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Motor driver fix and extension (auto switch PWM/NON PWM, Motor Quota)

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This commit is contained in:
Andrey Klimov
2020-05-07 00:04:50 +03:00
parent 08f251bc63
commit 7b9c474c19
2 changed files with 54 additions and 12 deletions
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59
lighthub/modules/out_motor.cpp
View File

@@ -12,10 +12,10 @@ static int driverStatus = CST_UNKNOWN;
void out_Motor::getConfig()
{
pinUp=item->getArg(0);
if(pinUp<=0 || pinFeedback>=PINS_COUNT) pinUp=32;
if(pinUp<=0 || pinUp>=PINS_COUNT) pinUp=32;
pinDown=item->getArg(1);
if (pinDown<=0 || pinFeedback>=PINS_COUNT) pinDown=33;
if (pinDown<=0 || pinDown>=PINS_COUNT) pinDown=33;
pinFeedback=item->getArg(2);
if (pinFeedback<0 || pinFeedback>=PINS_COUNT) pinFeedback=0;
@@ -35,12 +35,16 @@ int out_Motor::Setup()
{
getConfig();
Serial.println("Motor Init");
pinMode(pinUp,OUTPUT);
pinMode(pinDown,OUTPUT);
digitalWrite(pinUp,LOW);
digitalWrite(pinDown,LOW);
pinMode(pinFeedback, INPUT);
item->setExt(0);
item->clearFlag(ACTION_NEEDED);
item->clearFlag(ACTION_IN_PROCESS);
driverStatus = CST_INITIALIZED;
motorQuote = MOTOR_QUOTE;
return 1;
}
@@ -71,6 +75,16 @@ int targetPos = -1;
int dif;
if (!item->getFlag(ACTION_NEEDED)) return 0;
if (!item->getFlag(ACTION_IN_PROCESS))
{
if (motorQuote)
{
item->setFlag(ACTION_IN_PROCESS);
motorQuote--;
}
else return 0;
}
uint32_t motorOfftime = item->getExt();
switch (item->getCmd())
@@ -116,13 +130,27 @@ if (dif<-POS_ERR)
#ifndef ESP32
if (digitalPinHasPWM(pinUp))
{
//Serial.println("pinUP PWM");
int velocity = map(-dif, 0, 10, 0, 255);
if (velocity>255) velocity=255;
if (velocity<0) velocity=0;
analogWrite(pinUp,velocity);
}
else if (digitalPinHasPWM(pinDown))
{
// Serial.println("pinDown PWM fallback");
digitalWrite(pinUp,HIGH);
int velocity = map(-dif, 0, 10, 255, 0);
if (velocity>255) velocity=255;
if (velocity<0) velocity=0;
analogWrite(pinDown,velocity);
}
else
#endif
{
// Serial.print(pinUp);
// Serial.println(" pinUP noPWM");
digitalWrite(pinUp,HIGH);
}
}
@@ -136,24 +164,39 @@ if (!item->getExt()) item->setExt(millis()+maxOnTime);
#ifndef ESP32
if (digitalPinHasPWM(pinDown))
{
//Serial.println("pinDown PWM");
int velocity = map(dif, 0, 10, 0, 255);
if (velocity>255) velocity=255;
if (velocity<0) velocity=0;
analogWrite(pinDown,velocity);
}
else
if (digitalPinHasPWM(pinUp))
{
//Serial.println("pinUP PWM fallback");
digitalWrite(pinDown,HIGH);
int velocity = map(dif, 0, 10, 255, 0);
if (velocity>255) velocity=255;
if (velocity<0) velocity=0;
analogWrite(pinUp,velocity);
}
else
#endif
{
//Serial.print(pinDown);
//Serial.println(" pinDown noPWM");
digitalWrite(pinDown,HIGH);
}
}
else //Target zone
{
{ Serial.println("Target");
digitalWrite(pinUp,LOW);
digitalWrite(pinDown,LOW);
item->setExt(0);
item->clearFlag(ACTION_NEEDED);
item->clearFlag(ACTION_IN_PROCESS);
motorQuote++;
}
@@ -202,14 +245,6 @@ case S_CMD:
switch (cmd)
{
case CMD_ON:
/*
if (chActive>0 && send)
{
SendStatus(SEND_COMMAND);
return 1;
}
*/
//retrive stored values
st = item->getVal();

7
lighthub/modules/out_motor.h
View File

@@ -8,6 +8,13 @@
#define POS_ERR 2
#endif
// The number of simultaniusly working motors
#ifndef MOTOR_QUOTE
#define MOTOR_QUOTE 2
#endif
static int8_t motorQuote = MOTOR_QUOTE;
class out_Motor : public abstractOut {
public: