Merge pull request #36 from nexdome/feature/holding-torque

Feature/holding-torque

Author: NameOfTheDragon

.vscode/c_cpp_properties.json

@@ -10,13 +10,15 @@
                 "C:\\Users\\Tim\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.6.209\\**",
                 "F:\\Arduino\\hardware\\arduino\\avr\\**",
                 "F:\\Arduino\\tools\\**",
-                "C:\\Users\\Tim\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.6.23\\**"
+                "C:\\Users\\Tim\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.6.23\\**",
+                "C:\\Users\\Tim\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.1\\**"
             ],
             "forcedInclude": [
                 "C:\\Users\\Tim\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.6.21\\cores\\arduino\\Arduino.h",
                 "C:\\Users\\Tim\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.6.209\\cores\\arduino\\Arduino.h",
                 "F:\\Arduino\\hardware\\arduino\\avr\\cores\\arduino\\Arduino.h",
-                "C:\\Users\\Tim\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.6.23\\cores\\arduino\\Arduino.h"
+                "C:\\Users\\Tim\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.6.23\\cores\\arduino\\Arduino.h",
+                "C:\\Users\\Tim\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.1\\cores\\arduino\\Arduino.h"
             ],
             "intelliSenseMode": "msvc-x64"
         }

AdvancedStepper/MicrosteppingMotor.cpp

@@ -74,7 +74,7 @@ void MicrosteppingMotor::energizeMotor() const
 // Disables the motor coils (releases holding torque).
 void MicrosteppingMotor::releaseMotor()
 	{
-	digitalWrite(enablePin, HIGH);	// active low, so de-energize the coils
+	digitalWrite(enablePin, HIGH);	// active low
 	digitalWrite(stepPin, LOW);		// active high, so ensure we are not commanding a step.
 	}
 
@@ -267,7 +267,8 @@ void MicrosteppingMotor::hardStop()
 	currentAcceleration = 0;
 	currentVelocity = 0;
 	direction = 0;
-	releaseMotor();
+	if (!configuration->useHoldingTorque)
+		releaseMotor();
 	if (stopHandler != nullptr)
 		stopHandler();
 	}

AdvancedStepper/MicrosteppingMotor.h

@@ -19,6 +19,7 @@ struct MotorSettings
 	uint16_t rampTimeMilliseconds;		// milliseconds to ramp from minSpeed to maxSpeed
 	uint16_t maxSpeed;					// maximum number of steps per second
 	bool directionReversed;				// If true, reverses the rotation direction with respect to the step position
+	bool useHoldingTorque;				// Apply holding torque after motor stops (otherwise de-energize the coils)
 	};
 
 typedef void (*StopHandler) ();

SharedCode/NexDome.h

@@ -29,7 +29,7 @@ constexpr int32_t MinStepPosition = -2000000000L;
 #define ROTATOR_FULL_REVOLUTION_MICROSTEPS (440640)
 #define ROTATOR_MAX_POSITION (MaxStepPosition)
 #define ROTATOR_HOME_POSITION (0)
-#define ROTATOR_DEFAULT_DEADZONE (300 * MICROSTEPS_PER_STEP)	// default dead-zone in microsteps
+#define ROTATOR_DEFAULT_DEADZONE (75 * MICROSTEPS_PER_STEP)	// default dead-zone in microsteps (~0.5°)
 
 #define HOST_SERIAL_RX_BUFFER_SIZE (16) // Receive buffer for PC/USB communications
 

TA.NexDome.Rotator/PersistentSettings.cpp

@@ -13,7 +13,8 @@ PersistentSettings::PersistentSettings() :
 			ROTATOR_HOME_POSITION,	// Current position in microsteps
 			MOTOR_RAMP_TIME,		// Ramp time to full speed in milliseconds
 			ROTATOR_DEFAULT_SPEED,	// Maximum speed in microsteps per second
-			true					// Direction sense reversed?
+			true,					// Direction sense reversed?
+			true,					// Use holding torque?
 		}),
 	home(0, 500, ROTATOR_FULL_REVOLUTION_MICROSTEPS),
 	deadZone(ROTATOR_DEFAULT_DEADZONE)

TA.NexDome.Rotator/TA.NexDome.Rotator.ino

@@ -8,13 +8,16 @@
 #include <SafeSerial.h>
 #include <AdvancedStepper.h>
 #include <XBeeApi.h>
+#include <Timer.h>
 #include "RainSensor.h"
 #include "NexDome.h"
 #include "PersistentSettings.h"
 #include "HomeSensor.h"
 #include "CommandProcessor.h"
 #include "XBeeStartupState.h"
 
+constexpr Duration SerialInactivityTimeout = Timer::Minutes(10);
+
 // Forward declarations
 void onXbeeFrameReceived(FrameType type, std::vector<byte> &payload);
 void onMotorStopped();
@@ -32,6 +35,7 @@ auto machine = XBeeStateMachine(xbeeSerial, xbeeApi);
 auto commandProcessor = CommandProcessor(stepper, settings, machine);
 auto home = HomeSensor(&stepper, &settings.home, HOME_INDEX_PIN, commandProcessor);
 Timer periodicTasks;
+Timer serialInactivityTimer;
 auto rain = RainSensor(RAIN_SENSOR_PIN);
 
 // cin and cout for ArduinoSTL
@@ -58,6 +62,8 @@ void HandleSerialCommunications()
 	const auto rx = host.read();
 	if (rx < 0)
 		return; // No data available.
+
+	serialInactivityTimer.SetDuration(SerialInactivityTimeout);
 	const char rxChar = char(rx);
 	switch (rxChar)
 	{
@@ -161,6 +167,9 @@ void loop()
 			std::cout << "P" << std::dec << commandProcessor.getPositionInWholeSteps() << std::endl;
 		ProcessManualControls();
 		rain.loop();
+		// Release stepper holding torque if there has been no serial communication for "a long time".
+		if (serialInactivityTimer.Expired())
+			stepper.releaseMotor();
 	}
 }
 

TA.NexDome.Shutter/PersistentSettings.cpp

@@ -11,7 +11,8 @@ PersistentSettings::PersistentSettings() :
 			0,							// Current position in microsteps
 			MOTOR_RAMP_TIME,			// Ramp time to full speed in milliseconds
 			SHUTTER_DEFAULT_SPEED,		// Maximum speed in microsteps per second
-			true						// Direction reversed
+			true,						// Direction reversed
+			false,						// Use holding torque? (not for shutter - preserve battery)
 		}),
 	batteryMonitor(BatteryMonitorSettings{})
 	{}

TA.NexDome.Shutter/TA.NexDome.Shutter.vcxproj

@@ -157,7 +157,7 @@
   </ImportGroup>
   <ProjectExtensions>
     <VisualStudio>
-      <UserProperties arduino.upload.port="COM10" config.Debug.customdebug_leonardo_debugger_type="universal" debug.view.AnalogPins="1" debug.view.FreeMemory="" VM_ADDITIONAL_PREPROC="" />
+      <UserProperties arduino.upload.port="COM7" config.Debug.customdebug_leonardo_debugger_type="universal" debug.view.AnalogPins="1" debug.view.FreeMemory="" VM_ADDITIONAL_PREPROC="" />
     </VisualStudio>
   </ProjectExtensions>
 </Project>