Better demo UI, show config name, tune for re-mounted motor

This commit is contained in:
Scott Bezek 2022-01-15 16:57:37 -08:00
parent 381df91b92
commit b380a756c3
7 changed files with 127 additions and 79 deletions

View File

@ -18,8 +18,7 @@ monitor_flags =
--echo
--filter=esp32_exception_decoder
lib_deps =
TFT_eSPI@2.3.70
fastled/FastLED @ ^3.4.0
bodmer/TFT_eSPI@2.4.25
askuric/Simple FOC @ ^2.2
infineon/TLV493D-Magnetic-Sensor @ ^1.0.3
bxparks/AceButton @ ^1.9.1

View File

@ -3,7 +3,7 @@
#include "font/roboto_light_60.h"
DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 8192, 1, task_core} {
DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 2048, 1, task_core} {
semaphore_ = xSemaphoreCreateMutex();
assert(semaphore_ != NULL);
xSemaphoreGive(semaphore_);
@ -78,13 +78,16 @@ void DisplayTask::run() {
tft_.setRotation(0);
spr_.setColorDepth(16);
spr_.createSprite(TFT_WIDTH, TFT_HEIGHT);
spr_.setFreeFont(&Roboto_Light_60);
if (spr_.createSprite(TFT_WIDTH, TFT_HEIGHT) == nullptr) {
Serial.println("ERROR: sprite allocation failed!");
}
spr_.setTextColor(0xFFFF, TFT_BLACK);
KnobState state;
const int RADIUS = TFT_WIDTH / 2;
const uint16_t FILL_COLOR = spr_.color565(90, 18, 151);
const uint16_t DOT_COLOR = spr_.color565(80, 100, 200);
int32_t pointer_center_x = TFT_WIDTH / 2;
int32_t pointer_center_y = TFT_HEIGHT / 2;
@ -94,42 +97,75 @@ void DisplayTask::run() {
spr_.setTextDatum(CC_DATUM);
spr_.setTextColor(TFT_WHITE);
while(1) {
{
SemaphoreGuard lock(semaphore_);
state = state_;
}
spr_.fillSprite(TFT_BLACK);
if (state.num_positions > 1) {
int32_t height = state.current_position * TFT_HEIGHT / (state.num_positions - 1);
spr_.fillRect(0, TFT_HEIGHT - height, TFT_WIDTH, height, spr_.color565(109, 20, 176));
if (state.config.num_positions > 1) {
int32_t height = state.current_position * TFT_HEIGHT / (state.config.num_positions - 1);
spr_.fillRect(0, TFT_HEIGHT - height, TFT_WIDTH, height, FILL_COLOR);
}
spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2, 1);
spr_.setFreeFont(&Roboto_Light_60);
spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2 - 30, 1);
spr_.setFreeFont(&Roboto_Thin_24);
int32_t line_y = TFT_HEIGHT / 2 + 20;
char* start = state.config.descriptor;
char* end = start + strlen(state.config.descriptor);
while (start < end) {
char* newline = strchr(start, '\n');
if (newline == nullptr) {
newline = end;
}
char buf[sizeof(state.config.descriptor)] = {};
strncat(buf, start, min(sizeof(buf) - 1, (size_t)(newline - start)));
spr_.drawString(String(buf), TFT_WIDTH / 2, line_y, 1);
start = newline + 1;
line_y += spr_.fontHeight(1);
}
float left_bound = PI / 2;
if (state.num_positions > 0) {
float range_radians = (state.num_positions - 1) * state.position_width_radians;
if (state.config.num_positions > 0) {
float range_radians = (state.config.num_positions - 1) * state.config.position_width_radians;
left_bound = PI / 2 + range_radians / 2;
float right_bound = PI / 2 - range_radians / 2;
spr_.drawLine(TFT_WIDTH/2 + RADIUS * cosf(left_bound), TFT_HEIGHT/2 - RADIUS * sinf(left_bound), TFT_WIDTH/2 + (RADIUS - 10) * cosf(left_bound), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(left_bound), TFT_WHITE);
spr_.drawLine(TFT_WIDTH/2 + RADIUS * cosf(right_bound), TFT_HEIGHT/2 - RADIUS * sinf(right_bound), TFT_WIDTH/2 + (RADIUS - 10) * cosf(right_bound), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(right_bound), TFT_WHITE);
}
float adjusted_sub_position = state.sub_position_unit;
if (state.num_positions > 0) {
float adjusted_sub_position = state.sub_position_unit * state.config.position_width_radians;
if (state.config.num_positions > 0) {
if (state.current_position == 0 && state.sub_position_unit < 0) {
adjusted_sub_position = -logf(1 - state.sub_position_unit);
} else if (state.current_position == state.num_positions - 1 && state.sub_position_unit > 0) {
adjusted_sub_position = logf(1 + state.sub_position_unit);
adjusted_sub_position = -logf(1 - state.sub_position_unit * state.config.position_width_radians / 5 / PI * 180) * 5 * PI / 180;
} else if (state.current_position == state.config.num_positions - 1 && state.sub_position_unit > 0) {
adjusted_sub_position = logf(1 + state.sub_position_unit * state.config.position_width_radians / 5 / PI * 180) * 5 * PI / 180;
}
}
float angle = left_bound - (state.current_position + adjusted_sub_position) * state.position_width_radians;
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(angle), 5, TFT_BLUE);
float raw_angle = left_bound - state.current_position * state.config.position_width_radians;
float adjusted_angle = raw_angle - adjusted_sub_position;
if (state.config.num_positions > 0 && ((state.current_position == 0 && state.sub_position_unit < 0) || (state.current_position == state.config.num_positions - 1 && state.sub_position_unit > 0))) {
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(raw_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(raw_angle), 5, DOT_COLOR);
if (raw_angle < adjusted_angle) {
for (float r = raw_angle; r <= adjusted_angle; r += 2 * PI / 180) {
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(r), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(r), 2, DOT_COLOR);
}
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 2, DOT_COLOR);
} else {
for (float r = raw_angle; r >= adjusted_angle; r -= 2 * PI / 180) {
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(r), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(r), 2, DOT_COLOR);
}
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 2, DOT_COLOR);
}
} else {
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 5, DOT_COLOR);
}
spr_.pushSprite(0, 0);
delay(2);

View File

@ -7,71 +7,80 @@ using namespace ace_button;
static KnobConfig configs[] = {
{
.num_positions = 0,
.position = 0,
.position_width_radians = 10 * PI / 180,
.detent_strength_unit = 0,
.snap_point = 1.1,
0,
0,
10 * PI / 180,
0,
1.1,
"Unbounded\nNo detents",
},
{
.num_positions = 11,
.position = 0,
.position_width_radians = 10 * PI / 180,
.detent_strength_unit = 0,
.snap_point = 1.1,
11,
0,
10 * PI / 180,
0,
1.1,
"Bounded 0-10\nNo detents",
},
{
.num_positions = 73,
.position = 0,
.position_width_radians = 10 * PI / 180,
.detent_strength_unit = 0,
.snap_point = 1.1,
73,
0,
10 * PI / 180,
0,
1.1,
"Multi-rev\nNo detents",
},
{
.num_positions = 2,
.position = 0,
.position_width_radians = 60 * PI / 180,
.detent_strength_unit = 1,
.snap_point = 1.1,
2,
0,
45 * PI / 180,
1,
0.6, // Note the snap point is slightly past the midpoint (0.5); compare to normal detents which use a snap point *past* the next value (i.e. > 1)
"On/off\nStrong detent",
},
{
.num_positions = 2,
.position = 0,
.position_width_radians = 60 * PI / 180,
.detent_strength_unit = 1,
.snap_point = 0.6,
1,
0,
60 * PI / 180,
0.01,
1.1,
"Return-to-center",
},
{
.num_positions = 256,
.position = 127,
.position_width_radians = 1 * PI / 180,
.detent_strength_unit = 0,
.snap_point = 1.1,
256,
127,
1 * PI / 180,
0,
1.1,
"Fine values\nNo detents",
},
{
.num_positions = 256,
.position = 127,
.position_width_radians = 1 * PI / 180,
.detent_strength_unit = 1,
.snap_point = 1.1,
256,
127,
1 * PI / 180,
1,
1.1,
"Fine values\nWith detents",
},
{
.num_positions = 32,
.position = 0,
.position_width_radians = 8.225806452 * PI / 180,
.detent_strength_unit = 1,
.snap_point = 1.1,
32,
0,
8.225806452 * PI / 180,
1,
1.1,
"Coarse values\nStrong detents",
},
{
.num_positions = 32,
.position = 0,
.position_width_radians = 8.225806452 * PI / 180,
.detent_strength_unit = 0.1,
.snap_point = 1.1,
32,
0,
8.225806452 * PI / 180,
0.1,
1.1,
"Coarse values\nWeak detents",
},
};
InterfaceTask::InterfaceTask(const uint8_t task_core, MotorTask& motor_task) : Task{"Interface", 8192, 1, task_core}, motor_task_(motor_task) {
InterfaceTask::InterfaceTask(const uint8_t task_core, MotorTask& motor_task) : Task{"Interface", 2048, 1, task_core}, motor_task_(motor_task) {
}
InterfaceTask::~InterfaceTask() {}
@ -108,6 +117,6 @@ void InterfaceTask::handleEvent(AceButton* button, uint8_t event_type, uint8_t b
void InterfaceTask::nextConfig() {
current_config_ = (current_config_ + 1) % COUNT_OF(configs);
Serial.printf("Changing config to %d\n", current_config_);
Serial.printf("Changing config to %d:\n%s\n", current_config_, configs[current_config_].descriptor);
motor_task_.setConfig(configs[current_config_]);
}

View File

@ -8,11 +8,11 @@ struct KnobConfig {
float position_width_radians;
float detent_strength_unit;
float snap_point;
char descriptor[50];
};
struct KnobState {
int32_t num_positions;
int32_t current_position;
float sub_position_unit;
float position_width_radians;
KnobConfig config;
};

View File

@ -18,9 +18,9 @@ CRGB leds[1];
void setup() {
Serial.begin(115200);
display_task.begin();
motor_task.begin();
interface_task.begin();
display_task.begin();
vTaskDelete(nullptr);
}

View File

@ -69,7 +69,7 @@ void MotorTask::run() {
tlv.update();
delay(10);
motor.initFOC(6, Direction::CW);
motor.initFOC(-0.6, Direction::CCW);
Serial.println(motor.zero_electric_angle);
command.add('M', &doMotor, "foo");
@ -90,6 +90,8 @@ void MotorTask::run() {
uint32_t last_idle_start = 0;
uint32_t last_debug = 0;
uint32_t last_display_update = 0;
while (1) {
motor.loopFOC();
@ -138,21 +140,23 @@ void MotorTask::run() {
bool out_of_bounds = config.num_positions > 0 && ((angle_to_detent_center > 0 && config.position == 0) || (angle_to_detent_center < 0 && config.position == config.num_positions - 1));
motor.PID_velocity.limit = out_of_bounds ? 10 : 3;
motor.PID_velocity.P = out_of_bounds ? 4 : config.detent_strength_unit * 4;
motor.PID_velocity.D = config.detent_strength_unit * 0.04;
motor.PID_velocity.D = config.detent_strength_unit * 0.02;
if (fabsf(motor.shaft_velocity) > 20) {
// Don't apply torque if velocity is too high (helps avoid feedback loop)
// Don't apply torque if velocity is too high (helps avoid positive feedback loop/runaway)
motor.move(0);
} else {
motor.move(motor.PID_velocity(-angle_to_detent_center + dead_zone_adjustment));
}
display_task_.setData({
.num_positions = config.num_positions,
.current_position = config.position,
.sub_position_unit = -angle_to_detent_center / config.position_width_radians,
.position_width_radians = config.position_width_radians,
});
if (millis() - last_display_update > 10) {
display_task_.setData({
.current_position = config.position,
.sub_position_unit = -angle_to_detent_center / config.position_width_radians,
.config = config,
});
last_display_update = millis();
}
motor.monitor();
// command.run();

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@ -1,6 +1,6 @@
#include "tlv_sensor.h"
static const float ALPHA = 0.05;
static const float ALPHA = 0.04;
TlvSensor::TlvSensor() {}