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Fix #11451 

Additionally change stepper accelerator
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stefanbode 2021-03-24 14:04:27 +01:00 committed by GitHub
parent f243a5fd49
commit 9b2dec437e
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1 changed files with 18 additions and 6 deletions
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18
tasmota/xdrv_27_shutter.ino
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@ -242,7 +242,7 @@ void ShutterInit(void)
for (uint32_t i = 0; i < MAX_SHUTTERS; i++) { for (uint32_t i = 0; i < MAX_SHUTTERS; i++) {
// set startrelay to 1 on first init, but only to shutter 1. 90% usecase // set startrelay to 1 on first init, but only to shutter 1. 90% usecase
Settings.shutter_startrelay[i] = (Settings.shutter_startrelay[i] == 0 && i == 0? 1 : Settings.shutter_startrelay[i]); Settings.shutter_startrelay[i] = (Settings.shutter_startrelay[i] == 0 && i == 0? 1 : Settings.shutter_startrelay[i]);
if (Settings.shutter_startrelay[i] && (Settings.shutter_startrelay[i] < 9)) { if (Settings.shutter_startrelay[i] && (Settings.shutter_startrelay[i] < 31)) {
TasmotaGlobal.shutters_present++; TasmotaGlobal.shutters_present++;
// Add the two relays to the mask to knaw they belong to shutters // Add the two relays to the mask to knaw they belong to shutters
@ -389,9 +389,21 @@ void ShutterCalculateAccelerator(uint8_t i)
// decellaration way from current velocity // decellaration way from current velocity
current_stop_way = min_runtime_ms * STEPS_PER_SECOND * (current_pwm_velocity + velocity_change_per_step_max) * Shutter[i].direction / 2 / ShutterGlobal.open_velocity_max - (Shutter[i].accelerator<0?Shutter[i].direction*1000*current_pwm_velocity/ShutterGlobal.open_velocity_max:0); current_stop_way = min_runtime_ms * STEPS_PER_SECOND * (current_pwm_velocity + velocity_change_per_step_max) * Shutter[i].direction / 2 / ShutterGlobal.open_velocity_max - (Shutter[i].accelerator<0?Shutter[i].direction*1000*current_pwm_velocity/ShutterGlobal.open_velocity_max:0);
next_possible_stop_position = current_real_position + current_stop_way ; next_possible_stop_position = current_real_position + current_stop_way ;
// ensure that the accelerotor kicks in at least one step BEFORE it is to late and a hard stop required. // ensure that the accelerotor kicks in at the first overrun of the target position
if (next_possible_stop_position * Shutter[i].direction > Shutter[i].target_position * Shutter[i].direction ) { if ( Shutter[i].accelerator < 0 || next_possible_stop_position * Shutter[i].direction > Shutter[i].target_position * Shutter[i].direction ) {
// if startet to early because of 0.05sec maximum accuracy and final position is to far away (200) accelerate a bit less
if (next_possible_stop_position * Shutter[i].direction+200 < Shutter[i].target_position * Shutter[i].direction) {
Shutter[i].accelerator = -velocity_change_per_step_max*9/10;
} else {
// in any case increase accelleration if overrun is detected during decelleration
if (next_possible_stop_position * Shutter[i].direction > Shutter[i].target_position * Shutter[i].direction && Shutter[i].accelerator < 0) {
Shutter[i].accelerator = -velocity_change_per_step_max*11/10;
} else {
// as long as the calculated end position is ok stay with proposed decelleration
Shutter[i].accelerator = -velocity_change_per_step_max; Shutter[i].accelerator = -velocity_change_per_step_max;
}
}
// detect during the acceleration phase the point final speed is reached
} else if ( Shutter[i].accelerator > 0 && current_pwm_velocity == velocity_max) { } else if ( Shutter[i].accelerator > 0 && current_pwm_velocity == velocity_max) {
Shutter[i].accelerator = 0; Shutter[i].accelerator = 0;
} }