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added state machine behaviour with switch/case

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This commit is contained in:
helgie22
2026-09-24 11:02:37 +00:00
parent 46c761dd25
commit fbb9bbdbbb
3 changed files with 142 additions and 63 deletions
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.vscode/c_cpp_properties.json
Vendored
+4 -4
View File
@@ -8,8 +8,8 @@
{
"name": "PlatformIO",
"includePath": [
"C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include",
"C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src",
"C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/include",
"C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/src",
"C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
"C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
"C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
@@ -22,8 +22,8 @@
"browse": {
"limitSymbolsToIncludedHeaders": true,
"path": [
"C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include",
"C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src",
"C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/include",
"C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/src",
"C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
"C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
"C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
.vscode/launch.json
Vendored
+3 -3
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@@ -12,7 +12,7 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
"executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
"executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
"projectEnvName": "nanoatmega328new",
"toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
"internalConsoleOptions": "openOnSessionStart",
@@ -25,7 +25,7 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (skip Pre-Debug)",
"executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
"executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
"projectEnvName": "nanoatmega328new",
"toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
"internalConsoleOptions": "openOnSessionStart"
@@ -34,7 +34,7 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (without uploading)",
"executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
"executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
"projectEnvName": "nanoatmega328new",
"toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
"internalConsoleOptions": "openOnSessionStart",
src/main.cpp
+135 -56
View File
@@ -1,87 +1,166 @@
#include <avr/io.h>
#include <util/delay.h>
#include <Arduino.h>
#include <avr/interrupt.h>
#include "rotary_encoder_driver.h"
#include "motor_driver.h"
#include "p_controller.h"
RotaryEncoderDriver encoder;
MotorDriver motor;
// RotaryEncoderDriver encoder;
// MotorDriver motor;
P_controller controller(12.5);
// P_controller controller(12.5);
const double REF_RPM1 = 30.0;
const double REF_RPM2 = 50.0;
// const double REF_RPM1 = 30.0;
// const double REF_RPM2 = 50.0;
const uint16_t STEP1_AT_SAMPLE = 50;
const uint16_t STEP2_AT_SAMPLE = 500;
// const uint16_t STEP1_AT_SAMPLE = 50;
// const uint16_t STEP2_AT_SAMPLE = 500;
const uint16_t STOP_AT_SAMPLE = 1000;
// const uint16_t STOP_AT_SAMPLE = 1000;
unsigned long state_entry_time;
unsigned long time_in_state()
{
return millis() - state_entry_time;
}
int main() {
init();
Serial.begin(115200);
cli();
encoder.begin();
motor.begin();
// Serial.begin(9600);
sei();
enum State
{
Initialization,
Operational,
Pre_Operational,
Stopped
};
State state = State::Initialization; // Define state variable and set the initial state
// cli();
// encoder.begin();
// motor.begin();
// sei();
// Mótor stopp og smá bið svo kerfið sé í kyrrstöðu áður en mælingin hefst
motor.stop();
_delay_ms(2000);
// motor.stop();
// _delay_ms(2000);
Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual");
Serial.println("0.0,0.0,0.0,0.0,0.0");
// Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual");
// Serial.println("0.0,0.0,0.0,0.0,0.0");
encoder.reset_speed_measurement();
// encoder.reset_speed_measurement();
uint16_t sample = 0;
double ref = 0.0;
// uint16_t sample = 0;
// double ref = 0.0;
while (true) {
if (encoder.new_speed_available()) {
sample++;
while (1) {
int c = 0; // for incoming serial data
float time_ms = sample * 4.0f;
if (Serial.available() > 0)
{
c = Serial.read();
Serial.print("I received: ");
Serial.println(c, DEC);
}
// Step-inntak: viðmiðið hoppar úr 0 í REF_RPM á STEP_AT_SAMPLE
if (sample == STEP1_AT_SAMPLE) {
ref = REF_RPM1;
switch (state)
{
case State::Initialization:
if (c == 'p')
{
state_entry_time = millis();
// State::Idle exit action
// event1 transition action
Serial.println("Initialization finished");
// set new target state
state = State::Pre_Operational;
// target state entry action
Serial.println("Going into Pre Operation");
}
if (c == 'o')
{
state_entry_time = millis();
// State::Idle exit action
// event2 transition action
Serial.println("Initialization finished");
// set new target state
state = State::Operational;
// target state entry action
Serial.println("Going straight to Operation");
}
break;
case State::Operational:
if (c == 'i')
{
state_entry_time = millis();
// State::Cooling exit action
Serial.println("Operation over");
// event3 transition action
// set new target state
state = State::Initialization;
// target state entry action
Serial.println("Initialization state");
}
if (c == 's')
{
state_entry_time = millis();
// State::Cooling exit action
Serial.println("Operation over");
// event4 transition action
// set new target state
state = State::Stopped;
// target state entry action
Serial.println("Stopping");
}
break;
case State::Pre_Operational:
if (c == 'o')
{
state_entry_time = millis();
// State::Heating exit action
Serial.println("Pre Operation over");
// event3 transition action
// set new target state
state = State::Operational;
// target state entry action
Serial.println("Going to Operation");
}
if (c == 's')
{
state_entry_time = millis();
// State::Heating exit action
Serial.println("Pre Operation over");
// event4 transition action
// set new target state
state = State::Stopped;
// target state entry action
Serial.println("Stopping");
}
break;
case State::Stopped:
if (c == 'i')
{
state_entry_time = millis();
// State::Failure exit action
Serial.println("Stop over");
// event3 transition action
// set new target state
state = State::Initialization;
// target state entry action
Serial.println("Initialization state");
}
if (sample == STEP2_AT_SAMPLE) {
ref = REF_RPM2;
}
double actual = encoder.rpm();
double pwm_percent = controller.update(ref, actual);
double pwm_requested = pwm_percent * 2.55;
double pwm_actual = pwm_requested;
if (pwm_actual > 255.0) pwm_actual = 255.0;
if (pwm_actual < -255.0) pwm_actual = -255.0;
motor.set(pwm_actual);
Serial.print(time_ms, 1);
Serial.print(",");
Serial.print(ref, 1);
Serial.print(",");
Serial.print(actual, 2);
Serial.print(",");
Serial.print(pwm_requested, 1);
Serial.print(",");
Serial.println(pwm_actual, 1);
if (sample >= STOP_AT_SAMPLE) {
motor.stop();
while (true) {
}
}
}
}
return 0;
}