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feat: mutiple tubes

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This commit is contained in:
Pierre Tellier 2025-05-11 16:26:52 +02:00
parent ca35d80054
commit a66fef2516
1 changed files with 195 additions and 249 deletions
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428
prog/prog.ino
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@ -1,53 +1,19 @@
#include <ESP32Servo.h> #include <ESP32Servo.h>
#include <Wire.h> #include <Wire.h>
#include "Adafruit_VL53L0X.h" #include <VL53L0X.h>
#include <Adafruit_PCF8574.h> #include <Adafruit_PCF8574.h>
#include <WiFi.h> #include <WiFi.h>
#include <AsyncTCP.h> #include <AsyncTCP.h>
#include <ESPAsyncWebServer.h> #include <ESPAsyncWebServer.h>
/* // Web server configuration
#include "terminal.hpp" const char* ssid = "ESP_ping";
// const char* password = "pong";
// ATTENTION : pour que les commandes se déclarent automatiquement au démarrage
// auprès du terminal, le fichier conteant la fonction setup() et loop() doit
// être mis en derniere position dans la liste des fichiers lors de l'édition
// des liens.
// Dans platformio, pour faire cela, il suffit de commencer le nom du fichier
// contenant les fonctions loop() et setup() par la lettre z.
// Par exemple : zzz_main.cpp.
//
extern terminal_n::Terminal terminal; const char* PARAM_INPUT_1 = "output";
const char* PARAM_INPUT_2 = "state";
TERMINAL_PARAMETER_INT(
terminal,
power_mode, // variable name to declare
"power_mode", // EEPROM name (15 char. max),
// If you dont want to save in EEPROM, set ""
"the power mode", // description
0, // default constructor value
false, // auto save in eeprom after command modification
terminal_n::filter_nothing, // function to filter the value
terminal_n::do_nothing // function executed at the end of the command
);
TERMINAL_COMMAND(terminal, ping, "Print pong followoing by the received arguments")
{
terminal.print("pong");
for (uint32_t i=0; i<argc; i++) {
terminal.print(" ");
terminal.print(argv[i]);
}
terminal.println("");
}
TERMINAL_ADD_DEFAULT_COMMANDS(terminal) // help, params, load_config, reset_config, echo ...
terminal_n::Terminal terminal("Pingpong flottant.\n\r\n\r");
*/
AsyncWebServer server(80);
struct pin { struct pin {
int id; int id;
@ -55,8 +21,8 @@ struct pin {
}; };
struct tube { struct tube {
float height; uint16_t height;
float target; uint16_t target;
struct { struct {
Servo hard; Servo hard;
struct pin pin; struct pin pin;
@ -64,32 +30,114 @@ struct tube {
int equilibrium; int equilibrium;
} servo; } servo;
struct { struct {
Adafruit_VL53L0X hard; VL53L0X hard;
struct pin gpio; struct pin gpio;
struct pin xshut; struct pin xshut;
} tof; } tof;
int id; int id;
}; };
const struct pin all_xshuts[6] = {
{.id = 17, .is_extender = 0},
{.id = 2, .is_extender = 1},
{.id = 3, .is_extender = 1},
{.id = 7, .is_extender = 1},
{.id = 5, .is_extender = 1},
{.id = 1, .is_extender = 1}
};
const int TUBES_COUNT = 6; const struct pin all_gpios[6] = {
struct tube all_tubes[6] = {0}; {.id = 5, .is_extender = 0},
{.id = 18, .is_extender = 0},
{.id = 19, .is_extender = 0},
{.id = -1, .is_extender = 1},
{.id = 6, .is_extender = 1},
{.id = 0, .is_extender = 1}
};
const struct pin all_servos[6] = {
{.id = 32, .is_extender = 0},
{.id = 33, .is_extender = 0},
{.id = 23, .is_extender = 0},
{.id = 16, .is_extender = 0},
{.id = 14, .is_extender = 0},
{.id = 2, .is_extender = 0}
};
struct tube all_tubes[6];
const int TUBES_COUNT = 1;
const float minHeight = 50; const float minHeight = 50;
const float maxHeight = 445; const float maxHeight = 445;
int minServo = 0; int minServo = 50;
int maxServo = 180; int maxServo = 180;
// Replace with your network credentials
const char* ssid = "ESP_ping";
const char* password = "pong";
const char* PARAM_INPUT_1 = "output"; Adafruit_PCF8574 pcf8574;
const char* PARAM_INPUT_2 = "state";
// Create AsyncWebServer object on port 80 void scan_I2c(){
AsyncWebServer server(80); byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ ) {
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0) {
Serial.print("I2C device found at address 0x");
if (address<16) {
Serial.print("0");
}
Serial.println(address,HEX);
nDevices++;
}
else if (error==4) {
Serial.print("Unknow error at address 0x");
if (address<16) {
Serial.print("0");
}
Serial.println(address,HEX);
}
}
if (nDevices == 0) {
Serial.println("No I2C devices found\n");
}
else {
Serial.println("done\n");
}
delay(5000);
}
uint16_t mesureHeight(int i){
uint16_t h = all_tubes[i].tof.hard.readRangeContinuousMillimeters();
//Serial.printf("measure: %d\n", h);
if (h > 2000){
//Serial.printf("returning height\n");
return all_tubes[i].height;
} else {
//Serial.printf("returning: %d\n", h);
return h;
}
}
void change_pin(struct pin pin, int state) {
if (pin.is_extender) {
pcf8574.digitalWrite(pin.id, state);
} else {
digitalWrite(pin.id, state);
}
}
void changePinMode(struct pin pin, int state) {
if (pin.is_extender) {
pcf8574.pinMode(pin.id, state);
} else {
pinMode(pin.id, state);
}
}
// Web Server configuration
const char index_html[] PROGMEM = R"rawliteral( const char index_html[] PROGMEM = R"rawliteral(
<!DOCTYPE HTML><html> <!DOCTYPE HTML><html>
@ -128,7 +176,6 @@ const char index_html[] PROGMEM = R"rawliteral(
)rawliteral"; )rawliteral";
// Replaces placeholder with button section in your web page
String processor(const String& var){ String processor(const String& var){
//Serial.println(var); //Serial.println(var);
if(var == "BUTTONPLACEHOLDER"){ if(var == "BUTTONPLACEHOLDER"){
@ -146,26 +193,6 @@ String processor(const String& var){
} }
auto mesureHeight(Adafruit_VL53L0X lox, struct tube *tube){
VL53L0X_RangingMeasurementData_t measure;
lox.rangingTest(&measure, false); // pass in 'true' to get debug data printout!
if (measure.RangeStatus != 4) { // phase failures have incorrect data
float height = measure.RangeMilliMeter;
if (height < 1000.0){
tube->height = height;
return height;
} else {
Serial.println("Incoherent measurement. Returning previous one.");
return tube->height;
}
}
else {
//Serial.println(" out of range ");
return tube->height;
}
}
void wifisetup() { void wifisetup() {
Serial.print("Setting AP (Access Point)…"); Serial.print("Setting AP (Access Point)…");
WiFi.softAP(ssid); WiFi.softAP(ssid);
@ -181,17 +208,19 @@ void wifisetup() {
// Send a GET request to <ESP_IP>/update?output=<inputMessage1>&state=<inputMessage2> // Send a GET request to <ESP_IP>/update?output=<inputMessage1>&state=<inputMessage2>
server.on("/update", HTTP_GET, [] (AsyncWebServerRequest *request) { server.on("/update", HTTP_GET, [] (AsyncWebServerRequest *request) {
String inputMessage1; int inputMessage1;
String inputMessage2; int inputMessage2;
// GET input1 value on <ESP_IP>/update?output=<inputMessage1>&state=<inputMessage2> // GET input1 value on <ESP_IP>/update?output=<inputMessage1>&state=<inputMessage2>
if (request->hasParam(PARAM_INPUT_1) && request->hasParam(PARAM_INPUT_2)) { if (request->hasParam(PARAM_INPUT_1) && request->hasParam(PARAM_INPUT_2)) {
inputMessage1 = request->getParam(PARAM_INPUT_1)->value(); inputMessage1 = request->getParam(PARAM_INPUT_1)->value().toInt();
inputMessage2 = request->getParam(PARAM_INPUT_2)->value(); inputMessage2 = request->getParam(PARAM_INPUT_2)->value().toInt();
all_tubes[0].target = inputMessage2.toFloat(); Serial.printf("Received web command: %d %d\n", inputMessage1, inputMessage2);
all_tubes[inputMessage1].target = inputMessage2;
} }
else { else {
inputMessage1 = "No message sent"; // Error
inputMessage2 = "No message sent"; inputMessage1 = -1;
inputMessage2 = -1;
} }
Serial.print("GPIO: "); Serial.print("GPIO: ");
Serial.print(inputMessage1); Serial.print(inputMessage1);
@ -204,128 +233,63 @@ void wifisetup() {
server.begin(); server.begin();
} }
Adafruit_PCF8574 pcf8574;
void change_pin(struct pin pin, int state) {
if (pin.is_extender) {
pcf8574.digitalWrite(pin.id, state);
} else {
digitalWrite(pin.id, state);
}
}
void changePinMode(struct pin pin, int state) {
if (pin.is_extender) {
pcf8574.pinMode(pin.id, state);
} else {
pinMode(pin.id, state);
}
}
Adafruit_VL53L0X tofs_talk_through[6] = {Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X()};
void init_tube(struct tube *tube, char id, struct pin servo_pin, struct pin gpio, struct pin xshut) {
Serial.print(" Initialiazing tube #");
Serial.println((int) id);
tube->id = id;
tube->servo.pin = servo_pin;
tube->tof.gpio = gpio;
tube->tof.xshut = xshut;
tube->height = 250.0f;
tube->target = 250.0f;
change_pin(gpio, HIGH);
change_pin(xshut, HIGH);
//change_pin(servo_pin, HIGH);
Serial.println("Beginning boot sequence VL53L0X");
/*
if (!tofs_talk_through[id].begin()) {
Serial.println(F("Failed to boot VL53L0X"));
Serial.println((int)id);
while(1);
}*/
while (!tofs_talk_through[id].begin()) {
Serial.println(F("Failed to boot VL53L0X"));
Serial.println("Adafruit VL53L0X XShut set Low to Force HW Reset");
digitalWrite(xshut.id, LOW);
delay(100);
digitalWrite(xshut.id, HIGH);
Serial.println("Adafruit VL53L0X XShut set high to Allow Boot");
delay(5000);
}
tofs_talk_through[id].setAddress(0x30 + id);
tube->servo.hard.attach(tube->servo.pin.id);
tube->servo.hard.write(minServo);
delay(5000);
Serial.println("Setuping downards");
float h = mesureHeight(tofs_talk_through[id], tube);
Serial.println(h);
int angle = minServo;
while (h > maxHeight) {
++angle;
tube->servo.hard.write(angle);
delay(300);
h = mesureHeight(tofs_talk_through[id], tube);
}
angle -= 5;
tube->servo.last_angle = angle;
tube->servo.hard.write(tube->servo.last_angle);
tube->servo.equilibrium = angle;
Serial.println("Done.");
}
void setup_all_tubes() {
const struct pin all_xshuts[6] = {
{.id = 17, .is_extender = 0},
{.id = 2, .is_extender = 1},
{.id = 3, .is_extender = 1},
{.id = 7, .is_extender = 1},
{.id = 5, .is_extender = 1},
{.id = 1, .is_extender = 1}
};
const struct pin all_gpios[6] = {
{.id = 5, .is_extender = 0},
{.id = 18, .is_extender = 0},
{.id = 19, .is_extender = 0},
{.id = -1, .is_extender = 1},
{.id = 6, .is_extender = 1},
{.id = 0, .is_extender = 1}
};
const struct pin all_servos[6] = {
{.id = 32, .is_extender = 0},
{.id = 33, .is_extender = 0},
{.id = 23, .is_extender = 0},
{.id = 16, .is_extender = 0},
{.id = 14, .is_extender = 0},
{.id = 2, .is_extender = 0}
};
// Tube configuration
void setup_all_tofs() {
// Reset all TOFs by turning them up and low // Reset all TOFs by turning them up and low
for (int i = 0; i < TUBES_COUNT; ++i) { for (int i = 0; i < TUBES_COUNT; ++i) {
changePinMode(all_xshuts[i], OUTPUT); changePinMode(all_xshuts[i], OUTPUT);
change_pin(all_xshuts[i], LOW); change_pin(all_xshuts[i], LOW);
} }
delay(1000);
/* for (int i = 0; i<TUBES_COUNT; i++){
for (int i = 0; i < TUBES_COUNT; ++i) { Serial.printf("\n\nInitialiazing tube #%d\n", i);
change_pin(all_xshuts[i], HIGH); change_pin(all_xshuts[i], HIGH);
Serial.println("Beginning boot sequence VL53L0X");
all_tubes[i].tof.hard.setTimeout(500);
while (!all_tubes[i].tof.hard.init()) {
Serial.println(F("Failed to boot VL53L0X"));
while(1);
} }
delay(10); all_tubes[i].tof.hard.setAddress(0x31 + i);
for (int i = 0; i < TUBES_COUNT; ++i) { all_tubes[i].tof.hard.startContinuous();
change_pin(all_xshuts[i], LOW); all_tubes[i].servo.pin = all_servos[i];
}
*/
for (int i = 0; i < TUBES_COUNT; ++i) {
init_tube(all_tubes, i, all_servos[i], all_gpios[i], all_xshuts[i]);
} }
Serial.println("Done setuping TOFs");
} }
void calibrate_tube(int i){
Serial.printf("Calibrating tube %d.\n", i);
all_tubes[i].servo.hard.attach(all_tubes[i].servo.pin.id);
all_tubes[i].servo.hard.write(minServo);
delay(5000);
Serial.println("Setuping downards");
uint16_t h = mesureHeight(i);
int angle = minServo;
while (h > maxHeight) {
Serial.printf("%dmm %d°\n",h, angle);
++angle;
all_tubes[i].servo.hard.write(angle);
delay(300);
h = mesureHeight(i);
}
angle -= 5;
all_tubes[i].servo.last_angle = angle;
all_tubes[i].servo.hard.write(all_tubes[i].servo.last_angle);
all_tubes[i].servo.equilibrium = angle;
Serial.printf("Tube %d calibrated.\n", i);
}
// Helper functions
auto heightRatio(uint16_t h){
float height = h;
return max(min(1.0f, (height - minHeight) / (maxHeight-minHeight)), 0.0f);
}
int servoPosition(float ratio){
return (ratio * maxServo) + ((1-ratio) * minServo);
}
void setup() { void setup() {
Serial.begin(115200); // Starts the serial communication Serial.begin(115200); // Starts the serial communication
@ -333,6 +297,10 @@ void setup() {
delay(1); delay(1);
} }
Wire.begin();
scan_I2c();
if (!pcf8574.begin(0x38, &Wire)) { if (!pcf8574.begin(0x38, &Wire)) {
Serial.println("Couldn't find PCF8574"); Serial.println("Couldn't find PCF8574");
while (1); while (1);
@ -341,70 +309,48 @@ void setup() {
pcf8574.pinMode(p, OUTPUT); pcf8574.pinMode(p, OUTPUT);
} }
Serial.println("PCF8574 seemks OK"); Serial.println("PCF8574 is OK");
wifisetup(); wifisetup();
setup_all_tofs();
for (int i = 0; i<TUBES_COUNT; i++){
calibrate_tube(i);
}
//terminal.setup(&Serial);
setup_all_tubes();
Serial.println("Done setuping have funning");
} }
auto heightRatio(float height){
return max(min(1.0f, (height - minHeight) / (maxHeight-minHeight)), 0.0f);
}
int servoPosition(float ratio){
return (ratio * maxServo) + ((1-ratio) * minServo);
}
void loop() { void loop() {
//terminal.update(); for (int i = 0; i<TUBES_COUNT; i++){
for (int i = 0; i < TUBES_COUNT; i++) { all_tubes[i].height = mesureHeight(i);
struct tube *tube = all_tubes + i; Serial.printf("%d", all_tubes[i].height);
/*
Serial.print("Tube ");
Serial.println(tube->id);
*/
tube->height = mesureHeight(tofs_talk_through[tube->id], tube);
/*
Serial.print("Measure = ");
Serial.println(tube->height);
*/
int angle = 0; int angle = 0;
float diff = tube->height - tube->target; int diff = all_tubes[i].height - all_tubes[i].target;
if (abs(diff) > 5.0f) { if (abs(diff) > 5.0f) {
angle = tube->servo.equilibrium + (diff * 1 / (7)); angle = all_tubes[i].servo.equilibrium + (diff * 1 / (7));
} else if (abs(diff) > 2.0f) { } else if (abs(diff) > 2.0f) {
angle = tube->servo.equilibrium + (diff * 1 / (7)); angle = all_tubes[i].servo.equilibrium + (diff * 1 / (7));
} else { } else {
angle = tube->servo.equilibrium; angle = all_tubes[i].servo.equilibrium;
}
/*
Serial.print("angle = ");
Serial.print(angle);
Serial.print("; equilibrium = ");
Serial.println(tube->servo.equilibrium);
*/
tube->servo.last_angle = min(max(angle, minServo), maxServo);
/* Serial.print("Diff = ");
Serial.print(diff);
Serial.print("; Requested = ");
Serial.print(tube->target);
Serial.print("; Angle = ");
Serial.println(tube->servo.last_angle);
*/
tube->servo.hard.write(tube->servo.last_angle);
} }
for (int i = 0; i<TUBES_COUNT; i++){ Serial.printf("%d - %d = %d => %d\n", all_tubes[i].height, all_tubes[i].target, diff, angle);
Serial.print((&all_tubes[i])->height);
Serial.print("\t");
all_tubes[i].servo.last_angle = min(max(angle, minServo), maxServo);
all_tubes[i].servo.hard.write(all_tubes[i].servo.last_angle);
} }
Serial.println(); Serial.println();
delay(1); //Serial.printf("%d %d %d %d %d %d \n", val0, val1, val2, val3, val4, val5);
// Serial.printf("%d %d %d \n", val3, val4, val5);
//Serial.printf("%d %d \n", val0, val1);
delay(5);
} }