Skip to content

Commit

Permalink
Added max/min handling for issue gcormier#3.
Browse files Browse the repository at this point in the history
  • Loading branch information
@gcormier
gcormier committed Mar 31, 2018
1 parent 6da9427 commit 7204d31
Show file tree
Hide file tree
Showing 7 changed files with 22,349 additions and 47 deletions.
2 changes: 1 addition & 1 deletion Code/megadesk.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ void initEEPROM()

if (a != 18 && b != 13 && c != 19)
{
for (int index = 0; index < EEPROM.length(); index++)
for (unsigned int index = 0; index < EEPROM.length(); index++)
EEPROM.write(index, 100);

// Store unique values
Expand Down
103 changes: 59 additions & 44 deletions Code/megadesk.ino
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,27 +2,45 @@
#include "lin.h"
#include "megadesk.h"


// Standard arduino settings
#define HYSTERESIS 20 // 20 seems ok
#define HYSTERESIS 20 // 20 seems ok

#define PIN_UP 0
#define PIN_DOWN 1
#define PIN_BEEP 3
#define PIN_SERIAL 9
#define PIN_UP 0
#define PIN_DOWN 1
#define PIN_BEEP 3
#define PIN_SERIAL 9

#define BEEP_DURATION 125
#define BEEP_PAUSE 60
#define BEEP_FREQ_LOW 2600
#define BEEP_FREQ_HIGH 3000
#define BEEP_FREQ_ACK 2000
#define BEEP_DURATION 125
#define BEEP_PAUSE 60
#define BEEP_FREQ_LOW 2600
#define BEEP_FREQ_HIGH 3000
#define BEEP_FREQ_ACK 2000

#define CLICK_TIMEOUT 400UL // Timeout in MS.
#define CLICK_LONG 900UL // Long/hold minimum time in MS.
#define CLICK_TIMEOUT 400UL // Timeout in MS.
#define CLICK_LONG 900UL // Long/hold minimum time in MS.

#define FINE_MOVEMENT_VALUE 100 // Based on protocol decoding

// LIN commands/status
#define LIN_CMD_IDLE 252
#define LIN_CMD_RAISE 134
#define LIN_CMD_LOWER 133
#define LIN_CMD_FINE 135
#define LIN_CMD_FINISH 132
#define LIN_CMD_PREMOVE 196

#define LIN_MOTOR_IDLE 96
#define LIN_MOTOR_BUSY 2
#define LIN_MOTOR_BUSY_FINE 3

// Changing these might be a really bad idea. They are sourced from
// decoding the OEM controller limits. If you really need a bit of extra travel
// you can fiddle with SAFETY, it's an extra buffer of a few units.
#define SAFETY 20
#define DANGER_MAX_HEIGHT 6777 - HYSTERESIS - SAFETY
#define DANGER_MIN_HEIGHT 162 + HYSTERESIS + SAFETY

#define FINE_MOVEMENT_VALUE 100 // Based on protocol decoding

//////////////////
// Related to multi-touch
bool button_pin_up, button_pin_down;
bool goUp, goDown;
Expand All @@ -34,7 +52,7 @@ unsigned long firstPush = 0, lastPush = 0, pushLength = 0;

Lin lin(Serial, PIN_SERIAL);

int height = -1;
int currentHeight = -1;
int targetHeight = -1;
unsigned long end, d;
unsigned long t = 0;
Expand All @@ -46,19 +64,18 @@ State lastState = State::OFF;
uint16_t enc_target;


int up(bool pushed) {
void up(bool pushed) {
if (pushed)
user_cmd = Command::UP;
else
user_cmd = Command::NONE;
}

int down(bool pushed) {
void down(bool pushed) {
if (pushed)
user_cmd = Command::DOWN;
else
user_cmd = Command::NONE;

}

void ack()
Expand Down Expand Up @@ -145,15 +162,15 @@ void loop()

// When we power on the first time, and have a height value read, set our target height to the same thing
// So we don't randomly move on powerup.
if (height > 5 && targetHeight == -1)
targetHeight = height;
if (currentHeight > 5 && targetHeight == -1)
targetHeight = currentHeight;

if (waitingEvent)
{
if (pushCount > 0)
{
if (pushLong)
storeMemory(pushCount, height);
storeMemory(pushCount, currentHeight);
else
{
targetHeight = getMemory(pushCount);
Expand All @@ -165,24 +182,24 @@ void loop()
else if (goUp)
{
memoryMoving = false;
targetHeight = height + HYSTERESIS + 1;
targetHeight = currentHeight + HYSTERESIS + 1;
}
else if (goDown)
{
memoryMoving = false;
targetHeight = height - HYSTERESIS - 1;
targetHeight = currentHeight - HYSTERESIS - 1;
}
else if (!memoryMoving)
targetHeight = height;
targetHeight = currentHeight;

if (targetHeight > height && abs(targetHeight - height) > HYSTERESIS)
if (targetHeight > currentHeight && abs(targetHeight - currentHeight) > HYSTERESIS && currentHeight < DANGER_MAX_HEIGHT)
up(true);
else if (targetHeight < height && abs(targetHeight - height) > HYSTERESIS)
else if (targetHeight < currentHeight && abs(targetHeight - currentHeight) > HYSTERESIS && currentHeight > DANGER_MIN_HEIGHT)
down(true);
else
{
up(false);
targetHeight = height;
targetHeight = currentHeight;
memoryMoving = false;
}

Expand All @@ -200,19 +217,17 @@ void linBurst()
uint8_t node_a[4] = { 0, 0, 0, 0 };
uint8_t node_b[4] = { 0, 0, 0, 0 };
uint8_t cmd[3] = { 0, 0, 0 };
uint8_t res = 0;


// Send PID 17
lin.send(17, empty, 3, 2);
delay_until(5);

// Recv from PID 09
res = lin.recv(9, node_b, 3, 2);
lin.recv(9, node_b, 3, 2);
delay_until(5);

// Recv from PID 08
res = lin.recv(8, node_a, 3, 2);
lin.recv(8, node_a, 3, 2);
delay_until(5);


Expand All @@ -230,24 +245,24 @@ void linBurst()
uint16_t enc_a = node_a[0] | (node_a[1] << 8);
uint16_t enc_b = node_b[0] | (node_b[1] << 8);
enc_target = enc_a;
height = enc_a;
currentHeight = enc_a;

// Send PID 18
switch (state) {
case State::OFF:
cmd[2] = 252;
cmd[2] = LIN_CMD_IDLE;
break;
case State::STARTING:
cmd[2] = 196;
cmd[2] = LIN_CMD_PREMOVE;
break;
case State::UP:
enc_target = min(enc_a, enc_b);
cmd[2] = 134;
cmd[2] = LIN_CMD_RAISE;
lastState = State::UP;
break;
case State::DOWN:
enc_target = max(enc_a, enc_b);
cmd[2] = 133;
cmd[2] = LIN_CMD_LOWER;
lastState = State::DOWN;
break;
case State::STOPPING1:
Expand All @@ -259,12 +274,12 @@ void linBurst()
else
enc_target = getMin(enc_a, enc_b) - FINE_MOVEMENT_VALUE;

cmd[2] = 135;
cmd[2] = LIN_CMD_FINE;

break;
case State::STOPPING4:
enc_target = getMax(enc_a, enc_b);
cmd[2] = 132;
cmd[2] = LIN_CMD_FINISH;
break;
}

Expand All @@ -275,7 +290,7 @@ void linBurst()
switch (state) {
case State::OFF:
if (user_cmd != Command::NONE) {
if (node_a[2] == 0x60 && node_b[2] == 0x60) {
if (node_a[2] == LIN_MOTOR_IDLE && node_b[2] == LIN_MOTOR_IDLE) {
state = State::STARTING;
}
}
Expand All @@ -294,12 +309,12 @@ void linBurst()
}
break;
case State::UP:
if (user_cmd != Command::UP) {
if (user_cmd != Command::UP || currentHeight >= DANGER_MAX_HEIGHT) {
state = State::STOPPING1;
}
break;
case State::DOWN:
if (user_cmd != Command::DOWN) {
if (user_cmd != Command::DOWN || currentHeight <= DANGER_MIN_HEIGHT) {
state = State::STOPPING1;
}
break;
Expand All @@ -313,7 +328,7 @@ void linBurst()
state = State::STOPPING4;
break;
case State::STOPPING4:
if (node_a[2] == 0x60 && node_b[2] == 0x60) {
if (node_a[2] == LIN_MOTOR_IDLE && node_b[2] == LIN_MOTOR_IDLE) {
state = State::OFF;
}
break;
Expand All @@ -336,7 +351,7 @@ void storeMemory(int memorySlot, int value)
int getMemory(int memorySlot)
{
if (memorySlot == 0)
return height;
return currentHeight;

beep(memorySlot, BEEP_FREQ_LOW);

Expand Down
Loading

0 comments on commit 7204d31

Please sign in to comment.