wip: initial motor test

growme/.vscode/settings.json

@@ -5,6 +5,7 @@
     "*.tpl": "php",
     "*.phtml": "php",
     "wifi.h": "c",
-    "wifista.h": "c"
+    "wifista.h": "c",
+    "*.ipp": "cpp"
   }
 }

growme/platformio.ini

@@ -14,4 +14,5 @@ framework = arduino, espidf
 monitor_speed = 115200
 
 [env:esp32dev]
-board = esp32dev
+board = esp32dev
+lib_deps = laurb9/StepperDriver@^1.4.0

growme/src/main.cpp

@@ -1,54 +1,100 @@
 #include <stdio.h>
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-#include "sdkconfig.h"
-#include <Arduino.h>
 #include <WiFi.h>
+#include <Arduino.h>
 
-void wifiScan()
+#include "sdkconfig.h"
-{
+#include "A4988.h"
-    // WiFi.scanNetworks will return the number of networks found
-    int n = WiFi.scanNetworks();
-    Serial.println("scan done");
-    if (n == 0)
-    {
-        Serial.println("no networks found");
-    }
-    else
-    {
-        Serial.print(n);
-        Serial.println(" networks found");
-        for (int i = 0; i < n; ++i)
-        {
-            // Print SSID and RSSI for each network found
-            Serial.print(i + 1);
-            Serial.print(": ");
-            Serial.print(WiFi.SSID(i));
-            Serial.print(" (");
-            Serial.print(WiFi.RSSI(i));
-            Serial.print(")");
-            Serial.println((WiFi.encryptionType(i) == WIFI_AUTH_OPEN) ? " " : "*");
-            delay(10);
-        }
-    }
-    Serial.println("");
-}
 
-#if !CONFIG_AUTOSTART_ARDUINO
+#define UP_BTN_PIN 2
+#define DOWN_BTN_PIN 15
+
+// using a 200-step motor (most common)
+#define MOTOR_STEPS 200
+// configure the pins connected
+#define DIR 17
+#define STEP 16
+
+A4988 stepper(MOTOR_STEPS, DIR, STEP);
+
+// TODO: for now use simple arduino based
+// task structure adjust as needed afterwards
 void arduinoTask(void *pvParameter)
 {
-    // Set WiFi to station mode and disconnect from an AP if it was previously connected
+    // setup serial COMs
-    WiFi.mode(WIFI_STA);
-    WiFi.disconnect();
     Serial.begin(115200);
+
+    // configure button
+    pinMode(UP_BTN_PIN, INPUT);
+    pinMode(DOWN_BTN_PIN, INPUT);
+
+    // configure motor
+    stepper.begin(120, 1);
+
+    // motor movement direction
+    // -1 = counter clockwise
+    // 0  = nothing
+    // 1  = clockwise
+    int direction = 0;
+
+    // track current movement of motor
+    uint motorWaitTimeMicros = 0;
+
+    // time for RTOS to use when motor is not spinning
+    uint noActionIdleTime = pdMS_TO_TICKS(100);
+
+    // pick large angle to rotate, such that motor will not stop between loop iterations
+    // and RTOS has time to do other things
+    int rotationAngle = 100 * 360;
+
+    // add a delay for the MCU to apply setup
     delay(100);
 
     while (1)
     {
-        wifiScan();
+        // parse movement direction
+        if (digitalRead(UP_BTN_PIN) == HIGH)
+        {
+            direction = 1;
+        }
+        else if (digitalRead(DOWN_BTN_PIN) == HIGH)
+        {
+            direction = -1;
+        }
+        else
+        {
+            direction = 0;
+        }
 
-        // Wait a bit before scanning again
+        // start spinning motor if:
-        delay(5000);
+        // - button pressed
+        // - no spin command was already started
+        if (direction == 0)
+        {
+            stepper.stop();
+        }
+        else
+        {
+            stepper.startRotate(direction * rotationAngle);
+        }
+
+        // motor control loop - send pulse and return how long to wait until next pulse
+        motorWaitTimeMicros = stepper.nextAction();
+        if (motorWaitTimeMicros <= 0)
+        {
+
+            vTaskDelay(noActionIdleTime);
+        }
+        else if (motorWaitTimeMicros >= 50)
+        {
+            vTaskDelay(pdMS_TO_TICKS(motorWaitTimeMicros / 1000));
+        }
+        else
+        {
+            // give tiny amount for RTOS scheduling
+            vTaskDelay(20);
+        }
     }
 }
 
@@ -57,22 +103,5 @@ extern "C" void app_main()
     // initialize arduino library before we start the tasks
     initArduino();
 
-    xTaskCreate(&arduinoTask, "arduino_task", 4096, NULL, 5, NULL);
+    xTaskCreate(&arduinoTask, "arduino_task", 8192, NULL, 5, NULL);
 }
-#else
-void setup()
-{
-    // Set WiFi to station mode and disconnect from an AP if it was previously connected
-    WiFi.mode(WIFI_STA);
-    WiFi.disconnect();
-    Serial.begin(115200);
-    delay(100);
-}
-
-void loop()
-{
-    wifiScan();
-    // Wait a bit before scanning again
-    delay(5000);
-}
-#endif