interpolate between lookup table values
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int lowerIndex = map(adjustedSpeed, 0, 100, 0, MotorConfig::lookupTableSize - 1);
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int upperIndex = min(lowerIndex + 1, MotorConfig::lookupTableSize - 1);
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int lowerPercent = config.lookupTable[lowerIndex];
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int upperPercent = config.lookupTable[upperIndex];
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float interpolationFactor = (adjustedSpeed - lowerIndex * (100 / (MotorConfig::lookupTableSize - 1))) / (100.0 / (MotorConfig::lookupTableSize - 1));
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int interpolatedPWM = map(lowerPercent + interpolationFactor * (upperPercent - lowerPercent), 0, 100, config.minPWM, config.maxPWM);
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setPWM(interpolatedPWM); // Apply final interpolated PWM value
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currentSpeed = adjustedSpeed; // Update currentSpeed in percentage
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}
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int MotorController::getSpeed() const
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{
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return currentSpeed;
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}
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void MotorController::stopMotor() {
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void MotorController::stopMotor()
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{
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setTargetSpeed(0);
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maintain();
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}
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MotorConfig MotorController::getConfig() const {
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MotorConfig MotorController::getConfig() const
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{
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return config;
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}
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void MotorController::setConfig(const MotorConfig &newConfig) {
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void MotorController::setConfig(const MotorConfig &newConfig)
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{
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config = newConfig;
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}
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void MotorController::setPWM(uint8_t pwmValue) {
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uint8_t constrainedPWM = constrain(pwmValue, config.minPWM, config.maxPWM);
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void MotorController::setPWM(uint8_t pwmValue)
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{
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int constrainedPWM = constrain(pwmValue, config.minPWM, config.maxPWM);
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analogWrite(motorPWMPin, config.inverted ? 255 - constrainedPWM : constrainedPWM);
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}
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int MotorController::applyDynamicResponse(int targetValue) {
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static int smoothedValue = 0;
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int delta = targetValue - smoothedValue;
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int step = delta / config.responseSpeed;
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smoothedValue += step;
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return smoothedValue;
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int MotorController::applyDynamicResponse(int targetPercent)
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{
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// Intern in Promille arbeiten für höhere Genauigkeit
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static int smoothedPromille = 0;
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static unsigned long lastUpdateTime = millis();
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unsigned long currentTime = millis();
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unsigned long elapsedTime = currentTime - lastUpdateTime;
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if (elapsedTime == 0)
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return smoothedPromille / 10; // Rückgabe in Prozent
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// Zielwert in Promille berechnen
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int targetPromille = targetPercent * 10;
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// Dynamische Reaktionsgeschwindigkeit in Promille pro Sekunde
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int maxChangePerMs = config.responseSpeed * 10; // Konfigurierbarer Faktor
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// Berechne maximale Änderung basierend auf vergangener Zeit
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int maxDelta = (maxChangePerMs * elapsedTime) / 1000;
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// Tatsächliche Änderung begrenzen
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int delta = targetPromille - smoothedPromille;
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if (delta > maxDelta)
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delta = maxDelta;
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else if (delta < -maxDelta)
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delta = -maxDelta;
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// Smoothed Promille aktualisieren
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smoothedPromille += delta;
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lastUpdateTime = currentTime;
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// Debug-Ausgabe
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Serial.print("TargetPromille: ");
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Serial.print(targetPromille);
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Serial.print(", Delta: ");
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Serial.print(delta);
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Serial.print(", SmoothedPromille: ");
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Serial.println(smoothedPromille);
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// Rückgabe in Prozent (gerundet)
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return (smoothedPromille + 5) / 10; // Rundung durch Addition von 5 vor Division
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}
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@ -5,7 +5,8 @@
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#include <Arduino.h>
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// Motor configuration structure
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struct MotorConfig {
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struct MotorConfig
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{
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uint8_t minPWM;
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uint8_t maxPWM;
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bool inverted;
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@ -14,10 +15,12 @@ struct MotorConfig {
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uint8_t lookupTable[lookupTableSize];
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};
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class MotorController {
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class MotorController
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{
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private:
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int motorPWMPin;
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int currentSpeed;
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int targetSpeed;
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MotorConfig config;
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int applyDynamicResponse(int targetValue);
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@ -26,6 +29,7 @@ private:
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public:
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MotorController(int motorPin);
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void maintain();
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void stopMotor();
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void setTargetSpeed(int targetSpeedPercent);
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int getSpeed() const;
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@ -33,7 +37,6 @@ public:
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MotorConfig getConfig() const;
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void setConfig(const MotorConfig &newConfig);
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void loadDefaults();
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};
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#endif // MOTORCONTROLLER_H
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407
src/main.cpp
407
src/main.cpp
@ -20,14 +20,15 @@ const int motorPin = 9; // Motor PWM pin
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const int pedalPin = A0; // Pedal input pin
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// Global objects
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MotorController motor(motorPin); // Motor control object
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PedalController pedal(pedalPin); // Pedal input object
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MotorController motor(motorPin); // Motor control object
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PedalController pedal(pedalPin); // Pedal input object
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// Combined settings structure
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struct Settings {
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MotorConfig motorConfig;
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PedalConfig pedalConfig;
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uint8_t checksum;
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struct Settings
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{
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MotorConfig motorConfig;
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PedalConfig pedalConfig;
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uint8_t checksum;
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};
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Settings settings;
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@ -47,208 +48,258 @@ void configurePWMFrequency();
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void stopMotorAtNeedleUp();
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void printHelp();
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void setup() {
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// Initialize pins
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pinMode(hallSensor, INPUT);
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pinMode(encoderPinA, INPUT_PULLUP);
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pinMode(encoderPinB, INPUT_PULLUP);
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pinMode(encoderButton, INPUT_PULLUP);
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void setup()
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{
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// Initialize pins
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pinMode(hallSensor, INPUT);
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pinMode(encoderPinA, INPUT_PULLUP);
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pinMode(encoderPinB, INPUT_PULLUP);
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pinMode(encoderButton, INPUT_PULLUP);
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// Configure PWM frequency
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configurePWMFrequency();
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pinMode(LED_BUILTIN, OUTPUT);
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// Attach interrupts for encoder
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attachInterrupt(digitalPinToInterrupt(encoderPinA), handleEncoder, CHANGE);
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attachInterrupt(digitalPinToInterrupt(encoderPinB), handleEncoder, CHANGE);
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attachInterrupt(digitalPinToInterrupt(encoderButton), handleEncoderButton, FALLING);
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// Configure PWM frequency
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configurePWMFrequency();
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// Initialize serial and load settings
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Serial.begin(9600);
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loadSettings();
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// Attach interrupts for encoder
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attachInterrupt(digitalPinToInterrupt(encoderPinA), handleEncoder, CHANGE);
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attachInterrupt(digitalPinToInterrupt(encoderPinB), handleEncoder, CHANGE);
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attachInterrupt(digitalPinToInterrupt(encoderButton), handleEncoderButton, FALLING);
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// Initialize OLED display
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// Initialize serial and load settings
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Serial.begin(9600);
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loadSettings();
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// Initialize OLED display
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// if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
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// Serial.println(F("SSD1306 allocation failed"));
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// }
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// display.clearDisplay();
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// display.display();
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// display.display();
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printHelp();
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printHelp();
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}
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void loop() {
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// Handle serial input for debugging and manual control
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handleSerialInput();
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void loop()
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{
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// Handle serial input for debugging and manual control
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handleSerialInput();
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motor.maintain();
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if (autoCalibrating) {
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CalibrationState currentState = pedal.autoCalibrate(false);
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if (currentState != lastCalibrationState) {
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lastCalibrationState = currentState;
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switch (currentState) {
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case RUNNING:
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Serial.println("Calibration running...");
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break;
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case SUCCESS:
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Serial.println("Auto-calibration completed.");
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break;
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case ERROR:
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Serial.println("Auto-calibration failed.");
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break;
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default:
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break;
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}
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}
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motor.setTargetSpeed(0); // Ensure motor stays off during calibration
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} else {
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int pedalValue = serialControlEnabled ? 0 : pedal.getPedal();
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motor.setTargetSpeed(pedalValue);
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if (autoCalibrating)
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{
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CalibrationState currentState = pedal.autoCalibrate(false);
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if (currentState != lastCalibrationState)
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{
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lastCalibrationState = currentState;
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switch (currentState)
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{
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case RUNNING:
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Serial.println("Calibration running...");
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break;
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case SUCCESS:
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Serial.println("Auto-calibration completed.");
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break;
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case ERROR:
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Serial.println("Auto-calibration failed.");
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break;
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default:
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break;
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}
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}
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motor.setTargetSpeed(0); // Ensure motor stays off during calibration
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}
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else if (serialControlEnabled)
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{
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// Serial control active, do nothing here; speed controlled via serial commands
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}
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else
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{
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int pedalValue = pedal.getPedal();
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motor.setTargetSpeed(pedalValue);
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}
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// Update display
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// updateDisplay();
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// Update display
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// updateDisplay();
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delay(10); // Short delay for stability
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delay(10); // Short delay for stability
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}
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void stopMotorAtNeedleUp() {
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motor.stopMotor();
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delay(100); // Stabilize
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void stopMotorAtNeedleUp()
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{
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motor.stopMotor();
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delay(100); // Stabilize
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}
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void loadSettings() {
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EEPROM.get(0, settings);
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void loadSettings()
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{
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EEPROM.get(0, settings);
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// Validate checksum
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if (calculateChecksum(settings) != settings.checksum) {
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Serial.println("Invalid settings checksum, loading defaults.");
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motor.loadDefaults();
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pedal.autoCalibrate(true);
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// Validate checksum
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if (calculateChecksum(settings) != settings.checksum)
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{
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Serial.println("Invalid settings checksum, loading defaults.");
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motor.loadDefaults();
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pedal.autoCalibrate(true);
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settings.motorConfig = motor.getConfig();
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settings.pedalConfig = pedal.getConfig();
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settings.checksum = calculateChecksum(settings);
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saveSettings();
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} else {
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motor.setConfig(settings.motorConfig);
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pedal.setConfig(settings.pedalConfig);
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Serial.println("Settings loaded from EEPROM.");
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}
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}
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void saveSettings() {
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settings.motorConfig = motor.getConfig();
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settings.pedalConfig = pedal.getConfig();
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settings.checksum = calculateChecksum(settings);
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EEPROM.put(0, settings);
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Serial.println("Settings saved to EEPROM.");
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saveSettings();
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}
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else
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{
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motor.setConfig(settings.motorConfig);
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pedal.setConfig(settings.pedalConfig);
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Serial.println("Settings loaded from EEPROM.");
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}
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}
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uint8_t calculateChecksum(const Settings &s) {
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uint8_t sum = 0;
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const uint8_t *data = reinterpret_cast<const uint8_t *>(&s);
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for (size_t i = 0; i < sizeof(Settings) - 1; i++) {
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sum ^= data[i];
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void saveSettings()
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{
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settings.motorConfig = motor.getConfig();
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settings.pedalConfig = pedal.getConfig();
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settings.checksum = calculateChecksum(settings);
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EEPROM.put(0, settings);
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Serial.println("Settings saved to EEPROM.");
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}
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uint8_t calculateChecksum(const Settings &s)
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{
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uint8_t sum = 0;
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const uint8_t *data = reinterpret_cast<const uint8_t *>(&s);
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for (size_t i = 0; i < sizeof(Settings) - 1; i++)
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{
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sum ^= data[i];
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}
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return sum;
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}
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void handleEncoder()
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{
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static uint8_t lastState = 0;
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uint8_t currentState = (digitalRead(encoderPinA) << 1) | digitalRead(encoderPinB);
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if ((lastState == 0b00 && currentState == 0b01) ||
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(lastState == 0b01 && currentState == 0b11) ||
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(lastState == 0b11 && currentState == 0b10) ||
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(lastState == 0b10 && currentState == 0b00))
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{
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// Increment
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}
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else if ((lastState == 0b00 && currentState == 0b10) ||
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(lastState == 0b10 && currentState == 0b11) ||
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(lastState == 0b11 && currentState == 0b01) ||
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(lastState == 0b01 && currentState == 0b00))
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{
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// Decrement
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}
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lastState = currentState;
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}
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void handleEncoderButton()
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{
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// Handle encoder button press
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}
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void updateDisplay()
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{
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.print("Pedal: ");
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display.println(pedal.getPedal());
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display.display();
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}
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void handleSerialInput()
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{
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if (Serial.available())
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{
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char input = Serial.read();
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switch (input)
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{
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case 'c':
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Serial.println("Starting auto-calibration...");
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pedal.autoCalibrate(true);
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autoCalibrating = true;
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lastCalibrationState = IDLE; // Reset state tracking
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break;
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case 'x':
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Serial.println("Stopping auto-calibration or serial control.");
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autoCalibrating = false;
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serialControlEnabled = false;
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motor.stopMotor();
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break;
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case 'r':
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Serial.println("Loading defaults.");
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motor.loadDefaults();
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pedal.loadDefaults();
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break;
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case 's':
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Serial.println("Saving settings to EEPROM.");
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saveSettings();
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break;
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case 'l':
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Serial.println("Loading settings from EEPROM.");
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loadSettings();
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break;
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case 'h':
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printHelp();
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break;
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case '+':
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serialControlEnabled = true;
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motor.setTargetSpeed(motor.getSpeed() + 1);
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Serial.print("Increased Speed to: ");
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Serial.println(motor.getSpeed());
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break;
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case '-':
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serialControlEnabled = true;
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motor.setTargetSpeed(motor.getSpeed() - 1);
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Serial.print("Decreased Speed to: ");
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Serial.println(motor.getSpeed());
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break;
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case '0':
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case '1':
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case '2':
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case '3':
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case '4':
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case '5':
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case '6':
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case '7':
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case '8':
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case '9':
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if (serialControlEnabled)
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{
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motor.setTargetSpeed((input - 0x30) * 10);
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Serial.print("Set Speed to: ");
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Serial.println(motor.getSpeed());
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}
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break;
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}
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return sum;
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Serial.println(input);
|
||||
}
|
||||
}
|
||||
|
||||
void handleEncoder() {
|
||||
static uint8_t lastState = 0;
|
||||
uint8_t currentState = (digitalRead(encoderPinA) << 1) | digitalRead(encoderPinB);
|
||||
if ((lastState == 0b00 && currentState == 0b01) ||
|
||||
(lastState == 0b01 && currentState == 0b11) ||
|
||||
(lastState == 0b11 && currentState == 0b10) ||
|
||||
(lastState == 0b10 && currentState == 0b00)) {
|
||||
// Increment
|
||||
} else if ((lastState == 0b00 && currentState == 0b10) ||
|
||||
(lastState == 0b10 && currentState == 0b11) ||
|
||||
(lastState == 0b11 && currentState == 0b01) ||
|
||||
(lastState == 0b01 && currentState == 0b00)) {
|
||||
// Decrement
|
||||
}
|
||||
lastState = currentState;
|
||||
void printHelp()
|
||||
{
|
||||
Serial.println("Available commands:");
|
||||
Serial.println("c - Start auto-calibration");
|
||||
Serial.println("x - Stop auto-calibration or serial control");
|
||||
Serial.println("r - Load defaults");
|
||||
Serial.println("s - Save settings to EEPROM");
|
||||
Serial.println("l - Load settings from EEPROM");
|
||||
Serial.println("h - Show this help");
|
||||
Serial.println("+ - Increment PWM");
|
||||
Serial.println("- - Decrement PWM");
|
||||
}
|
||||
|
||||
void handleEncoderButton() {
|
||||
// Handle encoder button press
|
||||
}
|
||||
|
||||
void updateDisplay() {
|
||||
display.clearDisplay();
|
||||
display.setTextSize(1);
|
||||
display.setTextColor(SSD1306_WHITE);
|
||||
|
||||
display.setCursor(0, 0);
|
||||
display.print("Pedal: ");
|
||||
display.println(pedal.getPedal());
|
||||
|
||||
display.display();
|
||||
}
|
||||
|
||||
void handleSerialInput() {
|
||||
if (Serial.available()) {
|
||||
char input = Serial.read();
|
||||
switch (input) {
|
||||
case 'c':
|
||||
Serial.println("Starting auto-calibration...");
|
||||
pedal.autoCalibrate(true);
|
||||
autoCalibrating = true;
|
||||
lastCalibrationState = IDLE; // Reset state tracking
|
||||
break;
|
||||
case 'x':
|
||||
Serial.println("Stopping auto-calibration or serial control.");
|
||||
autoCalibrating = false;
|
||||
serialControlEnabled = false;
|
||||
motor.stopMotor();
|
||||
break;
|
||||
case 'r':
|
||||
Serial.println("Loading defaults.");
|
||||
motor.loadDefaults();
|
||||
pedal.loadDefaults();
|
||||
break;
|
||||
case 's':
|
||||
Serial.println("Saving settings to EEPROM.");
|
||||
saveSettings();
|
||||
break;
|
||||
case 'l':
|
||||
Serial.println("Loading settings from EEPROM.");
|
||||
loadSettings();
|
||||
break;
|
||||
case 'h':
|
||||
printHelp();
|
||||
break;
|
||||
case '+':
|
||||
serialControlEnabled = true;
|
||||
motor.setTargetSpeed(motor.getSpeed() + 1);
|
||||
Serial.print("Increased Speed to: ");
|
||||
Serial.println(motor.getSpeed());
|
||||
break;
|
||||
case '-':
|
||||
serialControlEnabled = true;
|
||||
motor.setTargetSpeed(motor.getSpeed() - 1);
|
||||
Serial.print("Decreased Speed to: ");
|
||||
Serial.println(motor.getSpeed());
|
||||
break;
|
||||
}
|
||||
Serial.println(input);
|
||||
}
|
||||
}
|
||||
|
||||
void printHelp() {
|
||||
Serial.println("Available commands:");
|
||||
Serial.println("c - Start auto-calibration");
|
||||
Serial.println("x - Stop auto-calibration or serial control");
|
||||
Serial.println("r - Load defaults");
|
||||
Serial.println("s - Save settings to EEPROM");
|
||||
Serial.println("l - Load settings from EEPROM");
|
||||
Serial.println("h - Show this help");
|
||||
Serial.println("+ - Increment PWM");
|
||||
Serial.println("- - Decrement PWM");
|
||||
}
|
||||
|
||||
void configurePWMFrequency() {
|
||||
// Configure Timer1 for higher PWM frequency (e.g., ~8 kHz)
|
||||
TCCR1B = (TCCR1B & 0b11111000) | 0x01; // Set prescaler to 1
|
||||
void configurePWMFrequency()
|
||||
{
|
||||
// Configure Timer1 for higher PWM frequency (e.g., ~8 kHz)
|
||||
TCCR1B = (TCCR1B & 0b11111000) | 0x01; // Set prescaler to 1
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user