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Improve power denial handling

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This commit is contained in:
Phillip Kühne 2025-02-13 22:57:55 +01:00
parent 35c11f42e2
commit 0d6977e148
Signed by: phillip
GPG Key ID: E4C1C4D2F90902AA
3 changed files with 81 additions and 66 deletions
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26
src/motion/Motion.cpp
View File

@ -31,8 +31,11 @@ void Motion::begin(void) {
void Motion::moveTask(void * args) {
uint32_t runtime = (uint32_t)args;
Motion::left.setSpeed(LEFT_MOTOR_DUTY);
Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
if (!Motion::left.setSpeed(LEFT_MOTOR_DUTY) || !Motion::right.setSpeed(RIGHT_MOTOR_DUTY)) {
Serial.println("ailed to start motors due to power constraints");
Motion::stop(); // Use to clean up
return;
}
Motion::xLastWakeTime = xTaskGetTickCount();
while(1){
if(runtime>40||runtime==0){
@ -72,8 +75,11 @@ void Motion::moveTask(void * args) {
RIGHT_MOTOR_DUTY+=changerate;
}
Motion::left.setSpeed(LEFT_MOTOR_DUTY);
Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
bool leftSpeedchangeSuccess = Motion::left.setSpeed(LEFT_MOTOR_DUTY);
bool rightSpeedchangeSuccess = Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
if (!leftSpeedchangeSuccess || !rightSpeedchangeSuccess) {
ESP_LOGW(TAG, "Failed to change motor speed due to power constraints");
}
} else {
vTaskDelayUntil(&xLastWakeTime,runtime);
Motion::left.setSpeed(0);
@ -116,7 +122,11 @@ void Motion::leftMotorTask(void * args) {
xAntiClockwiseTaskHandle = NULL;
}
Motion::right.setSpeed(0);
Motion::left.setSpeed(LEFT_MOTOR_DUTY);
if(!Motion::left.setSpeed(LEFT_MOTOR_DUTY)){
Serial.println("Can not rotate Clockwise due to power constraints");
Motion::stop();
return;
}
while(1){
if((runtime>40)||(runtime==0)){
vTaskDelayUntil(&xLastWakeTime,40);
@ -155,7 +165,11 @@ void Motion::rightMotorTask(void * args) {
vTaskDelete(xClockwiseTaskHandle);
xClockwiseTaskHandle = NULL;
}
Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
if(!Motion::left.setSpeed(RIGHT_MOTOR_DUTY)){
Serial.println("Can not rotate Antilockwise due to power constraints");
Motion::stop();
return;
}
Motion::left.setSpeed(0);
while(1){
if(runtime>40||runtime==0){

4
src/motion/Motion.h
View File

@ -45,8 +45,10 @@ class Motor{
* @attention it is requried at any time to use that method to access the motors or methods of the motionclass to avoid such peaks.
*
* @param duty the duty cyle that should be set, can be between 0-8192
*
* @return true if the speed was set, false if the power was not granted in time
*/
void setSpeed(uint16_t duty);
bool setSpeed(uint16_t duty);
/**
* @brief returns the currently activ speed

45
src/motion/Motor.cpp
View File

@ -4,31 +4,30 @@
#define MOTOR_LEFT_PIN 12
#define MOTOR_RIGHT_PIN 11
Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel){
Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel) {
this->pin = pin;
this->channel = channel;
this->timer = timer;
this->duty = 0;
};
void Motor::begin(void){
pinMode(this->pin,OUTPUT);
ledc_channel_config_t channelConfig = {
.gpio_num = this->pin,
void Motor::begin(void) {
pinMode(this->pin, OUTPUT);
ledc_channel_config_t channelConfig = {.gpio_num = this->pin,
.speed_mode = LEDC_MODE,
.channel = this->channel,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = this->timer,
.duty = 0, // Set duty to 0%
.hpoint = 0
};
.hpoint = 0};
ledc_channel_config(&channelConfig);
Serial.println("Motor begin done");
};
void Motor::setSpeed(uint16_t duty){
bool Motor::setSpeed(uint16_t duty) {
const float dutyFactor = duty / static_cast<float>(1 << DUTY_RES);
const float current = PowerParameters::CurrentConsumptions::CURRENT_MOTOR_T_ON * dutyFactor;
const float current =
PowerParameters::CurrentConsumptions::CURRENT_MOTOR_T_ON * dutyFactor;
if (this->pin == MOTOR_LEFT_PIN) {
if (!Power::waitForCurrentAllowance(
PowerParameters::PowerConsumers::MOTOR_LEFT, current,
@ -37,6 +36,7 @@ void Motor::setSpeed(uint16_t duty){
"Power to set LEFT MOTOR to speed %d not granted in time. "
"Skipping.",
duty);
return false;
}
} else {
if (!Power::waitForCurrentAllowance(
@ -46,27 +46,26 @@ void Motor::setSpeed(uint16_t duty){
"Power to set RIGHT MOTOR to speed %d not granted in time. "
"Skipping.",
duty);
return false;
}
}
int difference = duty-this->getSpeed();
if (difference > 0){
for(int i = 0;i<difference;i+=difference/20){
this->duty += difference/20;
ledc_set_duty(LEDC_MODE,this->channel,duty);
ledc_update_duty(LEDC_MODE,this->channel);
int difference = duty - this->getSpeed();
if (difference > 0) {
for (int i = 0; i < difference; i += difference / 20) {
this->duty += difference / 20;
ledc_set_duty(LEDC_MODE, this->channel, duty);
ledc_update_duty(LEDC_MODE, this->channel);
delayMicroseconds(5);
}
} else {
for(int i = 0;i>difference;i-=abs(difference/20)){
this->duty -= abs(difference/20);
ledc_set_duty(LEDC_MODE,this->channel,duty);
ledc_update_duty(LEDC_MODE,this->channel);
for (int i = 0; i > difference; i -= abs(difference / 20)) {
this->duty -= abs(difference / 20);
ledc_set_duty(LEDC_MODE, this->channel, duty);
ledc_update_duty(LEDC_MODE, this->channel);
delayMicroseconds(5);
}
}
return true;
};
uint16_t Motor::getSpeed(void){
return this->duty;
};
uint16_t Motor::getSpeed(void) { return this->duty; };