johannes.payr/pizzabox-teensy
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implemented motor speeds.

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This commit is contained in:
jpunkt 2022-01-18 20:40:34 +01:00
parent 86e79a6950
commit 3058f96a42
1 changed files with 19 additions and 10 deletions
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29
src/main.cpp
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@ -36,8 +36,13 @@ volatile int16_t positions[N_SCROLLS] = {};
// Last change on position counters in millis
elapsedMillis pos_lastchange[N_SCROLLS] = {};
enum Scroll_Idx{
TARGET,
SPEED
};
// Preset scroll values
int16_t scroll_targets[N_SCROLLS] = {0};
int16_t scroll_targets[N_SCROLLS][2] = {0};
enum Light_Values_Idx {
C,
@ -288,14 +293,17 @@ uint32_t color_value(uint32_t col_from, uint32_t col_to, float_t perc) {
* @brief Generic motor control (full speed). Call every 10us for good results.
*
*/
bool mot_control(Motor &mot1, Motor &mot2, volatile int16_t &pos, int16_t &aim) {
bool mot_control(Motor &mot1, Motor &mot2, volatile int16_t &pos, int16_t &aim, int16_t &speed) {
uint8_t speed1 = (speed * 64) - 1;
uint8_t speed2 = (speed * 32) - 1;
if (pos < aim) {
mot1.run(255, true);
mot2.run(127, true);
mot1.run(speed1, true);
mot2.run(speed2, true);
return false;
} else if (pos > aim) {
mot2.run(255, false);
mot1.run(127, false);
mot2.run(speed1, false);
mot1.run(speed2, false);
return false;
} else {
mot1.stop(false);
@ -368,7 +376,8 @@ void serial_set_light() {
void serial_set_scroll() {
uint8_t n = ssp.readUnsignedInt8();
scroll_targets[n] = positions[n] + ssp.readUnsignedInt16();
scroll_targets[n][TARGET] = positions[n] + ssp.readUnsignedInt16();
scroll_targets[n][SPEED] = ssp.readUnsignedInt8();
ssp.readEot();
@ -397,7 +406,7 @@ void serial_do_it() {
bool scrolls_moving = false;
for (uint8_t i=0; i < N_SCROLLS; i++) {
scrolls_moving = scrolls_moving || (positions[i] != scroll_targets[i]);
scrolls_moving = scrolls_moving || (positions[i] != scroll_targets[i][TARGET]);
}
elapsedMillis t = 0;
@ -417,10 +426,10 @@ void serial_do_it() {
bool move = false;
for (uint8_t i=0; i < N_SCROLLS; i++) {
if (!mot_control(scrolls[i][0], scrolls[i][1], positions[i], scroll_targets[i])) {
if (!mot_control(scrolls[i][0], scrolls[i][1], positions[i], scroll_targets[i][TARGET], scroll_targets[i][SPEED])) {
if ((t > ENDSTOP_OVERRIDE) && stop_scroll(scrolls[i][0], scrolls[i][1], scroll_pins[i][END_STOP])) {
move = move || false;
scroll_targets[i] = positions[i];
scroll_targets[i][TARGET] = positions[i];
} else {
move = move || true;
}