trying different tabs 2 -> 4
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ca9f217eaf
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dcf62905a2
1 changed files with 236 additions and 236 deletions
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@ -119,28 +119,28 @@ extern Task rest_task;
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int move_target = 0;
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int move_duration = 10000;
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void moving() {
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//
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float velocity = (float)move_target / move_duration * 1000; // unit conv.: (steps/msec) --> (steps/sec)
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float speed = fabs(velocity);
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//
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MONITORING_SERIAL.print("move_target --> "); MONITORING_SERIAL.println(move_target);
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MONITORING_SERIAL.print("move_duration --> "); MONITORING_SERIAL.println(move_duration);
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//
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if (speed > STEPS_PER_SEC_MAX) {
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MONITORING_SERIAL.println("oh.. it might be TOO FAST for me..");
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} else {
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MONITORING_SERIAL.println("okay. i m going.");
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}
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//
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float velocity = (float)move_target / move_duration * 1000; // unit conv.: (steps/msec) --> (steps/sec)
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float speed = fabs(velocity);
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//
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MONITORING_SERIAL.print("move_target --> "); MONITORING_SERIAL.println(move_target);
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MONITORING_SERIAL.print("move_duration --> "); MONITORING_SERIAL.println(move_duration);
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//
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if (speed > STEPS_PER_SEC_MAX) {
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MONITORING_SERIAL.println("oh.. it might be TOO FAST for me..");
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} else {
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MONITORING_SERIAL.println("okay. i m going.");
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}
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//
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stepper.enableOutputs();
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stepper.moveTo(move_target + stepper.currentPosition());
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stepper.setSpeed(velocity);
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//NOTE: 'setSpeed' should come LATER than 'moveTo'!
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// --> 'moveTo' re-calculate the velocity.
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// --> so we need to re-override it.
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//
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// }
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//
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stepper.enableOutputs();
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stepper.moveTo(move_target + stepper.currentPosition());
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stepper.setSpeed(velocity);
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//NOTE: 'setSpeed' should come LATER than 'moveTo'!
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// --> 'moveTo' re-calculate the velocity.
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// --> so we need to re-override it.
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//
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// }
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}
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Task moving_task(0, TASK_ONCE, &moving);
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@ -148,45 +148,45 @@ Task moving_task(0, TASK_ONCE, &moving);
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int step_target = 0;
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int step_duration = 10000;
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void stepping() {
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//
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// if (stepper.distanceToGo() == 0) {
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//
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float cur_step = stepper.currentPosition();
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float target_step = step_target;
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float dur = step_duration;
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// float target_step = notes[score_now][note_idx][0];
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// float dur = notes[score_now][note_idx][1];
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float steps = target_step - cur_step;
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float velocity = steps / dur * 1000; // unit conv.: (steps/msec) --> (steps/sec)
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float speed = fabs(velocity);
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//
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MONITORING_SERIAL.print("target_step --> "); MONITORING_SERIAL.println(target_step);
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MONITORING_SERIAL.print("dur --> "); MONITORING_SERIAL.println(dur);
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MONITORING_SERIAL.print("cur_step --> "); MONITORING_SERIAL.println(cur_step);
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//
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if (speed > STEPS_PER_SEC_MAX) {
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MONITORING_SERIAL.println("oh.. it might be TOO FAST for me..");
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} else {
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MONITORING_SERIAL.println("okay. i m going.");
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}
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//
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// if (stepper.distanceToGo() == 0) {
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//
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float cur_step = stepper.currentPosition();
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float target_step = step_target;
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float dur = step_duration;
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// float target_step = notes[score_now][note_idx][0];
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// float dur = notes[score_now][note_idx][1];
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float steps = target_step - cur_step;
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float velocity = steps / dur * 1000; // unit conv.: (steps/msec) --> (steps/sec)
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float speed = fabs(velocity);
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//
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MONITORING_SERIAL.print("target_step --> "); MONITORING_SERIAL.println(target_step);
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MONITORING_SERIAL.print("dur --> "); MONITORING_SERIAL.println(dur);
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MONITORING_SERIAL.print("cur_step --> "); MONITORING_SERIAL.println(cur_step);
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//
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if (speed > STEPS_PER_SEC_MAX) {
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MONITORING_SERIAL.println("oh.. it might be TOO FAST for me..");
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} else {
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MONITORING_SERIAL.println("okay. i m going.");
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}
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//
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stepper.enableOutputs();
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stepper.moveTo(target_step);
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stepper.setSpeed(velocity);
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//NOTE: 'setSpeed' should come LATER than 'moveTo'!
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// --> 'moveTo' re-calculate the velocity.
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// --> so we need to re-override it.
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//
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// }
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//
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stepper.enableOutputs();
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stepper.moveTo(target_step);
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stepper.setSpeed(velocity);
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//NOTE: 'setSpeed' should come LATER than 'moveTo'!
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// --> 'moveTo' re-calculate the velocity.
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// --> so we need to re-override it.
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//
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// }
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}
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Task stepping_task(0, TASK_ONCE, &stepping);
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//
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void rest() {
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if (stepper.distanceToGo() == 0) {
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stepper.disableOutputs();
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}
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if (stepper.distanceToGo() == 0) {
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stepper.disableOutputs();
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}
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}
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Task rest_task(1000, TASK_FOREVER, &rest);
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//*-*-*-*-*-*-*-*-*-*-*-*-*
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@ -195,250 +195,250 @@ Task rest_task(1000, TASK_FOREVER, &rest);
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extern Task hello_task;
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static int hello_delay = 0;
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void hello() {
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//
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byte mac[6];
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WiFi.macAddress(mac);
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uint32_t mac32 = (((((mac[2] << 8) + mac[3]) << 8) + mac[4]) << 8) + mac[5];
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//
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Hello hello(String(MY_SIGN), MY_ID, mac32); // the most basic 'hello'
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// and you can append some floats
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static int count = 0;
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count++;
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hello.h1 = (count % 1000);
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hello.h2 = stepper.currentPosition();
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hello.h3 = stepper.distanceToGo();
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// hello.h4 = 0;
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//
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uint8_t frm_size = sizeof(Hello) + 2;
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uint8_t frm[frm_size];
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frm[0] = '{';
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memcpy(frm + 1, (uint8_t *) &hello, sizeof(Hello));
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frm[frm_size - 1] = '}';
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//
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esp_now_send(NULL, frm, frm_size); // to all peers in the list.
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//
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MONITORING_SERIAL.write(frm, frm_size);
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MONITORING_SERIAL.println(" ==(esp_now_send/0)==> ");
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//
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if (hello_delay > 0) {
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if (hello_delay < 100) hello_delay = 100;
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hello_task.restartDelayed(hello_delay);
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}
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//
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byte mac[6];
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WiFi.macAddress(mac);
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uint32_t mac32 = (((((mac[2] << 8) + mac[3]) << 8) + mac[4]) << 8) + mac[5];
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//
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Hello hello(String(MY_SIGN), MY_ID, mac32); // the most basic 'hello'
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// and you can append some floats
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static int count = 0;
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count++;
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hello.h1 = (count % 1000);
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hello.h2 = stepper.currentPosition();
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hello.h3 = stepper.distanceToGo();
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// hello.h4 = 0;
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//
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uint8_t frm_size = sizeof(Hello) + 2;
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uint8_t frm[frm_size];
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frm[0] = '{';
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memcpy(frm + 1, (uint8_t *) &hello, sizeof(Hello));
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frm[frm_size - 1] = '}';
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//
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esp_now_send(NULL, frm, frm_size); // to all peers in the list.
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//
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MONITORING_SERIAL.write(frm, frm_size);
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MONITORING_SERIAL.println(" ==(esp_now_send/0)==> ");
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//
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if (hello_delay > 0) {
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if (hello_delay < 100) hello_delay = 100;
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hello_task.restartDelayed(hello_delay);
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}
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}
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Task hello_task(0, TASK_ONCE, &hello, &runner, false);
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//task #0 : blink led
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extern Task blink_task;
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void blink() {
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//
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static int count = 0;
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count++;
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//
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switch (count % 4) {
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case 0:
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digitalWrite(LED_PIN, LOW); // first ON
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blink_task.delay(LED_ONTIME);
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break;
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case 1:
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digitalWrite(LED_PIN, HIGH); // first OFF
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blink_task.delay(LED_GAPTIME);
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break;
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case 2:
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digitalWrite(LED_PIN, LOW); // second ON
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blink_task.delay(LED_ONTIME);
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break;
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case 3:
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digitalWrite(LED_PIN, HIGH); // second OFF
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blink_task.delay(LED_PERIOD - 2* LED_ONTIME - LED_GAPTIME);
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break;
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}
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//
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static int count = 0;
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count++;
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//
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switch (count % 4) {
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case 0:
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digitalWrite(LED_PIN, LOW); // first ON
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blink_task.delay(LED_ONTIME);
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break;
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case 1:
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digitalWrite(LED_PIN, HIGH); // first OFF
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blink_task.delay(LED_GAPTIME);
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break;
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case 2:
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digitalWrite(LED_PIN, LOW); // second ON
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blink_task.delay(LED_ONTIME);
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break;
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case 3:
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digitalWrite(LED_PIN, HIGH); // second OFF
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blink_task.delay(LED_PERIOD - 2* LED_ONTIME - LED_GAPTIME);
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break;
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}
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}
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Task blink_task(0, TASK_FOREVER, &blink, &runner, true); // -> ENABLED, at start-up.
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// on 'Note'
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void onNoteHandler(Note & n) {
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//is it for me?
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if (n.id == MY_GROUP_ID || n.id == MY_ID) {
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//
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if (n.pitch == 0) {
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//
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if (n.onoff == 1) {
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//is it for me?
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if (n.id == MY_GROUP_ID || n.id == MY_ID) {
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//
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step_target = n.x1;
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step_duration = n.x2;
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if (step_duration < 1000) step_duration = 1000;
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stepping_task.restartDelayed(10);
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//
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} else if (n.onoff == 0) {
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//
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move_target = 0;
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move_duration = 1000;
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moving_task.restartDelayed(10);
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}
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//
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} else if (n.pitch == 1) {
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//
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if (n.onoff == 1) {
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//
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move_target = n.x1;
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move_duration = n.x2;
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if (move_duration < 1000) move_duration = 1000;
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moving_task.restartDelayed(10);
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//
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} else if (n.onoff == 0) {
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move_target = 0;
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move_duration = 1000;
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moving_task.restartDelayed(10);
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}
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//
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if (n.pitch == 0) {
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//
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if (n.onoff == 1) {
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//
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step_target = n.x1;
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step_duration = n.x2;
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if (step_duration < 1000) step_duration = 1000;
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stepping_task.restartDelayed(10);
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//
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} else if (n.onoff == 0) {
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//
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move_target = 0;
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move_duration = 1000;
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moving_task.restartDelayed(10);
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}
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//
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} else if (n.pitch == 1) {
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//
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if (n.onoff == 1) {
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//
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move_target = n.x1;
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move_duration = n.x2;
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if (move_duration < 1000) move_duration = 1000;
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moving_task.restartDelayed(10);
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//
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} else if (n.onoff == 0) {
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move_target = 0;
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move_duration = 1000;
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moving_task.restartDelayed(10);
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}
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//
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}
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}
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}
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}
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// on 'receive'
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void onDataReceive(uint8_t * mac, uint8_t *incomingData, uint8_t len) {
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//
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//MONITORING_SERIAL.write(incomingData, len);
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//
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//MONITORING_SERIAL.write(incomingData, len);
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//
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//
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#if defined(HAVE_CLIENT)
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Serial.write(incomingData, len); // we pass it over to the client.
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Serial.write(incomingData, len); // we pass it over to the client.
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#endif
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// open => identify => use.
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if (incomingData[0] == '{' && incomingData[len - 1] == '}' && len == (sizeof(Hello) + 2)) {
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Hello hello("");
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memcpy((uint8_t *) &hello, incomingData + 1, sizeof(Hello));
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//
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MONITORING_SERIAL.println(hello.to_string());
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//
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}
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// open => identify => use.
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if (incomingData[0] == '[' && incomingData[len - 1] == ']' && len == (sizeof(Note) + 2)) {
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Note note;
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memcpy((uint8_t *) ¬e, incomingData + 1, sizeof(Note));
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onNoteHandler(note);
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//is it for me?
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if (note.id == MY_GROUP_ID || note.id == MY_ID) {
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hello_delay = note.ps;
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if (hello_delay > 0 && hello_task.isEnabled() == false) {
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hello_task.restart();
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}
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// open => identify => use.
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if (incomingData[0] == '{' && incomingData[len - 1] == '}' && len == (sizeof(Hello) + 2)) {
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Hello hello("");
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memcpy((uint8_t *) &hello, incomingData + 1, sizeof(Hello));
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//
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MONITORING_SERIAL.println(hello.to_string());
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//
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}
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MONITORING_SERIAL.println(note.to_string());
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}
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// open => identify => use.
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if (incomingData[0] == '[' && incomingData[len - 1] == ']' && len == (sizeof(Note) + 2)) {
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Note note;
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memcpy((uint8_t *) ¬e, incomingData + 1, sizeof(Note));
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onNoteHandler(note);
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//is it for me?
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if (note.id == MY_GROUP_ID || note.id == MY_ID) {
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hello_delay = note.ps;
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if (hello_delay > 0 && hello_task.isEnabled() == false) {
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hello_task.restart();
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}
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}
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MONITORING_SERIAL.println(note.to_string());
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}
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}
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// on 'sent'
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void onDataSent(uint8_t *mac_addr, uint8_t sendStatus) {
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if (sendStatus != 0) MONITORING_SERIAL.println("Delivery failed!");
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if (sendStatus != 0) MONITORING_SERIAL.println("Delivery failed!");
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}
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//
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void setup() {
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//led
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pinMode(LED_PIN, OUTPUT);
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//led
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pinMode(LED_PIN, OUTPUT);
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//serial
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Serial.begin(115200);
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delay(100);
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//serial
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Serial.begin(115200);
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delay(100);
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//info
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Serial.println();
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Serial.println();
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Serial.println("\"hi, i m your postman.\"");
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Serial.println("-");
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Serial.println("- my id: " + String(MY_ID) + ", gid: " + String(MY_GROUP_ID) + ", call me ==> \"" + String(MY_SIGN) + "\"");
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Serial.println("- mac address: " + WiFi.macAddress() + ", channel: " + String(WIFI_CHANNEL));
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//info
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Serial.println();
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Serial.println();
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Serial.println("\"hi, i m your postman.\"");
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Serial.println("-");
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Serial.println("- my id: " + String(MY_ID) + ", gid: " + String(MY_GROUP_ID) + ", call me ==> \"" + String(MY_SIGN) + "\"");
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Serial.println("- mac address: " + WiFi.macAddress() + ", channel: " + String(WIFI_CHANNEL));
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#if defined(HAVE_CLIENT)
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Serial.println("- ======== 'HAVE_CLIENT' ========");
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Serial.println("- ======== 'HAVE_CLIENT' ========");
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#endif
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#if defined(SERIAL_SWAP)
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Serial.println("- ======== 'SERIAL_SWAP' ========");
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Serial.println("- ======== 'SERIAL_SWAP' ========");
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#endif
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#if defined(DISABLE_AP)
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Serial.println("- ======== 'DISABLE_AP' ========");
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Serial.println("- ======== 'DISABLE_AP' ========");
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#endif
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#if defined(HAVE_CLIENT_I2C)
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Serial.println("- ======== 'HAVE_CLIENT_I2C' ========");
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Serial.println("- ======== 'HAVE_CLIENT_I2C' ========");
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#endif
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Serial.println("-");
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Serial.println("-");
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//wifi
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WiFiMode_t node_type = WIFI_AP_STA;
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//wifi
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WiFiMode_t node_type = WIFI_AP_STA;
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#if defined(DISABLE_AP)
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system_phy_set_max_tpw(0);
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node_type = WIFI_STA;
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system_phy_set_max_tpw(0);
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node_type = WIFI_STA;
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#endif
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WiFi.mode(node_type);
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WiFi.mode(node_type);
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|
||||
//esp-now
|
||||
if (esp_now_init() != 0) {
|
||||
Serial.println("Error initializing ESP-NOW");
|
||||
return;
|
||||
}
|
||||
esp_now_set_self_role(ESP_NOW_ROLE_COMBO);
|
||||
esp_now_register_send_cb(onDataSent);
|
||||
esp_now_register_recv_cb(onDataReceive);
|
||||
//
|
||||
Serial.println("- ! (esp_now_add_peer) ==> add a 'broadcast peer' (FF:FF:FF:FF:FF:FF).");
|
||||
uint8_t broadcastmac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
|
||||
esp_now_add_peer(broadcastmac, ESP_NOW_ROLE_COMBO, 1, NULL, 0);
|
||||
//esp-now
|
||||
if (esp_now_init() != 0) {
|
||||
Serial.println("Error initializing ESP-NOW");
|
||||
return;
|
||||
}
|
||||
esp_now_set_self_role(ESP_NOW_ROLE_COMBO);
|
||||
esp_now_register_send_cb(onDataSent);
|
||||
esp_now_register_recv_cb(onDataReceive);
|
||||
//
|
||||
Serial.println("- ! (esp_now_add_peer) ==> add a 'broadcast peer' (FF:FF:FF:FF:FF:FF).");
|
||||
uint8_t broadcastmac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
|
||||
esp_now_add_peer(broadcastmac, ESP_NOW_ROLE_COMBO, 1, NULL, 0);
|
||||
|
||||
//
|
||||
Serial.println("-");
|
||||
Serial.println("\".-.-.-. :)\"");
|
||||
Serial.println();
|
||||
//
|
||||
Serial.println("-");
|
||||
Serial.println("\".-.-.-. :)\"");
|
||||
Serial.println();
|
||||
|
||||
#if defined(SERIAL_SWAP)
|
||||
Serial.println("- ======== 'SERIAL_SWAP' ========");
|
||||
// a proper say goodbye.
|
||||
Serial.println("\"bye, i will do 'swap' in 1 second. find me on alternative pins!\"");
|
||||
Serial.println("\" hint: osc wiring ==> esp8266(serial.swap) <-> teensy(serial3)\"");
|
||||
Serial.println("-");
|
||||
Serial.println("\".-.-.-. :)\"");
|
||||
delay(1000); // flush out unsent serial messages.
|
||||
Serial.println("- ======== 'SERIAL_SWAP' ========");
|
||||
// a proper say goodbye.
|
||||
Serial.println("\"bye, i will do 'swap' in 1 second. find me on alternative pins!\"");
|
||||
Serial.println("\" hint: osc wiring ==> esp8266(serial.swap) <-> teensy(serial3)\"");
|
||||
Serial.println("-");
|
||||
Serial.println("\".-.-.-. :)\"");
|
||||
delay(1000); // flush out unsent serial messages.
|
||||
|
||||
// moving...
|
||||
Serial.swap(); // use RXD2/TXD2 pins, afterwards.
|
||||
delay(100); // wait re-initialization of the 'Serial'
|
||||
// moving...
|
||||
Serial.swap(); // use RXD2/TXD2 pins, afterwards.
|
||||
delay(100); // wait re-initialization of the 'Serial'
|
||||
#endif
|
||||
|
||||
//random seed
|
||||
randomSeed(analogRead(0));
|
||||
//random seed
|
||||
randomSeed(analogRead(0));
|
||||
|
||||
//stepper
|
||||
// "The fastest motor speed that can be reliably supported is about 4000 steps per
|
||||
// second at a clock frequency of 16 MHz on Arduino such as Uno etc."
|
||||
// @ AccelStepper.h
|
||||
stepper.setMaxSpeed(STEPS_PER_SEC_MAX); //steps per second (trade-off between speed vs. torque)
|
||||
//stepper
|
||||
// "The fastest motor speed that can be reliably supported is about 4000 steps per
|
||||
// second at a clock frequency of 16 MHz on Arduino such as Uno etc."
|
||||
// @ AccelStepper.h
|
||||
stepper.setMaxSpeed(STEPS_PER_SEC_MAX); //steps per second (trade-off between speed vs. torque)
|
||||
#if (STEP_MODE == STEP_MODE_ACCELERATING)
|
||||
stepper.setAcceleration(ACCELERATION_MAX);
|
||||
stepper.setAcceleration(ACCELERATION_MAX);
|
||||
#endif
|
||||
|
||||
//tasks
|
||||
runner.addTask(stepping_task);
|
||||
runner.addTask(moving_task);
|
||||
runner.addTask(rest_task);
|
||||
rest_task.restartDelayed(500);
|
||||
//tasks
|
||||
runner.addTask(stepping_task);
|
||||
runner.addTask(moving_task);
|
||||
runner.addTask(rest_task);
|
||||
rest_task.restartDelayed(500);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
//
|
||||
runner.execute();
|
||||
//
|
||||
//
|
||||
runner.execute();
|
||||
//
|
||||
|
||||
//stepper
|
||||
if (stepper.distanceToGo() != 0) {
|
||||
//stepper
|
||||
if (stepper.distanceToGo() != 0) {
|
||||
#if (STEP_MODE == STEP_MODE_CONSTANT_VEL)
|
||||
stepper.runSpeed();
|
||||
stepper.runSpeed();
|
||||
#elif (STEP_MODE == STEP_MODE_ACCELERATING)
|
||||
stepper.run();
|
||||
stepper.run();
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue