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enhancement servo shutter (#19888) 

allow on servo also very small changes of position. need to do similar with steppers later
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stefanbode 2023-10-31 20:41:41 +01:00 committed by GitHub
parent 00e3087f51
commit 24927f17c9
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1 changed files with 13 additions and 4 deletions
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17
tasmota/tasmota_xdrv_driver/xdrv_27_esp32_shutter.ino
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@ -674,7 +674,13 @@ void ShutterInit(void)
Shutter[i].tilt_target_pos = Shutter[i].tilt_real_pos = ShutterSettings.shutter_tilt_pos[i]; Shutter[i].tilt_target_pos = Shutter[i].tilt_real_pos = ShutterSettings.shutter_tilt_pos[i];
Shutter[i].tilt_velocity = Shutter[i].tilt_config[2] > 0 ? ((Shutter[i].tilt_config[1] - Shutter[i].tilt_config[0]) / Shutter[i].tilt_config[2]) + 1 : 1; Shutter[i].tilt_velocity = Shutter[i].tilt_config[2] > 0 ? ((Shutter[i].tilt_config[1] - Shutter[i].tilt_config[0]) / Shutter[i].tilt_config[2]) + 1 : 1;
Shutter[i].close_velocity_max = ShutterGlobal.open_velocity_max*Shutter[i].open_time / Shutter[i].close_time; Shutter[i].close_velocity_max = ShutterGlobal.open_velocity_max*Shutter[i].open_time / Shutter[i].close_time;
Shutter[i].min_realPositionChange = 2 * tmax(ShutterGlobal.open_velocity_max, Shutter[i].close_velocity_max);
//servo can make any movement without time restriction
Shutter[i].min_realPositionChange = 0;
if (ShutterGlobal.position_mode != SHT_PWM_VALUE) {
Shutter[i].min_realPositionChange = 2 * tmax(ShutterGlobal.open_velocity_max, Shutter[i].close_velocity_max);
}
Shutter[i].min_TiltChange = 2 * Shutter[i].tilt_velocity; Shutter[i].min_TiltChange = 2 * Shutter[i].tilt_velocity;
AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Shtr%d min realpos_chg: %d, min tilt_chg %d"), i+1, Shutter[i].min_realPositionChange, Shutter[i].min_TiltChange); AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Shtr%d min realpos_chg: %d, min tilt_chg %d"), i+1, Shutter[i].min_realPositionChange, Shutter[i].min_TiltChange);
@ -984,16 +990,19 @@ void ShutterRtc50mS(void)
case SHT_PWM_VALUE: case SHT_PWM_VALUE:
ShutterUpdateVelocity(i); ShutterUpdateVelocity(i);
Shutter[i].real_position += Shutter[i].direction > 0 ? Shutter[i].pwm_velocity : (Shutter[i].direction < 0 ? -Shutter[i].pwm_velocity : 0); Shutter[i].real_position += Shutter[i].direction > 0 ? Shutter[i].pwm_velocity : (Shutter[i].direction < 0 ? -Shutter[i].pwm_velocity : 0);
// avoid overshoot on servo if changes are very small
if ((Shutter[i].direction > 0 && Shutter[i].real_position > Shutter[i].target_position)
|| (Shutter[i].direction < 0 && Shutter[i].real_position < Shutter[i].target_position)) {
Shutter[i].real_position = Shutter[i].target_position;
}
Shutter[i].pwm_value = SHT_DIV_ROUND((ShutterSettings.shutter_pwmrange[1][i]-ShutterSettings.shutter_pwmrange[0][i]) * Shutter[i].real_position , Shutter[i].open_max)+ShutterSettings.shutter_pwmrange[0][i]; Shutter[i].pwm_value = SHT_DIV_ROUND((ShutterSettings.shutter_pwmrange[1][i]-ShutterSettings.shutter_pwmrange[0][i]) * Shutter[i].real_position , Shutter[i].open_max)+ShutterSettings.shutter_pwmrange[0][i];
TasmotaGlobal.pwm_value[i] = Shutter[i].pwm_value; TasmotaGlobal.pwm_value[i] = Shutter[i].pwm_value;
//analogWritePhase(Pin(GPIO_PWM1, i), Shutter[i].pwm_value, 0);
//analogWriteFreq(200,Pin(GPIO_PWM1, i));
pwm_apply = true; pwm_apply = true;
break; break;
case SHT_COUNTER: case SHT_COUNTER:
if (Shutter[i].accelerator) { if (Shutter[i].accelerator) {
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Accelerator i=%d -> %d"),i, Shutter[i].accelerator); //AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Accelerator i=%d -> %d"),i, Shutter[i].accelerator);
ShutterUpdateVelocity(i); ShutterUpdateVelocity(i);
digitalWrite(Pin(GPIO_PWM1, i), LOW); digitalWrite(Pin(GPIO_PWM1, i), LOW);
analogWriteFreq(Shutter[i].pwm_velocity,Pin(GPIO_PWM1, i)); analogWriteFreq(Shutter[i].pwm_velocity,Pin(GPIO_PWM1, i));