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Homing refinements #590

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merged 2 commits into from
Nov 8, 2024
Merged

Homing refinements #590

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0e0774b
Homing refinements
doudar Nov 8, 2024
68fef39
Update changelog for version 24.11.7
actions-user Nov 8, 2024
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12 changes: 12 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -13,6 +13,18 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

### Hardware


## [24.11.7]

### Added

### Changed
- Homing refinements.
- Resistance shifting improvement.
- Reduced Peloton logging to 1/sec.

### Hardware

## [24.11.5]

### Added
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132 changes: 73 additions & 59 deletions src/Main.cpp
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Expand Up @@ -414,19 +414,27 @@ void SS2K::moveStepper() {
}
ss2k->targetPosition = rtConfig->getTargetIncline();
} else if (rtConfig->getFTMSMode() == FitnessMachineControlPointProcedure::SetTargetResistanceLevel) {
rtConfig->setTargetIncline(ss2k->currentPosition + ((rtConfig->resistance.getTarget() - rtConfig->resistance.getValue()) * 20));
ss2k->targetPosition = rtConfig->getTargetIncline();
} else {
// Simulation Mode
ss2k->targetPosition = rtConfig->getShifterPosition() * userConfig->getShiftStep();
ss2k->targetPosition += rtConfig->getTargetIncline() * userConfig->getInclineMultiplier();
}
} else {
// periodically log external control message
static long int lastTime = millis();
if (millis() - lastTime > 5000) {
SS2K_LOG(MAIN_LOG_TAG, "External Control Mode");
lastTime = millis();
}
}

if (ss2k->syncMode) {
stepper->stopMove();
vTaskDelay(100 / portTICK_PERIOD_MS);
SS2K_LOG(MAIN_LOG_TAG, "Sync Mode");
stepper->setCurrentPosition(ss2k->targetPosition);
vTaskDelay(100 / portTICK_PERIOD_MS);
ss2k->syncMode = false;
}

if (ss2k->pelotonIsConnected && !rtConfig->getHomed()) {
Expand Down Expand Up @@ -557,32 +565,61 @@ void SS2K::setupTMCStepperDriver(bool reset) {
}

void SS2K::goHome(bool bothDirections) {
if (currentBoard.name != r2_NAME) {
SS2K_LOG(MAIN_LOG_TAG, "Board Doesn't support homing");
return;
}
SS2K_LOG(MAIN_LOG_TAG, "Homing...");
int _IFCNT = driver.IFCNT(); // Number of UART commands rx by driver
SS2K_LOG(MAIN_LOG_TAG, "Updating driver...");
updateStepperPower(100);
vTaskDelay(50 / portTICK_PERIOD_MS);
driver.irun(2); // low power
vTaskDelay(50 / portTICK_PERIOD_MS);
driver.ihold((uint8_t)(1));
vTaskDelay(50 / portTICK_PERIOD_MS);
int threshold = 0;
bool stalled = false;
if (bothDirections) {
// Back off limit in case we are alread here.
stepper->move(-userConfig->getShiftStep());
while (stepper->isRunning()) {
vTaskDelay(50 / portTICK_PERIOD_MS);
if (stepper) {
if (currentBoard.name != r2_NAME) {
SS2K_LOG(MAIN_LOG_TAG, "Board Doesn't support homing");
return;
}
SS2K_LOG(MAIN_LOG_TAG, "Homing...");
int _IFCNT = driver.IFCNT(); // Number of UART commands rx by driver
SS2K_LOG(MAIN_LOG_TAG, "Updating driver...");
updateStepperPower(100);
vTaskDelay(50 / portTICK_PERIOD_MS);
driver.irun(2); // low power
vTaskDelay(50 / portTICK_PERIOD_MS);
driver.ihold((uint8_t)(1));
vTaskDelay(50 / portTICK_PERIOD_MS);
int threshold = 0;
bool stalled = false;
if (bothDirections) {
// Back off limit in case we are alread here.
stepper->move(-userConfig->getShiftStep());
while (stepper->isRunning()) {
vTaskDelay(50 / portTICK_PERIOD_MS);
}
this->updateStepperSpeed(1500);
vTaskDelay(500 / portTICK_PERIOD_MS);
stepper->runForward();
vTaskDelay(250 / portTICK_PERIOD_MS); // wait until stable
threshold = driver.SG_RESULT(); // take reading
Serial.printf("%d ", driver.SG_RESULT());
vTaskDelay(250 / portTICK_PERIOD_MS);
while (!stalled) {
if (abs(rtConfig->getShifterPosition() - ss2k->lastShifterPosition)) { // let the user abort with the shift button.
userConfig->setHMin(INT32_MIN);
userConfig->setHMax(INT32_MIN);
return;
}
stalled = (driver.SG_RESULT() < threshold - 100);
}
stalled = false;
stepper->forceStop();
stepper->disableOutputs();
vTaskDelay(2000 / portTICK_PERIOD_MS);
rtConfig->setMaxStep(stepper->getCurrentPosition() - 200);
SS2K_LOG(MAIN_LOG_TAG, "Max Position found: %d.", rtConfig->getMaxStep());
stepper->enableOutputs();
} else { // Back off limit in case we are alread here.
stepper->move(userConfig->getShiftStep());
while (stepper->isRunning()) {
vTaskDelay(50 / portTICK_PERIOD_MS);
}
this->updateStepperSpeed(1500);
vTaskDelay(500 / portTICK_PERIOD_MS);
}
this->updateStepperSpeed(1500);
vTaskDelay(500 / portTICK_PERIOD_MS);
stepper->runForward();
vTaskDelay(250 / portTICK_PERIOD_MS); // wait until stable
threshold = driver.SG_RESULT(); // take reading
stepper->runBackward();
vTaskDelay(250 / portTICK_PERIOD_MS);
threshold = driver.SG_RESULT();
Serial.printf("%d ", driver.SG_RESULT());
vTaskDelay(250 / portTICK_PERIOD_MS);
while (!stalled) {
Expand All @@ -591,44 +628,21 @@ void SS2K::goHome(bool bothDirections) {
userConfig->setHMax(INT32_MIN);
return;
}
stalled = (driver.SG_RESULT() < threshold - 100);
stalled = (driver.SG_RESULT() < threshold - 75);
}
stalled = false;
stepper->forceStop();
stepper->disableOutputs();
vTaskDelay(2000 / portTICK_PERIOD_MS);
rtConfig->setMaxStep(stepper->getCurrentPosition() - 200);
SS2K_LOG(MAIN_LOG_TAG, "Max Position found: %d.", rtConfig->getMaxStep());
stepper->enableOutputs();
} else { // Back off limit in case we are alread here.
stepper->move(userConfig->getShiftStep());
vTaskDelay(100 / portTICK_PERIOD_MS);
stepper->moveTo(stepper->getCurrentPosition() + userConfig->getShiftStep());
while (stepper->isRunning()) {
vTaskDelay(50 / portTICK_PERIOD_MS);
vTaskDelay(10 / portTICK_PERIOD_MS);
}
this->updateStepperSpeed(1500);
vTaskDelay(500 / portTICK_PERIOD_MS);
}
stepper->runBackward();
vTaskDelay(250 / portTICK_PERIOD_MS);
threshold = driver.SG_RESULT();
Serial.printf("%d ", driver.SG_RESULT());
vTaskDelay(250 / portTICK_PERIOD_MS);
while (!stalled) {
if (abs(rtConfig->getShifterPosition() - ss2k->lastShifterPosition)) { // let the user abort with the shift button.
userConfig->setHMin(INT32_MIN);
userConfig->setHMax(INT32_MIN);
return;
}
stalled = (driver.SG_RESULT() < threshold - 75);
stepper->setCurrentPosition((int32_t)0);
ss2k->setTargetPosition(0);
rtConfig->setMinStep(0);
SS2K_LOG(MAIN_LOG_TAG, "Min Position found: %d.", rtConfig->getMinStep());
stepper->enableOutputs();
}
stepper->forceStop();
stepper->disableOutputs();
vTaskDelay(100 / portTICK_PERIOD_MS);
stepper->setCurrentPosition((int32_t)0);
ss2k->setTargetPosition(0);
rtConfig->setMinStep(stepper->getCurrentPosition() + userConfig->getShiftStep());
SS2K_LOG(MAIN_LOG_TAG, "Min Position found: %d.", rtConfig->getMinStep());
stepper->enableOutputs();

// Start Saving Settings
if (bothDirections) {
Expand Down
6 changes: 6 additions & 0 deletions src/SensorCollector.cpp
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Expand Up @@ -75,8 +75,14 @@ void collectAndSet(NimBLEUUID charUUID, NimBLEUUID serviceUUID, NimBLEAddress ad
logBufLength += snprintf(logBuf + logBufLength, kLogBufMaxLength - logBufLength, " POS(%d)", ss2k->getCurrentPosition());
strncat(logBuf + logBufLength, " ]", kLogBufMaxLength - logBufLength);

// Peloton data screams, so only log one per second.
static long int lastTime = millis();
if ((charUUID == PELOTON_DATA_UUID) && (millis() - lastTime < 1000)) return;

SS2K_LOG(BLE_COMMON_LOG_TAG, "%s", logBuf);

if (charUUID == PELOTON_DATA_UUID) lastTime = millis();

#ifdef USE_TELEGRAM
SEND_TO_TELEGRAM(String(logBuf));
#endif
Expand Down