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blinds_motorcontrol/src/main.cpp

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#include <Arduino.h>
#include <Wire.h>
#include <Homie.h>
//Upload config: platformio run --target uploadfs
/*
TODO:
- implement failure detection (timeouts),
- has to stop when driving upwards (or in general) for too long (for example end marker missing)
- manual mover function should work better with iot commands (set position, no errors). implemented but untested
- implement find end mode when only using manual move buttons
*/
#define FW_NAME "blindctrl"
#define FW_VERSION "1.0.0"
HomieNode blind1Node("blindl", "Blind Left", "blind"); //paramters: topic, $name, $type
HomieNode blind2Node("blindr", "Blind Right", "blind"); //paramters: topic, $name, $type
#include "WEMOS_Motor.h"
//follow firmware flash guide for new wemos motor shield v1.0 https://github.com/thomasfredericks/wemos_motor_shield
#define BUTTON_DEBOUNCE 200
#define PIN_BUTTON1 D5
#define PIN_BUTTON2 D6
struct button{
uint8_t pin;
unsigned long last_time_read=0;
bool down=false;
bool changed=false;
bool manual_drive_direction=false;
};
button button1;
button button2;
unsigned long last_sensor_read=0;
#define SENSOR_READ_INTERVAL 50 //in ms
#define SENSE_FILTER_SIZE 10 //value will have a delay of td = SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL
#define CALCULATEPOSITIONESTIMATE_INTERVAL 100
#define POSITION_SPEEDMEASURE_HIGH 1000.0 //at which position (in mm) speedfactorHigh should be measured (should be at least two encoder segments beyond that left)
#define MAX_ALLOWED_CLASSCHANGE_LENGTH 130 //[mm] . for error check. after with length traveled without classification change error will be triggered. should be at least max(length_opaque,length_clear)
#define PIN_SENSE A0
unsigned long last_print=0;
#define PIN_SENSE_LED1 D7
#define PIN_SENSE_LED2 D8
uint8_t sensorreadID=0;
//#define SENSOR_SWITCH_INTERVAL 20 //should be lower or equal than SENSOR_READ_INTERVAL
//unsigned long last_sensor_led_switch=0;
//define directions for motors
#define _UP _CCW
#define _DOWN _CW
#define SENSESTATUS_CLEAR 1
#define SENSESTATUS_OPAQUE 2
#define SENSESTATUS_END 3
#define SENSESTATUS_UNKNOWN 0
#define MODE_IDLE 0
#define MODE_FIND_END 1
#define MODE_MEASURE_SPEED 2
#define MODE_GO_TO_POS 3
#define MODE_MANUAL 4
#define MODE_ERROR 5
//model parameters/variables
struct blindmodel
{
unsigned long lastreadtime=0;
float position=0; //0 is furthest open. positive is down (closing). unit is mm. estimated position
int8_t last_n=0; //-1 means not defined/unknown
float length_clear; //length of clear part in position units
float length_opaque; //lengt of opaque part in position units
float start_first_clear; //distance from end marker to beginning of first clear section
//end marker should be on the opaque section. So that a full clear section follows
float speedfactorLow=1; //how much position units (mm) per second at pwm=100. speedfactorLow for position at 0
float speedfactorHigh=1; //speedfactorHigh for position at 1000 mm. gets extrapolated above
float speedfactor_factor_updirection=1.0; //when moving up, how much to change the estimated position change (speed). when going slower in up direction, choose value below 1.0
int sense_clear_lower; //adc value lower limit for clear part. clear is around 70
int sense_clear_upper; //adc value upper limit for clear part
int sense_opaque_lower; //adc value lower limit for opaque part. opaque is around 675
int sense_opaque_upper; //adc value upper limit for opaque part
int sense_end_lower; //adc value lower limit for end marker
int sense_end_upper; //adc value upper limit for end marker
uint8_t sense_status=0;
uint8_t last_sense_status=0;
int sense_read[SENSE_FILTER_SIZE] = {0};
uint8_t sense_read_pos=0; //position of last element written to
uint8_t pin_sensor_led; //pin to activate sensor. high activates sensor
float set_position=0;
float softlimit_min=0;
float softlimit_max=1000; //doubled value for folding bilds
float position_last_classchange=0; //last position sensor measured class was ok
uint8_t mode=MODE_IDLE;
uint8_t mode_find_end_state=0;
uint8_t mode_measure_speed_state=0;
unsigned long timing_start;
int speed=0; //-100 to 100. commanded speed to motor. negative means upwards
int speedSimulated=0; //software simulated motor speed up and slow down
float simulated_acc_dec=-100; //pwm/sec^2, speed getting more negative (accelerating up). this value should be negative. better choose too small absolute values
float simulated_acc_inc=100; //pwm/sec^2, speed getting more positive (accelerating down)
unsigned long last_calculate_position_estimate=0;
uint8_t error=0;
};
blindmodel blind1;
blindmodel blind2;
//Motor shield default I2C Address: 0x30
//PWM frequency: 1000Hz(1kHz)
Motor M1(0x30, _MOTOR_A, 1000); //Motor A
Motor M2(0x30, _MOTOR_B, 1000); //Motor B
unsigned long last_motor_send=0;
#define MOTOR_UPDATE_INTERVAL 100
#define DIFF_ERROR_FACTOR 0.6 //between 0 and 1. 1=error when estimated position error is at maximum (between two possible encoder readings). 0=no deviation allowed
#define ERRORCODE_POSITIONDIFFTOOHIGH 1 //deviation too high on position correction
#define ERRORCODE_N_NOT_NEXT 2 //skipped one transition. position jumped too far?
#define ERRORCODE_UNDEFINED_POSITION 3
#define ERRORCODE_CLASSIFY_LENGTH 4
#define THRESHOLD_GO_TO_POS 20 //how close blind has to be to have reached position (in mm)
#define MINTIMEINTERVAL_POSITION 500 //how fast new position should be send via mqtt when moving
int getFitered(int* values,uint8_t size);
void classifySensorValue(blindmodel &blind);
void checkButton(button &btn);
void checkModes(blindmodel &blind, HomieNode &node);
void manualMoveHandler(button &btn, blindmodel &blind);
void readSensor(blindmodel &blind, int value, HomieNode &node);
void estimatePosition(blindmodel &blind, HomieNode& node);
void errorCheck(blindmodel &blind, HomieNode &node);
void updateMotor(blindmodel &blind, Motor motor);
void setError(blindmodel &blind, uint8_t errorcode, HomieNode& node);
String modeNumToString(uint8_t modenum);
String sensestatusNumToString(uint8_t sensestatusnum);
String errorcodeNumToString(uint8_t errorcode);
bool blind_l_positionHandler(const HomieRange& range, const String& value);
bool blind_r_positionHandler(const HomieRange& range, const String& value);
bool blind_l_cmdHandler(const HomieRange& range, const String& value);
bool blind_r_cmdHandler(const HomieRange& range, const String& value);
bool blind_cmdHandler(blindmodel &blind, HomieNode& node, const String& value); //referenced by blind_l and r _cmdHandler
void loopHandler();
void setup() {
Serial.begin(115200);
Serial.println("Starting");
button1.pin=PIN_BUTTON1;
button2.pin=PIN_BUTTON2;
pinMode(button1.pin, INPUT_PULLUP);
pinMode(button2.pin, INPUT_PULLUP);
pinMode(PIN_SENSE, INPUT);
pinMode(PIN_SENSE_LED1,OUTPUT);
pinMode(PIN_SENSE_LED2,OUTPUT);
digitalWrite(PIN_SENSE_LED1, LOW);
digitalWrite(PIN_SENSE_LED2, LOW);
M1.setmotor(_STOP);
M2.setmotor(_STOP);
//settings for blind
blind1.pin_sensor_led=PIN_SENSE_LED1;
blind1.length_clear=50;
blind1.length_opaque=74;
blind1.sense_clear_lower=40;
blind1.sense_clear_upper=150;
blind1.sense_opaque_lower=280;
blind1.sense_opaque_upper=800;
blind1.sense_end_lower=850;
blind1.sense_end_upper=1024;
blind1.speedfactorLow=28.7;
blind1.speedfactorHigh=25.3;
blind1.speedfactor_factor_updirection=0.80; //down: 2306mm in 94s ,up: 97s
blind1.start_first_clear=27;
blind1.simulated_acc_dec=-120;
blind1.simulated_acc_inc=200;
blind1.softlimit_min=0;
blind1.softlimit_max=2500;
setError(blind1,ERRORCODE_UNDEFINED_POSITION,blind1Node);
blind2.pin_sensor_led=PIN_SENSE_LED2;
blind2.length_clear=50;
blind2.length_opaque=74;
blind2.sense_clear_lower=40;
blind2.sense_clear_upper=150;
blind2.sense_opaque_lower=280;
blind2.sense_opaque_upper=800;
blind2.sense_end_lower=850;
blind2.sense_end_upper=1024;
blind2.speedfactorLow=27.6;
blind2.speedfactorHigh=23.5;
blind2.speedfactor_factor_updirection=0.8;
blind2.start_first_clear=27;
blind2.simulated_acc_dec=-120;
blind2.simulated_acc_inc=200;
blind2.softlimit_min=0;
blind2.softlimit_max=2500;
setError(blind2,ERRORCODE_UNDEFINED_POSITION,blind2Node);
//Test
//blind1.mode = MODE_FIND_END;
//blind1.mode_find_end_state=0; //reset mode find state
//blind2.mode = MODE_FIND_END;
//blind2.mode_find_end_state=0; //reset mode find state
Homie_setFirmware(FW_NAME, FW_VERSION);
Homie_setBrand(FW_NAME);
Homie.setLoopFunction(loopHandler);
blind1Node.advertise("position").settable(blind_l_positionHandler); //function inputHandler gets called on new message on topic/input/set
blind1Node.advertise("debug");
blind1Node.advertise("estimationerror");
blind1Node.advertise("mode");
blind1Node.advertise("cmd").settable(blind_l_cmdHandler);
blind2Node.advertise("position").settable(blind_r_positionHandler); //function inputHandler gets called on new message on topic/input/set
blind2Node.advertise("debug");
blind2Node.advertise("estimationerror");
blind2Node.advertise("mode");
blind2Node.advertise("cmd").settable(blind_r_cmdHandler);
Homie.setup();
}
void loop() {
Homie.loop();
}
void loopHandler() {
checkButton(button1);
checkButton(button2);
//Manual movement by button
//TODO: button handler. long press both, double press. etc.
//hold button down at startup for failsafe mode (manual drive by button press. ignore sensors)
//normal operation: Hold button for 5sec - reset & find end
// tap button once - drive up until pressed again
// tap button twice - drive down until pressed again (for left and right blind resp.)
manualMoveHandler(button1, blind1);
manualMoveHandler(button2, blind2);
//Read sensor/encoder
if (millis() > last_sensor_read + SENSOR_READ_INTERVAL/2) {
int rawsensorvalue=analogRead(PIN_SENSE);
switch (sensorreadID) {
case 0:
if (millis() > last_print + 500 && blind1.speedSimulated!=0) { //when readSensor would print its status
Serial.print("1: ");
}
readSensor(blind1,rawsensorvalue, blind1Node);
digitalWrite(blind1.pin_sensor_led,LOW); //turn self off
digitalWrite(blind2.pin_sensor_led,HIGH); //turn next on
break;
case 1:
if (millis() > last_print + 500 && blind2.speedSimulated!=0) { //when readSensor would print its status
Serial.print("2: ");
}
readSensor(blind2,rawsensorvalue, blind2Node);
digitalWrite(blind2.pin_sensor_led,LOW); //turn self off
digitalWrite(blind1.pin_sensor_led,HIGH); //turn next on
break;
default:
sensorreadID=0; //reset, failsafe
break;
}
last_sensor_read=millis();
sensorreadID++;
sensorreadID=sensorreadID%2;
}
static float last_blind1_position=0;
static unsigned long lastsend_blind1_position=0; //time
if (last_blind1_position != blind1.position && millis()-lastsend_blind1_position>MINTIMEINTERVAL_POSITION) {
blind1Node.setProperty("position").send((String)blind1.position);
last_blind1_position=blind1.position;
lastsend_blind1_position=millis();
}
static uint8_t last_blind1_mode=100;
if (last_blind1_mode!=blind1.mode)
{
blind1Node.setProperty("mode").send(modeNumToString(blind1.mode));
last_blind1_mode=blind1.mode;
}
static float last_blind2_position=0;
static unsigned long lastsend_blind2_position=0; //time
if (last_blind2_position != blind2.position && millis()-lastsend_blind2_position>MINTIMEINTERVAL_POSITION) {
blind2Node.setProperty("position").send((String)blind2.position);
last_blind2_position=blind2.position;
lastsend_blind2_position=millis();
}
static uint8_t last_blind2_mode=100;
if (last_blind2_mode!=blind2.mode)
{
blind2Node.setProperty("mode").send(modeNumToString(blind2.mode));
last_blind2_mode=blind2.mode;
}
checkModes(blind1, blind1Node);
checkModes(blind2, blind2Node);
//Estimate blind position and correct
estimatePosition(blind1, blind1Node);
estimatePosition(blind2, blind2Node);
errorCheck(blind1, blind1Node);
errorCheck(blind2, blind2Node);
//Update Motor Driver
if (millis() > last_motor_send + MOTOR_UPDATE_INTERVAL) {
updateMotor(blind1, M1);
updateMotor(blind2, M2);
last_motor_send=millis();
}
}
int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort
{
// Need to cast the void * to int *
int a = *((int *)cmp1);
int b = *((int *)cmp2);
// The comparison
return a > b ? -1 : (a < b ? 1 : 0);
// A simpler, probably faster way:
//return b - a;
}
int getFitered(int* values,uint8_t size) {
int copied_values[size];
for(int i=0;i<size;i++) {
copied_values[i] = values[i]; //TODO: maybe some value filtering/selection here
}
int copied_values_length = sizeof(copied_values) / sizeof(copied_values[0]);
qsort(copied_values, copied_values_length, sizeof(copied_values[0]), sort_desc);
return copied_values[size/2];
}
void classifySensorValue(blindmodel &blind) {
int filtered=getFitered(blind.sense_read, SENSE_FILTER_SIZE);
if (filtered>=blind.sense_clear_lower && filtered<=blind.sense_clear_upper) {
if (blind.sense_status==SENSESTATUS_OPAQUE) { //change from opaque to clear
blind.position_last_classchange=blind.position;
Serial.print("classchange to clear. last="); Serial.print(blind.position_last_classchange); Serial.print(", pos="); Serial.println(blind.position);
}
blind.sense_status=SENSESTATUS_CLEAR;
} else if (filtered>=blind.sense_opaque_lower && filtered<=blind.sense_opaque_upper) {
if (blind.sense_status==SENSESTATUS_CLEAR) { //change from clear to opaque
blind.position_last_classchange=blind.position;
Serial.print("classchange to opaque. last="); Serial.print(blind.position_last_classchange); Serial.print(", pos="); Serial.println(blind.position);
}
blind.sense_status=SENSESTATUS_OPAQUE;
} else if (filtered>=blind.sense_end_lower && filtered<=blind.sense_end_upper) {
blind.sense_status=SENSESTATUS_END;
} //if not in these boundaries, keep last class
}
void checkButton(button &btn) {
btn.changed=false;
if (millis() > btn.last_time_read + BUTTON_DEBOUNCE) {
bool new_pin_button_down=!digitalRead(btn.pin);
if (btn.down != new_pin_button_down) { //changed
btn.down = new_pin_button_down; //update
btn.changed=true;
btn.last_time_read=millis(); //delay next check
}
}
}
void manualMoveHandler(button &btn, blindmodel &blind)
{
if (btn.changed) {
if (btn.down) { //changed to pressed
blind.mode=MODE_MANUAL;
if (btn.manual_drive_direction) { //drive up
//M1.setmotor( _CW, 100);
blind.speed=-100;
//Serial.print("CW PWM: ");
}else{ //drive down
blind.speed=100;
//Serial.print("CCW PWM: ");
}
btn.manual_drive_direction=!btn.manual_drive_direction; //switch direction every new press
}else{ //changed to released
//Serial.println("Motor STOP");
blind.mode=MODE_IDLE;
blind.speed=0;
}
}
}
void readSensor(blindmodel &blind, int value, HomieNode &node)
{
blind.sense_read_pos=(blind.sense_read_pos+1)%SENSE_FILTER_SIZE; //next element
blind.sense_read[blind.sense_read_pos]=value;
classifySensorValue(blind); //writes to blindmodel.sense_status
if (millis() > last_print + 500 && blind.speedSimulated!=0) {
Serial.print("SenseStatus=");
Serial.print(sensestatusNumToString(blind.sense_status));
Serial.print("("); Serial.print(getFitered(blind.sense_read, SENSE_FILTER_SIZE)); Serial.print(")");
Serial.print(", mode=");
Serial.print(modeNumToString(blind.mode));
Serial.print(", speed=");
Serial.print(blind.speed);
Serial.print(", speedSim=");
Serial.print(blind.speedSimulated);
Serial.print(", pos=");
Serial.println(blind.position);
last_print=millis();
}
}
void errorCheck(blindmodel &blind, HomieNode &node) {
if (blind.sense_status==SENSESTATUS_END) {
if (blind.speed<0) { //stop driving up
blind.speed=0;
}
}
if (blind.position>=blind.softlimit_max) { //reached bottom
if (blind.speed>0) { //stop driving down
blind.speed=0;
}
}
if (abs(blind.position_last_classchange-blind.position) > MAX_ALLOWED_CLASSCHANGE_LENGTH ) { //sensor reading havent been classified for too far
if (blind.error==0) { //only first time
Serial.print("classchange error: last_classchange="); Serial.print(blind.position_last_classchange); Serial.print(", pos="); Serial.println(blind.position);
}
setError(blind, ERRORCODE_CLASSIFY_LENGTH, node);
}
//TODO: led self test. turn off ,should be high value
}
void estimatePosition(blindmodel &blind, HomieNode& node) {
float positional_speedfactor = blind.speedfactorLow + constrain(blind.position, blind.softlimit_min, blind.softlimit_max)*(blind.speedfactorHigh-blind.speedfactorLow)/POSITION_SPEEDMEASURE_HIGH; //interpolate/extrapolate speedfactor (speed is different when rolled up)
if (blind.speedSimulated<0) { //moving up
positional_speedfactor*=blind.speedfactor_factor_updirection; //used if speed for up direction is slower (likely when using dc motor)
}
if (millis() > blind.last_calculate_position_estimate + CALCULATEPOSITIONESTIMATE_INTERVAL) {
float _actualTime=(millis()-blind.last_calculate_position_estimate)/1000.0; //in seconds
blind.speedSimulated+= constrain(blind.speed - blind.speedSimulated, blind.simulated_acc_dec*_actualTime, blind.simulated_acc_inc*_actualTime);
blind.position+= blind.speedSimulated/100.0*positional_speedfactor * _actualTime;
blind.last_calculate_position_estimate=millis();
}
//if (blind.mode!= MODE_FIND_END) {
if (blind.sense_status == SENSESTATUS_END && blind.last_sense_status != SENSESTATUS_END) { //entered end marker
blind.position=0;
blind.position_last_classchange=blind.position; //also set lastchange position
float _filterdelay_correction=blind.speedSimulated/100.0*positional_speedfactor *SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL/1000.0;
blind.position += _filterdelay_correction; //correct for filter delay
Serial.print("Reached End marker. set Position="); Serial.println(blind.position);
node.setProperty("debug").send("Reached End marker. set Position="+(String)blind.position);
}
if (blind.sense_status == SENSESTATUS_CLEAR || blind.sense_status == SENSESTATUS_OPAQUE || blind.sense_status == SENSESTATUS_END) { //either opaque or clear (or end, only for last update used)
if (blind.sense_status != blind.last_sense_status) { //status changed
if (blind.last_sense_status == SENSESTATUS_CLEAR || blind.last_sense_status == SENSESTATUS_OPAQUE) { //only changes from clear to opaque or opaque to clear
float _position_before=blind.position;//only for text output debugging
if ((blind.speedSimulated>0 && blind.sense_status==SENSESTATUS_OPAQUE) || (blind.speedSimulated<0 && blind.sense_status==SENSESTATUS_CLEAR)) { //moving down from and clear to opaque OR moving up and from opaque to clear
//estimated_position_difference = -blind.position + blind.start_first_clear+blind.length_clear + _n*(blind.length_clear+blind.length_opaque); //possible occurances. let estimated_position=0 , solve for n
int _n = round((blind.position -blind.start_first_clear - blind.length_clear)/(blind.length_clear+blind.length_opaque)); //find closest n
blind.position = blind.start_first_clear+blind.length_clear + _n*(blind.length_clear+blind.length_opaque); //calculate position from _n
float _filterdelay_correction=blind.speedSimulated/100.0*positional_speedfactor *SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL/1000.0;
blind.position += _filterdelay_correction; //correct for filter delay
Serial.print("nearest n="); Serial.println(_n);
if (blind.last_n !=-1 && abs(blind.last_n-_n>1) && blind.mode!= MODE_FIND_END) { //if last_n is known and if n is not the next (error)
setError(blind, ERRORCODE_N_NOT_NEXT, node);
}
blind.last_n=_n; //for error check
Serial.print("posCorrection="); Serial.print(_filterdelay_correction);
Serial.print(", DOWN&CLE->OPA or UP&OPA->CLE, before=");
}else if((blind.speedSimulated>0 && blind.sense_status==SENSESTATUS_CLEAR) || (blind.speedSimulated<0 && blind.sense_status==SENSESTATUS_OPAQUE)) { //the other transition
//estimated_position_difference = -blind.position + blind.start_first_clear + _n*(blind.length_clear+blind.length_opaque); //possible occurances. let estimated_position=0 , solve for n
int _n = round(( blind.position - blind.start_first_clear)/(blind.length_clear+blind.length_opaque)); //find closest n
Serial.print("n=");
Serial.println(_n);
blind.position = blind.start_first_clear + _n*(blind.length_clear+blind.length_opaque); //calculate position from _n
float _filterdelay_correction=blind.speedSimulated/100.0*positional_speedfactor*SENSE_FILTER_SIZE/2*SENSOR_READ_INTERVAL/1000.0;
blind.position += _filterdelay_correction; //correct for filter delay
Serial.print("posCorrection="); Serial.print(_filterdelay_correction);
Serial.print(", UP&CLE->OPA or DOWN&OPA->CLE, before=");
}
Serial.print(_position_before);
Serial.print(", after=");
Serial.print(blind.position);
Serial.print(", diff=");
Serial.println(blind.position-_position_before);
//node.setProperty("debug").send("diff="+(String)(blind.position-_position_before));
node.setProperty("estimationerror").send((String)(blind.position-_position_before)); //positive value means estimation position was too low (estimated speed to low), when driving down (positive dir)
if (blind.mode != MODE_FIND_END && blind.mode != MODE_MEASURE_SPEED ) { //only check error if not in find_end mode or measure speed
if (abs(blind.position-_position_before)>=(blind.length_clear+blind.length_opaque)/2.0*DIFF_ERROR_FACTOR) {
setError(blind, ERRORCODE_POSITIONDIFFTOOHIGH, node);
}
}
}
blind.last_sense_status = blind.sense_status; //update only if new one is opaque or clear
}
}
//}
}
void updateMotor(blindmodel &blind, Motor motor)
{
if (blind.error!=0) { //error appeared
blind.speed=0; //set speed to 0
}
if(blind.speed<0){
motor.setmotor( _UP, abs(blind.speed));
}else if(blind.speed>0){
motor.setmotor( _DOWN, abs(blind.speed));
}else{
motor.setmotor(_STOP);
}
}
void checkModes(blindmodel &blind, HomieNode &node) {
if (blind.error==0) //only if no errors
{
switch(blind.mode) {
case MODE_FIND_END:
switch(blind.mode_find_end_state) {
case 0: //drive up until end sensed
blind.speed=-100; //up
if (blind.sense_status==SENSESTATUS_END) {
blind.speed=0; //stop. for safety
blind.mode_find_end_state++;
}
break;
case 1: //drive down slowly until passed end maker
blind.speed=25; //down slow
if (blind.sense_status!=SENSESTATUS_END) {
blind.speed=0; //stop
blind.position=0;
blind.position_last_classchange=blind.position; //also set lastchange position
blind.mode=MODE_IDLE;
//blind.mode=MODE_MEASURE_SPEED; //next measure speed
blind.mode_find_end_state=0; //reset
blind.last_n=-1; //unknown
}
break;
}
break;
case MODE_MEASURE_SPEED:
switch(blind.mode_measure_speed_state) {
case 0: //drive down, start timing at clear
if (blind.position>100) { //cancel
node.setProperty("cmd").send("canceled. Position>100: pos="+(String)blind.position);
blind.speed=0; //stop
blind.mode_measure_speed_state=0; // reset
blind.mode=MODE_IDLE;
break;
}
blind.speed=100; //down
if (blind.sense_status==SENSESTATUS_CLEAR) {
blind.timing_start=millis();
blind.mode_measure_speed_state++;
}
break;
case 1: //on clear section
blind.speed=100; //down
if (blind.sense_status==SENSESTATUS_OPAQUE) { //wait for opaque section
blind.mode_measure_speed_state++;
}
break;
case 2: //on opaque section
blind.speed=100; //down
if (blind.sense_status==SENSESTATUS_CLEAR) { //wait for clear section
blind.speedfactorLow=(blind.length_clear+blind.length_opaque)/ ((millis()-blind.timing_start)/1000.0); //calculate length per second
blind.speedfactorHigh=blind.speedfactorLow; //use speedfactorLow for a first rough estimate (needed to know when position for speedfactorHigh measure reached)
Serial.print("speedfactorLow=");
Serial.print(blind.speedfactorLow);
Serial.println(" mm/s");
node.setProperty("cmd").send("speedfactorLow="+(String)blind.speedfactorLow);
blind.position = blind.length_opaque+blind.length_clear+blind.start_first_clear; //set position
blind.mode_measure_speed_state++;
}
break;
case 3: // past first measurement. drive to lower position for speedfactorHigh
if (blind.position>=POSITION_SPEEDMEASURE_HIGH) { //position reached
blind.mode_measure_speed_state++;
}
break;
case 4: //drive further down, start timing at clear
blind.speed=100; //down
if (blind.sense_status==SENSESTATUS_CLEAR) {
blind.timing_start=millis();
blind.mode_measure_speed_state++;
}
break;
case 5: //on clear section
blind.speed=100; //down
if (blind.sense_status==SENSESTATUS_OPAQUE) { //wait for opaque section
blind.mode_measure_speed_state++;
}
break;
case 6: //on opaque section
blind.speed=100; //down
if (blind.sense_status==SENSESTATUS_CLEAR) { //wait for clear section
blind.speedfactorHigh=(blind.length_clear+blind.length_opaque)/ ((millis()-blind.timing_start)/1000.0); //calculate length per second
Serial.print("speedfactorHigh=");
Serial.print(blind.speedfactorHigh);
Serial.println(" mm/s");
node.setProperty("cmd").send("speedfactorHigh="+(String)blind.speedfactorHigh);
blind.speed=0; //stop
blind.mode_measure_speed_state=0; // reset
blind.mode=MODE_IDLE;
}
break;
}
break;
case MODE_GO_TO_POS:
if (abs(blind.position-blind.set_position)<=THRESHOLD_GO_TO_POS) {
blind.speed=0; //stop
blind.mode=MODE_IDLE;
}else{
if (blind.set_position<blind.position) {
blind.speed=-100; //drive up
}else if (blind.set_position>blind.position) {
blind.speed=100; //drive down
}
}
break;
case MODE_MANUAL:
blind.set_position=blind.position; //use current position as set position
break;
}
}
}
void setError(blindmodel &blind, uint8_t errorcode, HomieNode& node){
if (blind.error==0) { //only set error if no error appeared before
blind.error=errorcode;
Serial.print("ERROR CODE="); Serial.println(errorcode);
node.setProperty("debug").send("Error="+errorcodeNumToString(errorcode));
}
blind.mode=MODE_ERROR;
}
String modeNumToString(uint8_t modenum){
switch(modenum){
case MODE_IDLE:
return "MODE_IDLE";
break;
case MODE_FIND_END:
return "MODE_FIND_END";
break;
case MODE_GO_TO_POS:
return "MODE_GO_TO_POS";
break;
case MODE_MEASURE_SPEED:
return "MODE_MEASURE_SPEED";
break;
case MODE_ERROR:
return "MODE_ERROR";
break;
}
return "UNDEF";
}
String sensestatusNumToString(uint8_t sensestatusnum){
switch(sensestatusnum){
case SENSESTATUS_UNKNOWN:
return "UNK";
break;
case SENSESTATUS_CLEAR:
return "CLE";
break;
case SENSESTATUS_OPAQUE:
return "OPA";
break;
case SENSESTATUS_END:
return "END";
break;
}
return "UNDEF";
}
String errorcodeNumToString(uint8_t errorcode) {
switch(errorcode){
case ERRORCODE_UNDEFINED_POSITION:
return "ERROR_UNDEFINED_POSITION";
break;
case ERRORCODE_POSITIONDIFFTOOHIGH:
return "ERROR_POSITIONDIFFTOOHIGH";
break;
case ERRORCODE_N_NOT_NEXT:
return "ERROR_N_NOT_NEXT";
break;
case ERRORCODE_CLASSIFY_LENGTH:
return "ERROR_CLASSIFY_LENGTH";
break;
}
return "no error";
}
bool blind_l_positionHandler(const HomieRange& range, const String& value) {
if (range.isRange) {
return false; //if range is given but index is not in allowed range
}
Homie.getLogger() << "blind_l_positionHandler" << ": " << value << endl;
//lightNode.setProperty("enable").send(value); //can be done in main loop
//if (value.toFloat() >= 0 && value.toFloat() <= 1.0) {
//something with value.toFloat()
blind1.set_position=constrain(value.toFloat(), blind1.softlimit_min, blind1.softlimit_max);
blind1.mode=MODE_GO_TO_POS;
/*}else{
Homie.getLogger() << "Value outside range" << endl;
return false;
}*/
return true;
}
bool blind_r_positionHandler(const HomieRange& range, const String& value) {
if (range.isRange) {
return false; //if range is given but index is not in allowed range
}
Homie.getLogger() << "blind_r_positionHandler" << ": " << value << endl;
blind2.set_position=constrain(value.toFloat(), blind2.softlimit_min, blind2.softlimit_max);
blind2.mode=MODE_GO_TO_POS;
return true;
}
bool blind_l_cmdHandler(const HomieRange& range, const String& value) {
if (range.isRange) {
return false; //if range is given but index is not in allowed range
}
Homie.getLogger() << "blind_l_cmdHandler" << ": " << value << endl;
return blind_cmdHandler(blind1,blind1Node, value);
}
bool blind_r_cmdHandler(const HomieRange& range, const String& value) {
if (range.isRange) {
return false; //if range is given but index is not in allowed range
}
Homie.getLogger() << "blind_r_cmdHandler" << ": " << value << endl;
return blind_cmdHandler(blind2,blind2Node, value);
/*
if (value=="END")
{
blind2.mode = MODE_FIND_END;
blind2.mode_find_end_state=0; //reset mode find state
}else if (value=="SPEEDFACTOR")
{
blind2.mode=MODE_MEASURE_SPEED; //measure speed
blind1Node.setProperty("cmd").send("cmd measure speed");
}else{
Homie.getLogger() << "unknown command" << endl;
return false;
}
return true;*/
}
bool blind_cmdHandler(blindmodel &blind, HomieNode& node, const String& value) {
if (value=="END")
{
blind.mode = MODE_FIND_END;
blind.mode_find_end_state=0; //reset mode find state
blind.position_last_classchange=blind.position; //otherwise error trips immediately
if (blind.error==ERRORCODE_UNDEFINED_POSITION) {
blind.error=0; //reset
}
node.setProperty("cmd").send("cmd end");
}else if (value=="SPEEDFACTOR")
{
blind.mode=MODE_MEASURE_SPEED; //measure speed
node.setProperty("cmd").send("cmd measure speed");
}else if (value=="SENSOR") //return adc values
{
Serial.print("("); Serial.print(getFitered(blind.sense_read, SENSE_FILTER_SIZE)); Serial.print(")");
Serial.print(", mode=");
Serial.print(modeNumToString(blind.mode));
node.setProperty("cmd").send(""+String(getFitered(blind.sense_read, SENSE_FILTER_SIZE))+" "+sensestatusNumToString(blind.sense_status));
}else if (value=="STOP") //stop. go back to idle mode and stop driving
{
blind.speed=0; //stop
blind.mode=MODE_IDLE;
blind.set_position=blind.position; //use current position as set pos to stay there
node.setProperty("cmd").send("stop");
}else if (value=="RESET") //reset from error
{
blind.position_last_classchange=blind.position;
blind.error=0;
node.setProperty("cmd").send("reset");
}else{
Homie.getLogger() << "unknown command" << endl;
return false;
}
return true;
}
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