test in real hardware and motor bugs
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143d218760
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6f257ebbd8
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@ -2,8 +2,9 @@
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* Ideas/TODO:
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* POT_MIN, POT_MAX as variable with calibration procedure. Drive slowly to both ends until value does not get lower.
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* Motor error checking. Timeout overall (if regulation fails or stuck). Timeout movement (motor is tunring but no change in poti value detected). Move right direction.
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* Relais switching (selection and muting)
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* MQTT topics
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* Hardware: motorentstörkondensatoren einbauen direkt an motor. 47nF + zu - und zwei 10nF + zu case und - zu case
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* PI Optimieren. aktuell overshoot
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* Implement knob menu structure
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*/
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#include <Arduino.h>
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@ -26,6 +27,7 @@ boolean getSelection(uint8_t pbit);
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boolean getMute(uint8_t pbit);
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void setSelectionChannel(uint8_t i, boolean state);
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void setMuteChannel(uint8_t i, boolean state);
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void publishCurrentSetVolume();
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#define LEDPIN 9 //PB1 = D9 = Pin15
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Adafruit_NeoPixel leds = Adafruit_NeoPixel(9, LEDPIN, NEO_GRB + NEO_KHZ800);
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@ -64,10 +66,6 @@ long last_serialdebug=0;
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Button button_knob;
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boolean button_flag=false; //true if button pressed
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boolean button_released=true;
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long last_button_released=0; //last time button has been released (for debounce)
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//Shift Register 595
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//connections: https://www.arduino.cc/en/tutorial/ShiftOut
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#define SRLATCH PD4 //D4 = PD4
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@ -91,10 +89,11 @@ float encoderMultiplier=4.0;
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uint8_t motorspeed=0;
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#define PIN_POT A0 //A0 = PC0, reference potentiometer wiper
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#define DEADZONE_POTI 5 //maximum allowed error. stop when reached this zone
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#define POT_MIN 10 //minimum value pot can reach
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#define POT_MAX 1010 //maximum value pot can reach
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#define DEADZONE_POTI 10 //maximum allowed error. stop when reached this zone
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#define POT_MIN 45 //minimum value pot can reach
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#define POT_MAX 950 //maximum value pot can reach
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#define POTIFILTER 0.8 //0 to 1. 1 means old value stays forever
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#define MAX_MOTOR_PWM 192 //0 to 255. Maximum pwm to output
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int poti_set; //set value, initial value will be read from poti
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int poti_read=0; //read value from poti
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@ -121,10 +120,11 @@ long last_motorcheck=0;
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//#define MOTOR_FAILTIME 500 //in ms. if motor did not turn fox x amount of time at least with MINIMUM_MOTORVEL an error will initiate
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//long last_motorTooSlow=0; //typically 0
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float motorP=1.0;
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float motorP=2.0;
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float motorI=0.1;
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float potidifference_integral=0;
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#define MOTORI_ANTIWINDUP 32 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
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#define MOTORI_ANTIWINDUP 90 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
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//Motor starts moving at about speed=80
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long last_potidifferenceLow=0;
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#define DEADZONETIMEUNTILREACHED 500 //time [ms] poti read value has to be inside of deadzone to set reachedposition flag (and stop regulating)
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@ -145,7 +145,7 @@ void setup() {
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Serial.begin(9600);
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while (!Serial) {};
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Serial.println("Starting");
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Serial.println("Boot");
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leds.begin();
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leds.clear();
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@ -158,18 +158,17 @@ void setup() {
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if (useethernet)
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{
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Serial.println("Setting up ethernet connection via DHCP");
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Serial.println("trying DHCP");
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if (Ethernet.begin(mac) == 0) { // setup ethernet communication using DHCP
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useethernet=false;
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//Unable to configure Ethernet using DHCP
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Serial.println("Unable to configure Ethernet using DHCP");
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Serial.println("DHCP Err");
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delay(200);
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//for (;;);
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}else{
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useethernet=true;
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Serial.println("Ethernet configured via DHCP");
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Serial.print("IP address: ");
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Serial.println(Ethernet.localIP());
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Serial.println();
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@ -184,10 +183,10 @@ void setup() {
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//Serial.println(ip);
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// setup mqtt client
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Serial.println("Configuring MQTT");
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Serial.println("Conf MQTT");
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mqttClient.setClient(ethClient);
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mqttClient.setServer("10.0.0.1", 1883);
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Serial.println("MQTT configured");
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Serial.println("MQTT ok");
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mqttClient.setCallback(callback);
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}
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}else{
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@ -198,6 +197,7 @@ void setup() {
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poti_set=analogRead(PIN_POT);
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Serial.println("Ready");
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last_send = millis();
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}
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@ -205,10 +205,11 @@ void setup() {
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void reconnect() {
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// Loop until reconnected
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if (!mqttClient.connected()) {
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Serial.print("Attempting MQTT connection...");
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Serial.print("Connect MQTT ..");
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// Attempt to connect
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if (mqttClient.connect(CLIENT_ID)) {
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Serial.println("connected");
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publishCurrentSetVolume();
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mqttClient.publish("audiomixer/ip", ip.c_str()); //Publish own ip
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mqttClient.subscribe("audiomixer/volume/set"); //subscribe to /set, republish without /set
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mqttClient.subscribe("audiomixer/mute/set"); //without range
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@ -221,6 +222,7 @@ void reconnect() {
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String sub_topic="audiomixer/select_"+String(i)+"/set";
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mqttClient.subscribe((char*) sub_topic.c_str());
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}
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} else {
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Serial.print("failed, rc=");
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Serial.print(mqttClient.state());
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@ -291,6 +293,7 @@ void loop() {
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poti_set+=volEncVel*encoderMultiplier; //change poti set value
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poti_set=constrain(poti_set, POT_MIN,POT_MAX);
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poti_reachedposition=false;
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publishCurrentSetVolume();
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}
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@ -371,7 +374,7 @@ void loop() {
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potidifference_integral+=potidifference*motorI;
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potidifference_integral=constrain(potidifference_integral,-MOTORI_ANTIWINDUP,MOTORI_ANTIWINDUP); //constrain
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_motormove=potidifference*motorP+potidifference_integral;
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motorspeed=constrain(abs(_motormove), 0,255);
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motorspeed=constrain(abs(_motormove), 0,MAX_MOTOR_PWM);
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if (poti_read<=POT_MIN && _motormove<0) { //stop motor if soft endstops reached and wants to turn that way
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MOTOR_STOP();
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potidifference_integral=0;
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@ -413,20 +416,19 @@ void loop() {
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last_serialdebug=loopmillis;
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Serial.print(" set=");
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Serial.print(poti_set);
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Serial.print(" is=");
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Serial.print(poti_read);
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Serial.print(" motorspeed=");
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Serial.print(" mspeed=");
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Serial.print(motorspeed);
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Serial.print(" iValue=");
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Serial.print(" iVal=");
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Serial.print(potidifference_integral);
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Serial.println("");
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if (button_flag){ //TODO: remove hier if correct behaviour implemented
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Serial.println("BUTTON Pressed");
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button_flag=false; //clear flag to reenable button triggering.
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if (poti_reachedposition) {
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Serial.print("!");
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}
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Serial.println("");
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for(uint8_t i=0;i<leds.numPixels();i++){ //set color of all leds
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leds.setPixelColor(i, Wheel(wheelpos+i*10));
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@ -439,6 +441,10 @@ void loop() {
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}
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if (loopmillis%5001==0) {
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Serial.println(loopmillis); //alive print. for debugging
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}
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}
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@ -460,9 +466,8 @@ void sendData() {
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void callback(char* topic, byte* payload, unsigned int length) {
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payload[length] = '\0'; //add end of string character
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String spayload = String((char*)payload);
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Serial.print("Message arrived [");
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Serial.print("Message arrived:");
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Serial.print(topic);
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Serial.print("] ");//MQTT_BROKER
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for (unsigned int i = 0; i < length; i++) {
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Serial.print((char)payload[i]);
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}
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@ -480,20 +485,18 @@ void callback(char* topic, byte* payload, unsigned int length) {
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float _floatvalue = spayload.toFloat();
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_floatvalue=constrain(_floatvalue,0.0,100.0);
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Serial.print("Volume string=");
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/*Serial.print("Volume string=");
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Serial.println(spayload);
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Serial.print("setvalue=");
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Serial.println(_floatvalue);
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Serial.println(_floatvalue);*/
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poti_set=constrain(map(_floatvalue,0.0,100.0,POT_MIN,POT_MAX),POT_MIN,POT_MAX); //set new poti position
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poti_reachedposition=false; //aim for new position
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char pub_payload[8]; // Buffer big enough for 7-character float
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dtostrf(_floatvalue, 1, 2, pub_payload);
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mqttClient.publish("audiomixer/volume", pub_payload);
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publishCurrentSetVolume();
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}else if (String(topic).equals("audiomixer/mute/set")) { //withouth range
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Serial.print("Mute string="); Serial.println(spayload);
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//Serial.print("Mute string="); Serial.println(spayload);
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uint16_t ipayload=spayload.toInt();
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if (spayload.equalsIgnoreCase("false")) {
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setMuteInt(0); //all unmuted
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@ -515,7 +518,7 @@ void callback(char* topic, byte* payload, unsigned int length) {
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}
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}else if (String(topic).startsWith("audiomixer/mute_")) { //with range
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Serial.print("Mute range string="); Serial.println(spayload);
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//Serial.print("Mute range string="); Serial.println(spayload);
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uint8_t _index=255;
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for (uint8_t i=0; i<NUMMUTECHANNELS && _index==255; i++) {
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if (String(topic).equals("audiomixer/mute_"+String(i)+"/set")) {
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@ -537,7 +540,7 @@ void callback(char* topic, byte* payload, unsigned int length) {
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}
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}else if (String(topic).equals("audiomixer/select/set")) { //withouth range
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Serial.print("Select string="); Serial.println(spayload);
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//Serial.print("Select string="); Serial.println(spayload);
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uint16_t ipayload=spayload.toInt();
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if (spayload.equalsIgnoreCase("false")) {
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setSelectionInt(0); //all select to NC
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@ -559,14 +562,14 @@ void callback(char* topic, byte* payload, unsigned int length) {
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}
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}else if (String(topic).startsWith("audiomixer/select_")) {
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Serial.print("Select string="); Serial.println(spayload);
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//Serial.print("Select string="); Serial.println(spayload);
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uint8_t _index=255;
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for (uint8_t i=0; i<NUMSELECTCHANNELS && _index==255; i++) {
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if (String(topic).equals("audiomixer/select_"+String(i)+"/set")) {
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_index=i;
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}
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}
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Serial.print("Found index:"); Serial.println(_index);
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//Serial.print("Found index:"); Serial.println(_index);
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if (_index==255) {
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Serial.println("Index out of range");
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}else{ //index ok
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@ -622,7 +625,6 @@ void setMuteInt(uint8_t i) {
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uint16_t mask=(( (uint16_t)1<<(NUMMUTECHANNELS))-1 )<<NUMSELECTCHANNELS;
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srbits = ((i<<NUMSELECTCHANNELS) & mask) | (srbits & ~mask);
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srShiftOut();
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Serial.println(srbits);
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}
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boolean getMute(uint8_t pbit) {
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return srbits & (1<<(pbit+NUMSELECTCHANNELS)); //check bit at position
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@ -646,4 +648,13 @@ void setMuteChannel(uint8_t i, boolean state){
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if (i<NUMMUTECHANNELS) {
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srWrite(i+NUMSELECTCHANNELS, state); //offset. selection is first shift register
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}
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}
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void publishCurrentSetVolume()
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{
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float _setpercentage=map(poti_set,POT_MIN,POT_MAX, 0.0,100.0); //get percentage from set poti value
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char pub_payload[8]; // Buffer big enough for 7-character float
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dtostrf(_setpercentage, 1, 2, pub_payload);
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mqttClient.publish("audiomixer/volume", pub_payload);
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Serial.print("pub="); Serial.println(_setpercentage);
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}
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