update

Author: aoki-rt

README.md

@@ -8,8 +8,10 @@
 Pi:Co V2用のArduinoサンプルスケッチ集です。
 
 ## 動作環境
-
-- arduino-esp32 : v3.0.1
+- Arduino IDE v2.3.4
+- arduino-esp32 v3.1.1
+- Async TCP 3.3.6
+- ESP Async WebServer 3.7.2
 
 ## サンプルスケッチについて
 

pico_v2_STEP3_Buzzer/pico_v2_STEP3_Buzzer.ino

@@ -31,7 +31,7 @@
 
 char g_mode;
 
-void setLED(char data)
+void ledSet(char data)
 {
   if (data & 0x01) {
     digitalWrite(LED0, HIGH);
@@ -55,7 +55,7 @@ void setLED(char data)
   }
 }
 
-void execByMode(char mode)
+void modeExec(char mode)
 {
   switch (mode) {
     case 1:
@@ -94,7 +94,7 @@ void setup()
   ledcWrite(BUZZER, 0);
 
   g_mode = 1;
-  setLED(g_mode);
+  ledSet(g_mode);
 }
 
 void loop()
@@ -112,7 +112,7 @@ void loop()
       delay(30);
       ledcWrite(BUZZER, 0);
     }
-    setLED(g_mode);
+    ledSet(g_mode);
   }
   if (digitalRead(SW_L) == 0) {
     ledcWriteTone(BUZZER, INC_FREQ);
@@ -121,7 +121,7 @@ void loop()
     delay(80);
     ledcWrite(BUZZER, 0);
     delay(300);
-    execByMode(g_mode);
+    modeExec(g_mode);
   }
   while (!(digitalRead(SW_L) & digitalRead(SW_R))) {
     continue;

pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "run.h"
+
 #define LED0 42
 #define LED1 41
 #define LED2 15
@@ -37,16 +39,11 @@ hw_timer_t * g_timer3 = NULL;
 
 portMUX_TYPE g_timer_mux = portMUX_INITIALIZER_UNLOCKED;
 
+volatile bool g_motor_move = 0;
+volatile unsigned int g_step_r, g_step_l;
 unsigned short g_step_hz_r = MIN_HZ;
 unsigned short g_step_hz_l = MIN_HZ;
 
-volatile unsigned int g_step_r, g_step_l;
-double g_max_speed;
-double g_min_speed;
-double g_accel = 0.0;
-volatile double g_speed = MIN_SPEED;
-
-volatile bool g_motor_move = 0;
 
 //割り込み
 //目標値の更新周期1kHz
@@ -97,8 +94,8 @@ void setup()
   pinMode(LED2, OUTPUT);
   pinMode(LED3, OUTPUT);
 
-  pinMode(SW_L, INPUT);
-  pinMode(SW_R, INPUT);
+  pinMode(SW_L, INPUT_PULLUP);
+  pinMode(SW_R, INPUT_PULLUP);
 
   //motor disable
   pinMode(MOTOR_EN, OUTPUT);
@@ -138,12 +135,12 @@ void loop()
   digitalWrite(MOTOR_EN, HIGH);
   delay(1000);
   digitalWrite(LED0, HIGH);
-  accelerate(45, 200);
+  g_run.accelerate(45, 200);
   digitalWrite(LED1, HIGH);
   digitalWrite(LED2, HIGH);
-  oneStep(90, 200);
+  g_run.oneStep(90, 200);
   digitalWrite(LED3, HIGH);
-  decelerate(45, 200);
+  g_run.decelerate(45, 200);
   digitalWrite(LED0, LOW);
   digitalWrite(LED1, LOW);
   digitalWrite(LED2, LOW);

pico_v2_STEP5_Straight/run.h

@@ -0,0 +1,50 @@
+// Copyright 2023 RT Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef SRC_RUN_H_
+#define SRC_RUN_H_
+
+typedef enum {
+  MOT_FORWARD = 1,
+  MOT_BACK = 2
+} t_CW_CCW;
+
+class RUN
+{
+private:
+public:
+  volatile double accel;
+  volatile double speed;
+  volatile double max_speed;
+  volatile double min_speed;
+
+
+  RUN();
+  void interrupt(void);
+  void counterClear(void);
+  void dirSet(t_CW_CCW dir_left, t_CW_CCW dir_right);
+  void speedSet(double l_speed, double r_speed);
+  void stepGet(void);
+  void stop(void);
+  void accelerate(int len, int finish_speed);
+  void oneStep(int len, int init_speed);
+  void decelerate(int len, int init_speed);
+
+private:
+  int step_lr_len, step_lr;
+};
+
+extern RUN g_run;
+
+#endif /* SRC_RUN_H_ */

pico_v2_STEP5_Straight/run.ino

@@ -12,64 +12,132 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-void accelerate(int len, int tar_speed)
+RUN g_run;
+
+RUN::RUN()
+{
+  speed = 0.0;
+  accel = 0.0;
+}
+
+//割り込み
+void controlInterrupt(void) { g_run.interrupt(); }
+
+void RUN::interrupt(void)
+{  //割り込み内からコール
+  speed += accel;
+
+  if (speed > max_speed) {
+    speed = max_speed;
+  }
+  if (speed < min_speed) {
+    speed = min_speed;
+  }
+
+  speedSet(speed, speed);
+}
+
+
+void RUN::dirSet(t_CW_CCW dir_left, t_CW_CCW dir_right)
+{
+  if (dir_left == MOT_FORWARD) {
+    digitalWrite(CW_L, LOW);
+  } else {
+    digitalWrite(CW_L, HIGH);
+  }
+  if (dir_right == MOT_FORWARD) {
+    digitalWrite(CW_R, HIGH);
+  } else {
+    digitalWrite(CW_R, LOW);
+  }
+}
+
+void RUN::counterClear(void) { g_step_r = g_step_l = 0; }
+
+void RUN::speedSet(double l_speed, double r_speed)
+{
+  g_step_hz_l = (int)(l_speed / PULSE);
+  g_step_hz_r = (int)(r_speed / PULSE);
+}
+
+void RUN::stepGet(void)
+{
+  step_lr = g_step_r + g_step_l;
+  step_lr_len = (int)((float)step_lr / 2.0 * PULSE);
+}
+
+void RUN::stop(void) { g_motor_move = 0; }
+
+void RUN::accelerate(int len, int finish_speed)
 {
   int obj_step;
-  g_max_speed = tar_speed;
-  g_accel = 1.5;
-  g_step_r = g_step_l = 0;
-  g_speed = g_min_speed = MIN_SPEED;
-  g_step_hz_r = g_step_hz_l = (unsigned short)(g_speed / PULSE);
 
+  accel = 1.5;
+  speed = min_speed = MIN_SPEED;
+  max_speed = finish_speed;
+  counterClear();
+  speedSet(speed, speed);
+  dirSet(MOT_FORWARD, MOT_FORWARD);
   obj_step = (int)((float)len * 2.0 / PULSE);
-  digitalWrite(CW_R, HIGH);
-  digitalWrite(CW_L, LOW);
   g_motor_move = 1;
 
-  while ((g_step_r + g_step_l) < obj_step) {
-    continue;
+  while (1) {
+    stepGet();
+    if (step_lr > obj_step) {
+      break;
+    }
   }
 }
 
-void oneStep(int len, int tar_speed)
+void RUN::oneStep(int len, int init_speed)
 {
   int obj_step;
-  g_max_speed = tar_speed;
-  g_accel = 0.0;
-  g_step_r = g_step_l = 0;
-  g_speed = g_min_speed = tar_speed;
-  g_step_hz_r = g_step_hz_l = (unsigned short)(g_speed / PULSE);
+
+  accel = 0.0;
+  max_speed = init_speed;
+  speed = min_speed = init_speed;
+  counterClear();
+  speedSet(init_speed, init_speed);
+  dirSet(MOT_FORWARD, MOT_FORWARD);
   obj_step = (int)((float)len * 2.0 / PULSE);
-  digitalWrite(CW_R, HIGH);
-  digitalWrite(CW_L, LOW);
 
-  while ((g_step_r + g_step_l) < obj_step) {
-    continue;
+  while (1) {
+    stepGet();
+    if (step_lr > obj_step) {
+      break;
+    }
   }
 }
 
-void decelerate(int len, int tar_speed)
+void RUN::decelerate(int len, int init_speed)
 {
   int obj_step;
-  g_max_speed = tar_speed;
-  g_accel = 0.0;
-  g_step_r = g_step_l = 0;
-  g_speed = g_min_speed = tar_speed;
-  g_step_hz_r = g_step_hz_l = (unsigned short)(g_speed / PULSE);
+
+  accel = 1.5;
+  max_speed = init_speed;
+  speed = min_speed = init_speed;
+  counterClear();
+  speedSet(init_speed, init_speed);
+  dirSet(MOT_FORWARD, MOT_FORWARD);
   obj_step = (int)((float)len * 2.0 / PULSE);
-  digitalWrite(CW_R, HIGH);
-  digitalWrite(CW_L, LOW);
 
-  while ((len - (g_step_r + g_step_l) / 2.0 * PULSE) >
-         (((g_speed * g_speed) - (MIN_SPEED * MIN_SPEED)) / (2.0 * 1000.0 * 1.5))) {
-    continue;
+  while (1) {
+    stepGet();
+    if (
+      (len - step_lr_len) <
+      (int)(((speed * speed) - (MIN_SPEED * MIN_SPEED)) / (2.0 * 1000.0 * accel))) {
+      break;
+    }
   }
-  g_accel = -1.5;
-  g_min_speed = MIN_SPEED;
+  accel = -1.5;
+  min_speed = MIN_SPEED;
 
-  while ((g_step_r + g_step_l) < obj_step) {
-    continue;
+  while (1) {
+    stepGet();
+    if (step_lr > obj_step) {
+      break;
+    }
   }
 
-  g_motor_move = 0;
+  stop();
 }