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Commit 8c24858c authored by David Gauchard's avatar David Gauchard
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move code to pousseseringue-arduino.cpp and add a dummy file for Arduino IDE

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pousseseringue-arduino.cpp 0 → 100644
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View file @ 8c24858c
// Feather esp8266
// Feather LCD
// Feather motor controler
#define STASSID "laas-capture"
#define STAPSK ""
#define NAME "PousseSeringue"
#define OLED_HW Adafruit128x32
#define BTNA 0 // gpio A adafruit feather oled 128x32
#define BTNB 16 // gpio B adafruit feather oled 128x32
#define BTNC 2 // gpio C adafruit feather oled 128x32
#define OLED_I2C 0x3c // adafruit feather oled 128x32
#if 1 // 1 for laas board
// A4988 PINOUT
#define DIR 15 // esp8266 gpio
#define STEP 13 // esp8266 gpio
#define SLEEP 12 // esp8266 gpio
#else // primilinary proto pinout
#warning WARNING NOT LAAS BOARD !
// A4988 PINOUT
#define DIR 12 // esp8266 gpio
#define STEP 13 // esp8266 gpio
#define SLEEP 14 // esp8266 gpio
#endif // proto pinout
// should this be configurable through a GUI ?
#define MOTOR_STEPS 200 // 17HS19
#define MICROSTEPS_CONF 16 // hardware configuration: A4988's MS1,MS2,MS3 tied up
#define STEPPER_RPM 60 // some value is necessary for the driver XXXXX see below
#define STEP_DURATION_MIN_MS 2
#define STEP_DURATION_DEFAULT_MS 5
#include <ESP8266WiFi.h> // internal, wifi library
#include <DNSServer.h> // internal, access point mode
#include <SSD1306AsciiWire.h> // https://github.com/greiman/SSD1306Ascii
#include <A4988.h> // https://github.com/laurb9/StepperDriver
#include "Debouncer.h" // local, debouncer, short counter, long detector
#include "common.h"
enum class Modes { TURN, TURNSetup, RPM, RPMSetup, INFO };
millis_t nowMs; // to update on main loop(): "nowMs = millis();"
Debouncer<nowMs> bA, bB, bC;
A4988 a4988(MOTOR_STEPS, DIR, STEP, SLEEP);
SSD1306AsciiWire oled;
constexpr int DNS_PORT = 53;
DNSServer dnsServer;
char ssid[65];
Modes mode = Modes::TURN;
millis_t lastMoveMs = 0;
int move = 0;
// TURN mode
constexpr float step2deg = 360.0 / MOTOR_STEPS / MICROSTEPS_CONF; // deg for 1 step
int steps = MOTOR_STEPS * MICROSTEPS_CONF / 100; // =1/100 turn
// RPM mode
int stepsPerDuration = 1;
int stepDurationMs = STEP_DURATION_DEFAULT_MS;
float stepsPerDuration2rpm () { return 60.0 * stepsPerDuration / ((MOTOR_STEPS * MICROSTEPS_CONF) * (stepDurationMs / 1000.0)); }
int rpming = 0; // -1, 0 or +1
const char* oledMode ()
{
switch (mode)
{
case Modes::TURN: return "TURN";
case Modes::TURNSetup: return "TURN Setup";
case Modes::RPM: return "RPM";
case Modes::RPMSetup: return "RPM Setup";
case Modes::INFO: return "Informations";
}
return "mode?";
}
void oledPrintMode ()
{
oled.printf("\n mode: %s", oledMode());
}
void oledRedisplay ()
{
oled.clear();
switch (mode)
{
case Modes::TURN:
oled.printf("<%g dR <<turn", steps * step2deg);
oledPrintMode();
oled.printf("\n");
oled.printf("\n<%g dL <<turn", steps * step2deg);
break;
case Modes::TURNSetup:
oled.printf("<+1 << +10 steps");
oledPrintMode();
oled.printf("\n current:%d (%g d)", steps, steps * step2deg);
oled.printf("\n<-1 << -10 steps");
break;
case Modes::RPM:
oled.printf("<stop <<start");
oledPrintMode();
oled.printf("\n %g rpm", stepsPerDuration2rpm());
oled.printf("\n<stop <<start");
break;
case Modes::RPMSetup:
oled.printf("<+1st <<+1ms st:%d", stepsPerDuration);
oledPrintMode();
oled.printf("\n %g rpm", stepsPerDuration2rpm());
oled.printf("\n<-1st <<-1ms t:%dms", stepDurationMs);
break;
case Modes::INFO:
oled.printf("IP:%s", WiFi.localIP().toString().c_str());
uint8_t mac[6];
WiFi.macAddress(mac);
oled.printf("\n%02x:%02x:%02x:%02x:%02x:%02x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
oled.printf("\nAPSSID & hostname:");
oled.printf("\n%s", ssid);
break;
default:
oled.printf("?");
}
}
void changeMode ()
{
switch (mode)
{
case Modes::TURN: mode = Modes::TURNSetup; break;
case Modes::TURNSetup: mode = Modes::RPM; break;
case Modes::RPM: mode = Modes::RPMSetup; break;
case Modes::RPMSetup: mode = Modes::INFO; break;
case Modes::INFO: mode = Modes::TURN; break;
}
oledRedisplay();
}
// button status management, per mode
void buttons (int shortp, int longp)
{
// log debug on serial console
Serial.printf("button change: short:%d long:%d\n", shortp, longp);
rpming = 0; // anything stops rpming
switch (mode)
{
case Modes::TURN:
move += shortp * steps;
move += longp * MOTOR_STEPS * MICROSTEPS_CONF;
break;
case Modes::TURNSetup:
steps += shortp;
steps += longp * 10;
oledRedisplay();
break;
case Modes::RPM:
if (longp)
rpming = longp; // move will be increased in main loop
if (shortp)
move = 0; // stop moving
break;
case Modes::RPMSetup:
if ((stepDurationMs += longp) < STEP_DURATION_MIN_MS)
stepDurationMs = STEP_DURATION_MIN_MS;
if ((stepsPerDuration += shortp) < 1)
stepsPerDuration = 1;
oledRedisplay();
break;
default:
Serial.printf("press not handled in buttons()\n");
}
}
void setup()
{
Serial.begin(74880);
Serial.setDebugOutput(true);
Wire.begin();
Wire.setClock(400000L);
delay(500);
oled.begin(&OLED_HW, OLED_I2C);
oled.setFont(System5x7);
oled.setScrollMode(SCROLL_MODE_AUTO);
oled.clear();
oled.println("Booting...\n");
a4988.begin(STEPPER_RPM); // some value is necessary
a4988.setEnableActiveState(LOW);
a4988.setMicrostep(MICROSTEPS_CONF);
a4988.enable();
uint8_t mac[6];
WiFi.macAddress(mac);
sprintf(ssid, NAME "-%02x%02x%02x", mac[3], mac[4], mac[5]);
WiFi.mode(WIFI_AP_STA);
WiFi.softAP(ssid);
WiFi.begin(STASSID, STAPSK);
WiFi.hostname(ssid);
// redirect everything to my AP ip:
dnsServer.setErrorReplyCode(DNSReplyCode::NoError);
dnsServer.start(DNS_PORT, "*", WiFi.softAPIP());
Serial.printf("AP: ssid='%s' (no password)\n", ssid);
Serial.printf("---> Connect to this SSID '%s' and head to http://%s <---\n", ssid, WiFi.softAPIP().toString().c_str());
Serial.printf("---> Within SSID %s, connect to http://%s <----\n", STASSID, ssid);
Serial.printf("---> (or read IP address on screen)\n");
Serial.printf("connecting to ssid '%s'\n", STASSID);
webSetup();
pinMode(BTNA, INPUT_PULLUP);
pinMode(BTNB, INPUT_PULLUP);
pinMode(BTNC, INPUT_PULLUP);
oledRedisplay();
}
void loop()
{
nowMs = millis();
// button management (nowMs must be updated)
bool changeA = bA.update(!digitalRead(BTNA));
bool changeB = bB.update(!digitalRead(BTNB));
bool changeC = bC.update(!digitalRead(BTNC));
if (changeA)
{
// button values (::shortCount(), ::longState())
// are not cleared until they are read
int shortA = bA.shortCount();
bool longA = bA.longState();
buttons(shortA, longA);
}
if (changeC)
{
int shortC = bC.shortCount();
bool longC = bC.longState();
buttons(-shortC, -longC);
}
if (changeB)
{
int shortB = bB.shortCount();
bool longB = bB.longState();
if (longB)
changeMode();
(void)shortB;
move = 0;
}
// Stepper
// MOVE THIS BLOCK INTO A TIMER/ISR
// (it is randomly slowed down by prints / web / wifi)
// (or? use A4988 RPM mode, related: a4988.begin(STEPPER_RPM);)
if (lastMoveMs - nowMs > (millis_t)stepDurationMs)
{
if (rpming && move < MOTOR_STEPS * MICROSTEPS_CONF && move > -(MOTOR_STEPS * MICROSTEPS_CONF))
{
move += rpming * MOTOR_STEPS * MICROSTEPS_CONF;
//Serial.printf("feeding %d\n", move);
}
if (move >= stepsPerDuration)
{
move -= stepsPerDuration;
a4988.move(stepsPerDuration); // forward revolution
}
if (move <= -stepsPerDuration)
{
move += stepsPerDuration;
a4988.move(-stepsPerDuration); // backward revolution
}
lastMoveMs += stepDurationMs;
}
webLoop();
dnsServer.processNextRequest(); // AP redirection
}
pousseseringue-arduino.ino
+ 1
− 318
View file @ 8c24858c
// Feather esp8266 // please edit this file: pousseseringue-arduino.cpp
// Feather LCD \ No newline at end of file
// Feather motor controler
#define STASSID "laas-capture"
#define STAPSK ""
#define NAME "PousseSeringue"
#define OLED_HW Adafruit128x32
#define BTNA 0 // gpio A adafruit feather oled 128x32
#define BTNB 16 // gpio B adafruit feather oled 128x32
#define BTNC 2 // gpio C adafruit feather oled 128x32
#define OLED_I2C 0x3c // adafruit feather oled 128x32
#if 1 // 1 for laas board
// A4988 PINOUT
#define DIR 15 // esp8266 gpio
#define STEP 13 // esp8266 gpio
#define SLEEP 12 // esp8266 gpio
#else // primilinary proto pinout
#warning WARNING NOT LAAS BOARD !
// A4988 PINOUT
#define DIR 12 // esp8266 gpio
#define STEP 13 // esp8266 gpio
#define SLEEP 14 // esp8266 gpio
#endif // proto pinout
// should this be configurable through a GUI ?
#define MOTOR_STEPS 200 // 17HS19
#define MICROSTEPS_CONF 16 // hardware configuration: A4988's MS1,MS2,MS3 tied up
#define STEPPER_RPM 60 // some value is necessary for the driver XXXXX see below
#define STEP_DURATION_MIN_MS 2
#define STEP_DURATION_DEFAULT_MS 5
#include <ESP8266WiFi.h> // internal, wifi library
#include <DNSServer.h> // internal, access point mode
#include <SSD1306AsciiWire.h> // https://github.com/greiman/SSD1306Ascii
#include <A4988.h> // https://github.com/laurb9/StepperDriver
#include "Debouncer.h" // local, debouncer, short counter, long detector
#include "common.h"
enum class Modes { TURN, TURNSetup, RPM, RPMSetup, INFO };
millis_t nowMs; // to update on main loop(): "nowMs = millis();"
Debouncer<nowMs> bA, bB, bC;
A4988 a4988(MOTOR_STEPS, DIR, STEP, SLEEP);
SSD1306AsciiWire oled;
constexpr int DNS_PORT = 53;
DNSServer dnsServer;
char ssid[65];
Modes mode = Modes::TURN;
millis_t lastMoveMs = 0;
int move = 0;
// TURN mode
constexpr float step2deg = 360.0 / MOTOR_STEPS / MICROSTEPS_CONF; // deg for 1 step
int steps = MOTOR_STEPS * MICROSTEPS_CONF / 100; // =1/100 turn
// RPM mode
int stepsPerDuration = 1;
int stepDurationMs = STEP_DURATION_DEFAULT_MS;
float stepsPerDuration2rpm () { return 60.0 * stepsPerDuration / ((MOTOR_STEPS * MICROSTEPS_CONF) * (stepDurationMs / 1000.0)); }
int rpming = 0; // -1, 0 or +1
const char* oledMode ()
{
switch (mode)
{
case Modes::TURN: return "TURN";
case Modes::TURNSetup: return "TURN Setup";
case Modes::RPM: return "RPM";
case Modes::RPMSetup: return "RPM Setup";
case Modes::INFO: return "Informations";
}
return "mode?";
}
void oledPrintMode ()
{
oled.printf("\n mode: %s", oledMode());
}
void oledRedisplay ()
{
oled.clear();
switch (mode)
{
case Modes::TURN:
oled.printf("<%g dR <<turn", steps * step2deg);
oledPrintMode();
oled.printf("\n");
oled.printf("\n<%g dL <<turn", steps * step2deg);
break;
case Modes::TURNSetup:
oled.printf("<+1 << +10 steps");
oledPrintMode();
oled.printf("\n current:%d (%g d)", steps, steps * step2deg);
oled.printf("\n<-1 << -10 steps");
break;
case Modes::RPM:
oled.printf("<stop <<start");
oledPrintMode();
oled.printf("\n %g rpm", stepsPerDuration2rpm());
oled.printf("\n<stop <<start");
break;
case Modes::RPMSetup:
oled.printf("<+1st <<+1ms st:%d", stepsPerDuration);
oledPrintMode();
oled.printf("\n %g rpm", stepsPerDuration2rpm());
oled.printf("\n<-1st <<-1ms t:%dms", stepDurationMs);
break;
case Modes::INFO:
oled.printf("IP:%s", WiFi.localIP().toString().c_str());
uint8_t mac[6];
WiFi.macAddress(mac);
oled.printf("\n%02x:%02x:%02x:%02x:%02x:%02x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
oled.printf("\nAPSSID & hostname:");
oled.printf("\n%s", ssid);
break;
default:
oled.printf("?");
}
}
void changeMode ()
{
switch (mode)
{
case Modes::TURN: mode = Modes::TURNSetup; break;
case Modes::TURNSetup: mode = Modes::RPM; break;
case Modes::RPM: mode = Modes::RPMSetup; break;
case Modes::RPMSetup: mode = Modes::INFO; break;
case Modes::INFO: mode = Modes::TURN; break;
}
oledRedisplay();
}
// button status management, per mode
void buttons (int shortp, int longp)
{
// log debug on serial console
Serial.printf("button change: short:%d long:%d\n", shortp, longp);
rpming = 0; // anything stops rpming
switch (mode)
{
case Modes::TURN:
move += shortp * steps;
move += longp * MOTOR_STEPS * MICROSTEPS_CONF;
break;
case Modes::TURNSetup:
steps += shortp;
steps += longp * 10;
oledRedisplay();
break;
case Modes::RPM:
if (longp)
rpming = longp; // move will be increased in main loop
if (shortp)
move = 0; // stop moving
break;
case Modes::RPMSetup:
if ((stepDurationMs += longp) < STEP_DURATION_MIN_MS)
stepDurationMs = STEP_DURATION_MIN_MS;
if ((stepsPerDuration += shortp) < 1)
stepsPerDuration = 1;
oledRedisplay();
break;
default:
Serial.printf("press not handled in buttons()\n");
}
}
void setup()
{
Serial.begin(74880);
Serial.setDebugOutput(true);
Wire.begin();
Wire.setClock(400000L);
delay(500);
oled.begin(&OLED_HW, OLED_I2C);
oled.setFont(System5x7);
oled.setScrollMode(SCROLL_MODE_AUTO);
oled.clear();
oled.println("Booting...\n");
a4988.begin(STEPPER_RPM); // some value is necessary
a4988.setEnableActiveState(LOW);
a4988.setMicrostep(MICROSTEPS_CONF);
a4988.enable();
uint8_t mac[6];
WiFi.macAddress(mac);
sprintf(ssid, NAME "-%02x%02x%02x", mac[3], mac[4], mac[5]);
WiFi.mode(WIFI_AP_STA);
WiFi.softAP(ssid);
WiFi.begin(STASSID, STAPSK);
WiFi.hostname(ssid);
// redirect everything to my AP ip:
dnsServer.setErrorReplyCode(DNSReplyCode::NoError);
dnsServer.start(DNS_PORT, "*", WiFi.softAPIP());
Serial.printf("AP: ssid='%s' (no password)\n", ssid);
Serial.printf("---> Connect to this SSID '%s' and head to http://%s <---\n", ssid, WiFi.softAPIP().toString().c_str());
Serial.printf("---> Within SSID %s, connect to http://%s <----\n", STASSID, ssid);
Serial.printf("---> (or read IP address on screen)\n");
Serial.printf("connecting to ssid '%s'\n", STASSID);
webSetup();
pinMode(BTNA, INPUT_PULLUP);
pinMode(BTNB, INPUT_PULLUP);
pinMode(BTNC, INPUT_PULLUP);
oledRedisplay();
}
void loop()
{
nowMs = millis();
// button management (nowMs must be updated)
bool changeA = bA.update(!digitalRead(BTNA));
bool changeB = bB.update(!digitalRead(BTNB));
bool changeC = bC.update(!digitalRead(BTNC));
if (changeA)
{
// button values (::shortCount(), ::longState())
// are not cleared until they are read
int shortA = bA.shortCount();
bool longA = bA.longState();
buttons(shortA, longA);
}
if (changeC)
{
int shortC = bC.shortCount();
bool longC = bC.longState();
buttons(-shortC, -longC);
}
if (changeB)
{
int shortB = bB.shortCount();
bool longB = bB.longState();
if (longB)
changeMode();
(void)shortB;
move = 0;
}
// Stepper
// MOVE THIS BLOCK INTO A TIMER/ISR
// (it is randomly slowed down by prints / web / wifi)
// (or? use A4988 RPM mode, related: a4988.begin(STEPPER_RPM);)
if (lastMoveMs - nowMs > (millis_t)stepDurationMs)
{
if (rpming && move < MOTOR_STEPS * MICROSTEPS_CONF && move > -(MOTOR_STEPS * MICROSTEPS_CONF))
{
move += rpming * MOTOR_STEPS * MICROSTEPS_CONF;
//Serial.printf("feeding %d\n", move);
}
if (move >= stepsPerDuration)
{
move -= stepsPerDuration;
a4988.move(stepsPerDuration); // forward revolution
}
if (move <= -stepsPerDuration)
{
move += stepsPerDuration;
a4988.move(-stepsPerDuration); // backward revolution
}
lastMoveMs += stepDurationMs;
}
webLoop();
dnsServer.processNextRequest(); // AP redirection
}
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