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feat: add slower motor movement speed

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This commit is contained in:
Wlad Meixner 2022-09-29 20:49:36 +02:00
parent f97b57d9c9
commit 7c8a0e786b
3 changed files with 13 additions and 4 deletions
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2
growme/include/MotorControl.hpp
View File

@ -11,7 +11,7 @@
#include "pb_encode.h" #include "pb_encode.h"
// using a 200-step motor (most common) // using a 200-step motor (most common)
#define MOTOR_STEPS 200 #define MOTOR_STEPS 50
struct MotorControl { struct MotorControl {
uint8_t index; uint8_t index;

13
growme/src/MotorControl.cpp
View File

@ -41,12 +41,14 @@ struct RepeatedStatus {
}; };
bool status_encode(pb_ostream_t *stream, const pb_field_t *field, void *const *arg) { bool status_encode(pb_ostream_t *stream, const pb_field_t *field, void *const *arg) {
ESP_LOGI(TAG, "write callback stated");
RepeatedStatus *def = (RepeatedStatus *)*arg; RepeatedStatus *def = (RepeatedStatus *)*arg;
while (def->index < def->max_size) { while (def->index < def->max_size) {
int32_t status = def->status[def->index]; int32_t status = def->status[def->index];
++def->index; ++def->index;
if (!pb_encode_tag(stream, PB_WT_STRING, field->tag)) { if (!pb_encode_tag(stream, PB_WT_VARINT, field->tag)) {
ESP_LOGE(TAG, "failed to encode: %s", PB_GET_ERROR(stream)); ESP_LOGE(TAG, "failed to encode: %s", PB_GET_ERROR(stream));
return false; return false;
} }
@ -59,6 +61,8 @@ bool status_encode(pb_ostream_t *stream, const pb_field_t *field, void *const *a
ESP_LOGI(TAG, "written value %d", status); ESP_LOGI(TAG, "written value %d", status);
} }
ESP_LOGI(TAG, "write callback completed");
return true; return true;
} }
@ -71,12 +75,15 @@ void CustomBLEMotorInfoCallback::onRead(BLECharacteristic *characteristic) {
for (int i = 0; i < this->numMotors; i++) { for (int i = 0; i < this->numMotors; i++) {
status[i] = this->motors[i]->currentPosition; status[i] = this->motors[i]->currentPosition;
} }
ESP_LOGI(TAG, "status items %d", numMotors);
struct RepeatedStatus args = {.status = status, .index = 0, .max_size = this->numMotors}; struct RepeatedStatus args = {.status = status, .index = 0, .max_size = this->numMotors};
msg.status.arg = &args; msg.status.arg = &args;
msg.status.funcs.encode = status_encode; msg.status.funcs.encode = status_encode;
if (!pb_encode(&stream, Command_fields, &this->msg)) { if (!pb_encode(&stream, Command_fields, &msg)) {
ESP_LOGE(TAG, "failed to encode: %s", PB_GET_ERROR(&stream)); ESP_LOGE(TAG, "failed to encode: %s", PB_GET_ERROR(&stream));
return; return;
} }
@ -89,7 +96,7 @@ void CustomBLEMotorInfoCallback::onRead(BLECharacteristic *characteristic) {
}; };
MotorControl::MotorControl(uint8_t index, short dir, short step) { MotorControl::MotorControl(uint8_t index, short dir, short step) {
this->stepper = new A4988(MOTOR_STEPS, dir, step); this->stepper = new A4988(MOTOR_STEPS, dir, step, 5);
this->index = index; this->index = index;
int address = index * 8; int address = index * 8;

2
growme/src/main.cpp
View File

@ -151,8 +151,10 @@ void controlTask(void *pvParameter) {
// parse movement direction // parse movement direction
if (digitalRead(UP_BTN_PIN) == HIGH) { if (digitalRead(UP_BTN_PIN) == HIGH) {
direction = 1; direction = 1;
ESP_LOGI("MAIN", "down");
} else if (digitalRead(DOWN_BTN_PIN) == HIGH) { } else if (digitalRead(DOWN_BTN_PIN) == HIGH) {
direction = -1; direction = -1;
ESP_LOGI("MAIN", "up");
} else { } else {
direction = 0; direction = 0;
} }