adipu/Blinds_XIAO
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Added basically all servo logic with encoders. Need to test.

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This commit is contained in:
pulipakaa24
2025-12-31 15:44:48 -06:00
parent b43c918c57
commit 90e967c6f8
15 changed files with 3205 additions and 222 deletions
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126
include/calibration.cpp
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@@ -5,21 +5,21 @@
void Calibration::init() {
nvs_handle_t calibHandle;
if (nvs_open(nvsCalib, NVS_READONLY, &calibHandle) == ESP_OK) {
int32_t tempTicks;
if (nvs_get_i32(calibHandle, UpMinusDownTicksTag, &tempTicks) == ESP_OK) {
uint8_t tempCalib;
if (nvs_get_u8(calibHandle, statusTag, &tempCalib) == ESP_OK) {
UpMinusDownTicks = tempTicks;
calibrated = tempCalib;
printf("Range: %d\n", tempTicks);
}
else {
printf("No status present\n");
calibrated = false;
}
int32_t tempUpTicks;
int32_t tempDownTicks;
uint8_t tempCalib;
esp_err_t err = ESP_OK;
err |= nvs_get_i32(calibHandle, UpTicksTag, &tempUpTicks);
err |= nvs_get_i32(calibHandle, DownTicksTag, &tempUpTicks);
err |= nvs_get_u8(calibHandle, statusTag, &tempCalib);
if (err == ESP_OK) {
UpTicks = tempUpTicks;
DownTicks = tempDownTicks;
calibrated = tempCalib;
printf("Range: %d - %d\n", tempUpTicks, tempDownTicks);
}
else {
printf("No Updownticks present\n");
printf("Data missing from NVS\n");
calibrated = false;
}
nvs_close(calibHandle);
@@ -30,50 +30,80 @@ void Calibration::init() {
}
}
void Calibration::clearCalibrated() {
if (!calibrated) return;
bool Calibration::clearCalibrated() {
if (!calibrated) return true;
// clear variable and NVS
calibrated = false;
nvs_handle_t calibHandle;
if (nvs_open(nvsCalib, NVS_READWRITE, &calibHandle) == ESP_OK) {
if (nvs_set_u8(calibHandle, statusTag, false) != ESP_OK)
if (nvs_set_u8(calibHandle, statusTag, false) != ESP_OK) {
printf("Error saving calibration status as false.\n");
nvs_close(calibHandle);
}
else printf("Error opening calibration NVS segment.\n");
}
bool Calibration::completeCalib() {
int32_t tempUpMinusDownTicks = startTicks - topEnc.getCount();
if (calibrated && UpMinusDownTicks == tempUpMinusDownTicks) return true;
else {
nvs_handle_t calibHandle;
if (nvs_open(nvsCalib, NVS_READWRITE, &calibHandle) == ESP_OK) {
esp_err_t err = ESP_OK;
if (UpMinusDownTicks != tempUpMinusDownTicks)
err |= nvs_set_i32(calibHandle, UpMinusDownTicksTag, tempUpMinusDownTicks);
if (!calibrated)
err |= nvs_set_u8(calibHandle, statusTag, true);
if (err != ESP_OK) {
printf("Error saving calibration data.\n");
return false;
}
UpMinusDownTicks = tempUpMinusDownTicks;
calibrated = true;
printf("Range: %d\n", tempUpMinusDownTicks);
nvs_close(calibHandle);
}
else {
printf("Error opening calibration NVS segment.\n");
return false;
}
nvs_close(calibHandle);
}
else {
printf("Error opening calibration NVS segment.\n");
return false;
}
return true;
}
int32_t Calibration::convertToTicks(int8_t steps10) {
// steps10 between -10 and +10
// with +10 meaning full length upward, -10 meaning full length downward.
return ((int32_t)steps10 * UpMinusDownTicks) / 10;
bool Calibration::beginDownwardCalib(Encoder& topEnc) {
int32_t tempUpTicks = topEnc.getCount();
nvs_handle_t calibHandle;
if (nvs_open(nvsCalib, NVS_READWRITE, &calibHandle) == ESP_OK) {
if (nvs_set_i32(calibHandle, UpTicksTag, tempUpTicks) == ESP_OK) {
printf("Saved UpTicks to NVS\n");
UpTicks = tempUpTicks;
}
else {
printf("Error saving UpTicks.\n");
return false;
}
nvs_close(calibHandle);
}
else {
printf("Error opening NVS to save UpTicks\n");
return false;
}
return true;
}
bool Calibration::completeCalib(Encoder& topEnc) {
int32_t tempDownTicks = topEnc.getCount();
if (tempDownTicks == UpTicks) {
printf("ERROR: NO RANGE\n");
return false;
}
nvs_handle_t calibHandle;
if (nvs_open(nvsCalib, NVS_READWRITE, &calibHandle) == ESP_OK) {
esp_err_t err = ESP_OK;
err |= nvs_set_i32(calibHandle, DownTicksTag, tempDownTicks);
err |= nvs_set_u8(calibHandle, statusTag, true);
if (err != ESP_OK) {
printf("Error saving calibration data.\n");
return false;
}
DownTicks = tempDownTicks;
calibrated = true;
printf("Range: %d - %d\n", UpTicks.load(), tempDownTicks);
nvs_close(calibHandle);
}
else {
printf("Error opening calibration NVS segment.\n");
return false;
}
return true;
}
int32_t Calibration::convertToTicks(uint8_t appPos) {
// appPos between 0 and 10, convert to target encoder ticks.
return (((int32_t)appPos * (UpTicks - DownTicks)) / 10) + DownTicks;
}
uint8_t Calibration::convertToAppPos(int32_t ticks) {
// appPos between 0 and 10, convert to target encoder ticks.
int8_t retVal = (ticks - DownTicks) * 10 / (UpTicks - DownTicks);
return (retVal < 0) ? 0 : ((retVal > 10) ? 10 : retVal);
}