ESP + Reorganizacja
This commit is contained in:
Kamil Siejka
441
LeonardoProMicro/AutomatedGearShifter/AutomatedGearShifter.ino
Normal file
441
LeonardoProMicro/AutomatedGearShifter/AutomatedGearShifter.ino
Normal file
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//#include <avr/eeprom.h>
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#include <Servo.h> // model servo: DS3218 PRO
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#include <SPI.h>
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#include <Wire.h>
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#include <time.h>
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#include <Adafruit_GFX.h>
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#include <Adafruit_SSD1306.h>
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#define Version "1.11.3.1"
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//ostatnia zmiana: zmiana na PCB, dostrajanie
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////2DO:
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#define SCREEN_WIDTH 128
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#define SCREEN_HEIGHT 64
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#define OLED_RESET -1 // Reset pin # (or -1 if sharing Arduino reset pin)
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#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32
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Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
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#define PinInSpeed 0 //on board: RXI
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#define ServoSwitch 4 //on board: 4
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#define ServoPin 8 //on board: 8
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#define BrakingLight 9 //on board: 9 BrakingLight
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#define PinLED 10 //on board: 10 ORANGE loop signal
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#define Btn1 18 //on board: A0 Button0
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#define Btn2 19 //on board: A1 Button1
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#define ServoMaxAngle 130
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#define MaxAngle 179
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#define MinAngle 1
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#define MaxGear 8
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#define MinGear 1
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#define WheelCircumference 2.130
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#define MagnetsCnt 4
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#define ms2kmh 3.6
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#define Pi 3.1416
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#define TimeToSleep 180000 //3 min
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Servo myservo;
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//SPEED
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double speed = 0;
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double speed_last = 0;
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double speed_last_2 = 0;
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double speed_last_3 = 0;
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int speedTrend = 0;
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double sigleTimeSpd = 0.0;
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double sleepSpd = 0.0;
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unsigned long millissSpd = millis();
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unsigned long lastMillisSpd = millis();
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unsigned long lastLastMillisSpd = millis();
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unsigned long loopTime = millis();
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//GEAR
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int currentGear = 1;
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int previousGear = 1;
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int calculatedGear = 1;
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//Przedziały dia biegów
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float spdRange1and2 = 7.5;
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float spdRange2and3 = 11.0;
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float spdRange3and4 = 15.5;
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float spdRange4and5 = 18.0;
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float spdRange5and6 = 23.5;
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float spdRange6and7 = 29.3;
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float spdRange7and8 = 36.5;
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double calcTimeDiff = 0.0;
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double lastGearCalc = millis();
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double changeDelayMs = 2000.0;
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double accelerationShift = 1.0;
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int displGear = 9 - currentGear;
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float currentGearRangeLower = 0;
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float currentGearRangeMiddle = 3.0;
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float currentGearRangeUpper = 7.5;
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//SERVO
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int pos = 0;
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int sleepMode = 0;
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int servoCurrPos = ServoMaxAngle;
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//GearBar
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int gearBarHeight = 0;
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int gearBarPosition = 0;
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float speedForBar = 0;
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//oth
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int BrakingLightSwitch;
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int ups = 0;
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int downs = 0;
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int run_hrs = 0;
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int run_mins = 0;
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//DST
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int totalDist = 0;
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int totalDistReaded = 0;
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void setup() {
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//SERVO
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digitalWrite(ServoSwitch, HIGH);
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myservo.attach(ServoPin); // attaches the servo on pin 4 to the servo object
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setPosition(8);
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Serial.begin(9600);
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//DIPLAY settings
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if (!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
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Serial.println(F("SSD1306 allocation failed"));
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for (;;); // Don't proceed, loop forever
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}
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display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS);
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display.clearDisplay();
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display.setTextColor(WHITE);
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display.setRotation(0);
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display.setTextSize(3);
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display.setCursor(0, 0);
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display.println("Version:");
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display.setCursor(0, 25);
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display.println(Version);
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display.display();
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delay(500);
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//INPUT
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pinMode(PinInSpeed, INPUT);
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pinMode(Btn1, INPUT);
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//OUTPUT
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pinMode(PinLED, OUTPUT);
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pinMode(BrakingLight, OUTPUT);
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pinMode(ServoSwitch, OUTPUT);
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//Interrupts
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attachInterrupt(digitalPinToInterrupt(PinInSpeed), calcSpeed, FALLING);
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// powolne ustawianie pozycji servo po włączeniu
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// delay(750);
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// setPosition(8);
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display.clearDisplay();
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delay(550);
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setPosition(7);
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display.setTextSize(1);
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display.setCursor(0, 0);
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display.println("wheelSize:");
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display.setCursor(75, 0);
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display.println(WheelCircumference);
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display.setCursor(0, 16);
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display.println("MagnetsCnt:");
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display.setCursor(75, 16);
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display.println(MagnetsCnt);
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display.setCursor(0, 30);
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display.println("TimeToSleep:");
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display.setCursor(75, 30);
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display.println(TimeToSleep);
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display.setCursor(0, 45);
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display.println("ServoMaxAgl:");
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display.setCursor(75, 45);
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display.println(ServoMaxAngle);
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display.display();
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for (servoCurrPos = myservo.read(); servoCurrPos <= 180; servoCurrPos++) {
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myservo.write(servoCurrPos);
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delay(30);
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}
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//MEMORY
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eeprom_read_block(&totalDistReaded, 0, 2);
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totalDist = totalDistReaded;
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}
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void loop() {
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loopTime = millis();
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display.clearDisplay();
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display.setTextSize(3);
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//################################################
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//SPEED
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sleepSpd = millis() - lastMillisSpd;
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if (sleepSpd >= 2000) { //podaj zerową prędkość jeśli nie było odcztu od 1,5 s
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speed = 0.0;
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speed_last = 0.0;
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speed_last_2 = 0.0;
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speed_last_3 = 0.0;
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if (sleepSpd >= TimeToSleep) { //ustaw bieg 8. jeśli nie było odcztu od 120 s
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prepareTurnOff();
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}
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}
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//DIAG
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// if (speed > 99 || isinf(speed)) {
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// speed = 0;
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// }
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calcGear();
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displGear = 9 - currentGear;
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setPosition(currentGear);
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//duzy font
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//GEAR
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display.setCursor(0, 0);
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display.println("G:");
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display.setCursor(35, 0);
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display.print(currentGear);
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//SPEED_TREND
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display.setCursor(100, 00);
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if (speedTrend <= -1 ) {
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display.write(31);
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} else {
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if (speedTrend >= 1) {
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display.write(30);
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} else {
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display.println("-");
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}
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}
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//SPEED
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display.setCursor(0, 40);
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display.println("S");
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display.setCursor(35, 40);
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display.println(speed, 1);
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//GearBar
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if (sleepSpd <= 30000) {
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currentGearRangeMiddle = (currentGearRangeLower + currentGearRangeUpper) / 2;
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display.fillRect(115, 32, 7, 1, SSD1306_WHITE);
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display.fillRect(115, 0, 7, 1, SSD1306_WHITE);
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display.fillRect(115, 63, 7, 1, SSD1306_WHITE);
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if (speed >= currentGearRangeMiddle) {
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gearBarHeight = int(((speedForBar - currentGearRangeMiddle) / (currentGearRangeUpper - currentGearRangeMiddle)) * 32);
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gearBarPosition = 32 - gearBarHeight;
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display.fillRect(122, gearBarPosition, 4, gearBarHeight, SSD1306_WHITE);
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} else {
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gearBarHeight = int(((currentGearRangeMiddle - speedForBar) / (currentGearRangeMiddle - currentGearRangeLower)) * 32);
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display.fillRect(122, 32, 4, gearBarHeight, SSD1306_WHITE);
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}
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} else {
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display.setTextSize(2);
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display.setCursor(90, 25);
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display.println(int(((TimeToSleep - sleepSpd) / 1000)));
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}
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display.display();
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loopTime = millis();
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//wstrzymanie pętli by odczyty były co 0,5s
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for (; (millis() - loopTime) < 100 ;) {
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delay(10);
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}
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////przejście w tryb uśpienia za pomocą przycisku
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if (digitalRead(Btn1) == HIGH) {
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prepareTurnOff();
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}
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if (speedTrend == -1 && speed > 0.0 ) {
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if (BrakingLightSwitch == 1) {
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digitalWrite(BrakingLight, HIGH);
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BrakingLightSwitch = 0;
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} else {
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digitalWrite(BrakingLight, LOW);
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BrakingLightSwitch = 1;
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}
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} else {
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digitalWrite(BrakingLight, LOW);
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}
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// //TTL DST
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// eeprom_write_block(&totalDist,0,2);
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}
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void calcSpeed() {
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lastLastMillisSpd = lastMillisSpd;
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lastMillisSpd = millissSpd;
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millissSpd = millis();
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sigleTimeSpd = double(millissSpd - lastLastMillisSpd) / 1000;
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speed_last_3 = speed_last_2;
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speed_last_2 = speed_last;
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speed_last = speed;
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speed = (((2 * Pi) / sigleTimeSpd * ((WheelCircumference) / (Pi)) * ms2kmh)) / MagnetsCnt;
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if (((speed_last_3 * 1.5) > speed) && speed > 10.0 && speedTrend > 0) { //zabezpieczenie przed losowymi sygnałami magesu
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speed = speed_last_3;
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}
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// speed = (speed + speed_last)/2;
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// totalDist = totalDist + 1;
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}
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void calcGear() {
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if ((speed / speed_last_3) >= 1.1) { // przyspieszenie DO weryfikacji czy nie trzeba zamienic na czas lub zwiększyc wartość
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speedTrend = 1;
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} else if ((speed - speed_last_3) <= -1.0) {
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speedTrend = -1;
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} else {
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speedTrend = 0;
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}
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// if (speedTrend > 0){ // wymusza wczerśniejszą zmianę biegów gdy wykryto przyspieszanie
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// accelerationShift = 1.05;
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// }else {
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accelerationShift = 1;
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// }
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if (speed * accelerationShift >= 0 && speed * accelerationShift < spdRange1and2) {
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calculatedGear = 1;
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currentGearRangeLower = 2.5;
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currentGearRangeUpper = spdRange1and2;
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} else if (speed * accelerationShift >= spdRange1and2 && speed * accelerationShift < spdRange2and3) {
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calculatedGear = 2;
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currentGearRangeLower = spdRange1and2;
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currentGearRangeUpper = spdRange2and3;
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} else if (speed * accelerationShift >= spdRange2and3 && speed * accelerationShift < spdRange3and4) {
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calculatedGear = 3;
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currentGearRangeLower = spdRange2and3;
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currentGearRangeUpper = spdRange3and4;
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} else if (speed * accelerationShift >= spdRange3and4 && speed * accelerationShift < spdRange4and5) {
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calculatedGear = 4;
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currentGearRangeLower = spdRange3and4;
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currentGearRangeUpper = spdRange4and5;
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} else if (speed * accelerationShift >= spdRange4and5 && speed * accelerationShift < spdRange5and6) {
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calculatedGear = 5;
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currentGearRangeLower = spdRange4and5;
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currentGearRangeUpper = spdRange5and6;
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} else if (speed * accelerationShift >= spdRange5and6 && speed * accelerationShift < spdRange6and7) {
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calculatedGear = 6;
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currentGearRangeLower = spdRange5and6;
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currentGearRangeUpper = spdRange6and7;
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} else if (speed * accelerationShift >= spdRange6and7 && speed * accelerationShift < spdRange7and8) {
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calculatedGear = 7;
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currentGearRangeLower = spdRange6and7;
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currentGearRangeUpper = spdRange7and8;
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} else if (speed * accelerationShift >= spdRange7and8) {
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calculatedGear = 8;
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currentGearRangeLower = spdRange7and8;
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currentGearRangeUpper = 60.0;
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} else {
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calculatedGear = 8; //Default
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};
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calcTimeDiff = millis() - lastGearCalc;
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if (calculatedGear == currentGear) {
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speedForBar = speed * accelerationShift;
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}
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if ((calculatedGear + 1) < currentGear || (calculatedGear - 1) > currentGear || calcTimeDiff >= changeDelayMs || speedTrend > 0 ) {
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//zmień bieg tylko, gdy rożnica między biegiem wyliczonym a obecnym jest większa niż jeden lub gdy od zmieny biegu minely 3 sec
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if (currentGear > calculatedGear) {
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downs = downs + 1;
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}
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if (currentGear < calculatedGear) {
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ups = ups + 1;
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}
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currentGear = calculatedGear;
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previousGear = currentGear;
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lastGearCalc = millis();
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speedForBar = speed * accelerationShift;
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}
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if (speedTrend >= 1 and calculatedGear < 8) {
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if (currentGear > calculatedGear) {
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downs = downs + 1;
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}
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if (currentGear < calculatedGear) {
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ups = ups + 1;
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}
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currentGear = calculatedGear;
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previousGear = currentGear;
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lastGearCalc = millis();
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speedForBar = speed * accelerationShift;
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} else if (speedTrend <= -1 and calculatedGear > 1) {
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if (currentGear > calculatedGear) {
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downs = downs + 1;
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}
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if (currentGear < calculatedGear) {
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ups = ups + 1;
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}
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currentGear = calculatedGear;
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previousGear = currentGear;
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lastGearCalc = millis();
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speedForBar = speed * accelerationShift;
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};
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}
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void setPosition(int currentGear) {
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pos = 180 - round((currentGear - 1) * (ServoMaxAngle / (MaxGear - 1) ));
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if (pos >= 180) {
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pos = MaxAngle;
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}
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if (pos <= 0) {
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pos = MinAngle;
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}
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if (sleepMode == 1 && speed > 0.0) {
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digitalWrite(ServoSwitch, HIGH);
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for (servoCurrPos = myservo.read(); servoCurrPos <= 180; servoCurrPos++) {
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myservo.write(servoCurrPos);
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delay(4);
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}
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sleepMode = 0;
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}
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myservo.write(pos);
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}
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void prepareTurnOff() {
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sleepMode = 1;
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display.clearDisplay();
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display.setTextSize(1);
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display.setCursor(0, 0);
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display.println("Przygotwywanie...");
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display.display();
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for (servoCurrPos = myservo.read(); servoCurrPos >= 60; servoCurrPos--) {
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myservo.write(servoCurrPos);
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delay(30);
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}
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for (; 1000 < (millis() - lastMillisSpd);) {
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digitalWrite(ServoSwitch, LOW);
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digitalWrite(ServoPin, LOW);
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// myservo.detach(ServoPin);
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display.clearDisplay();
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display.setTextSize(1);
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display.setCursor(0, 30);
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display.println("Mozna teraz");
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display.setCursor(0, 38);
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display.println("bezpiecznie wylaczyc");
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display.setCursor(0, 46);
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display.println("komputer.");
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display.setCursor(0, 0);
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display.write(31);
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display.setCursor(5, 0);
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display.println("+");
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display.setCursor(10, 0);
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display.write(30);
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display.setCursor(20, 0);
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display.println(downs + ups);
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display.println("Spins: ");
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display.setCursor(60, 0);
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display.println(totalDist);;
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display.setCursor(70, 0);
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run_mins = floor((millis() / 1000) / 60);
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run_hrs = floor(run_mins / 60);
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run_mins = run_mins - (run_hrs * 60);
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display.setCursor(64, 54);
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display.println("T:");
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display.setCursor(75, 54);
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display.println(run_hrs);
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display.setCursor(80, 54);
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display.println(":");
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display.setCursor(85, 54);
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display.println(run_mins);
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display.display();
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delay(500);
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}
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}
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