mirrors
/
Tasmota
mirror of https://github.com/arendst/Tasmota.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fix #11451 

Additionally change stepper accelerator
This commit is contained in:
stefanbode 2021-03-24 14:04:27 +01:00 committed by GitHub
parent f243a5fd49
commit 9b2dec437e
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 18 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
tasmota/xdrv_27_shutter.ino
View File

@ -242,7 +242,7 @@ void ShutterInit(void)
for (uint32_t i = 0; i < MAX_SHUTTERS; i++) {
// 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]);
if (Settings.shutter_startrelay[i] && (Settings.shutter_startrelay[i] < 9)) {
if (Settings.shutter_startrelay[i] && (Settings.shutter_startrelay[i] < 31)) {
TasmotaGlobal.shutters_present++;
// 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
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 ;
// ensure that the accelerotor kicks in at least one step BEFORE it is to late and a hard stop required.
if (next_possible_stop_position * Shutter[i].direction > Shutter[i].target_position * Shutter[i].direction ) {
Shutter[i].accelerator = -velocity_change_per_step_max;
// ensure that the accelerotor kicks in at the first overrun of the target position
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;
}
}
// detect during the acceleration phase the point final speed is reached
} else if ( Shutter[i].accelerator > 0 && current_pwm_velocity == velocity_max) {
Shutter[i].accelerator = 0;
}
@ -412,7 +424,7 @@ void ShutterDecellerateForStop(uint8_t i)
delay(50);
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Velocity %ld, Delta %d"), Shutter[i].pwm_velocity, Shutter[i].accelerator );
// Control will be done in RTC Ticker.
}
if (ShutterGlobal.position_mode == SHT_COUNTER){
missing_steps = ((Shutter[i].target_position-Shutter[i].start_position)*Shutter[i].direction*ShutterGlobal.open_velocity_max/RESOLUTION/STEPS_PER_SECOND) - RtcSettings.pulse_counter[i];
@ -462,7 +474,7 @@ void ShutterPowerOff(uint8_t i) {
switch (ShutterGlobal.position_mode) {
case SHT_PWM_VALUE:
char scmnd[20];
#ifdef SHUTTER_CLEAR_PWM_ONSTOP
#ifdef SHUTTER_CLEAR_PWM_ONSTOP
// free the PWM servo lock on stop.
snprintf_P(scmnd, sizeof(scmnd), PSTR(D_CMND_PWM "%d 0" ), i+1);
#else