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Replaced StepperMotorControl Example with MotorizedWindowShare 

MotorizedWindowShade is more advanced and uses two motors
This commit is contained in:
Gregg 2023-07-02 16:08:02 -05:00
parent 9a42f0885c
commit 518640dd53
2 changed files with 153 additions and 11 deletions
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139
examples/Other Examples/MotorizedWindowShade/MotorizedWindowShade.ino Normal file
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@ -0,0 +1,139 @@
/*********************************************************************************
* MIT License
*
* Copyright (c) 2023 Gregg E. Berman
*
* https://github.com/HomeSpan/HomeSpan
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
********************************************************************************/
// This example demonstrates how to control real-world Stepper Motors using HomeSpan's
// StepperControl Class through the implemention of a Motorized Window Shade Accessory.
// The sketch below is based on the more-fully commented WindowShade Accessory included in
// Tutorial Example 13 (this sketch only contains comments related to the use of the stepper motors).
// The Accessory we will use two stepper motors:
// * one motor to open/close the window shade, driven by an Adafruit TB6612 driver board (https://www.adafruit.com/product/2448)
// * one motor to tilt the window shade slats, driven by a SparkFun A3967 driver board (https://www.sparkfun.com/products/12779)
// See HomeSpan's StepperControl documentation for details on the classes used to control these driver boards,
// as well as for instructions on how you can easily extend StepperControl to create a custom driver for any board.
#include "HomeSpan.h"
#include "extras/Stepper_TB6612.h" // this contains HomeSpan's StepperControl Class for the Adafruit TB6612 driver board
#include "extras/Stepper_A3967.h" // this contains HomeSpan's StepperControl Class for the Sparkfun A3967 driver board
////////////////////////////////////
struct DEV_WindowShade : Service::WindowCovering {
Characteristic::CurrentPosition currentPos{0,true};
Characteristic::TargetPosition targetPos{0,true};
Characteristic::CurrentHorizontalTiltAngle currentTilt{0,true};
Characteristic::TargetHorizontalTiltAngle targetTilt{0,true};
StepperControl *mainMotor; // motor to open/close shade
StepperControl *slatMotor; // motor to tilt shade slats
DEV_WindowShade(StepperControl *mainMotor, StepperControl *slatMotor) : Service::WindowCovering(){
this->mainMotor=mainMotor;
this->slatMotor=slatMotor;
mainMotor->setAccel(10,20); // set acceleration parameters for main motor
mainMotor->setStepType(StepperControl::HALF_STEP); // set step type to HALF STEP for main motor
LOG0("Initial Open/Close Position: %d\n",currentPos.getVal());
LOG0("Initial Slat Position: %d\n",currentTilt.getVal());
mainMotor->setPosition(currentPos.getVal()*20); // define initial position of main motor
slatMotor->setPosition(currentTilt.getVal()*11.47); // define initial position of slat motor
}
///////////
boolean update(){
if(targetPos.updated()){
// Move motor to absolute position, assuming 400 steps per revolution and 5 revolutions for full open/close travel,
// for a total of 2000 steps of full travel. Specify that motor should enter the BRAKE state upon reaching to desired position.
// Must multiply targetPos, which ranges from 0-100, by 20 to scale to number of motor steps needed
mainMotor->moveTo(targetPos.getNewVal()*20,5,StepperControl::BRAKE);
LOG1("Setting Shade Position=%d\n",targetPos.getNewVal());
}
if(targetTilt.updated()){
// Move motor to absolute position, assuming 2064 steps per revolution and 1/2 revolution for full travel of slat tilt in either direction
// Must multiply targetPos, which ranges from -90 to 90, by 11.47 to scale number of motor steps needed
slatMotor->moveTo(targetTilt.getNewVal()*11.47,5,StepperControl::BRAKE);
LOG1("Setting Shade Position=%d\n",targetTilt.getNewVal());
}
return(true);
}
///////////
void loop(){
// If the current window shade position or tilt does NOT equal the target position, BUT the motor has stopped moving,
// we must have reached the target position, so set the current position equal to the target position
if(currentPos.getVal()!=targetPos.getVal() && !mainMotor->stepsRemaining()){
currentPos.setVal(targetPos.getVal());
LOG1("Main Motor Stopped at Shade Position=%d\n",currentPos.getVal());
}
if(currentTilt.getVal()!=targetTilt.getVal() && !slatMotor->stepsRemaining()){
currentTilt.setVal(targetTilt.getVal());
LOG1("Slat Motor Stopped at Shade Tilt=%d\n",currentTilt.getVal());
}
}
};
////////////////////////////////////
void setup() {
Serial.begin(115200);
homeSpan.begin(Category::WindowCoverings,"Motorized Shade");
new SpanAccessory();
new Service::AccessoryInformation();
new Characteristic::Identify();
new DEV_WindowShade(new Stepper_TB6612(23,32,22,14,33,27), new Stepper_A3967(17,16,19,18,21)); // instantiate drivers for each board and specify pins used on ESP32
}
//////////////////////////////////////
void loop(){
homeSpan.poll();
}

25
examples/Other Examples/StepperMotorControl/StepperMotorControl.ino
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@ -44,22 +44,25 @@
struct DEV_WindowShade : Service::WindowCovering {
SpanCharacteristic *current;
SpanCharacteristic *target;
// SpanCharacteristic *current;
// SpanCharacteristic *target;
Characteristic::CurrentPosition currentPos{0,true};
Characteristic::TargetPosition targetPos{0,true};
Stepper_TB6612 *motor; // create pointer to TB6612 motor controller
DEV_WindowShade(int a1, int a2, int b1, int b2) : Service::WindowCovering(){
current=new Characteristic::CurrentPosition(0,true);
target=new Characteristic::TargetPosition(0,true);
// current=new Characteristic::CurrentPosition(0,true);
// target=new Characteristic::TargetPosition(0,true);
motor=new Stepper_TB6612(a1, a2, b1, b2); // instantiate motor using pins specified in set-up below
motor->setAccel(10,20); // set acceleration parameters
LOG0("Configuring Motorized Window Shade with input pins: A1=%d, A2=%d, B1=%d, B2=%d\n",a1,a2,b1,b2);
LOG0("Initial Position: %d\n",current->getVal());
motor->setPosition(current->getVal()*10);
LOG0("Initial Position: %d\n",currentPos.getVal());
motor->setPosition(currentPos.getVal()*10);
}
///////////
@ -71,8 +74,8 @@ struct DEV_WindowShade : Service::WindowCovering {
// Specify that motor should enter the BRAKE state upon reaching to desired position.
motor->moveTo(target->getNewVal()*10,5,Stepper_TB6612::BRAKE);
LOG1("Setting Shade Position=%d\n",target->getNewVal());
motor->moveTo(targetPos.getNewVal()*10,5,Stepper_TB6612::BRAKE);
LOG1("Setting Shade Position=%d\n",targetPos.getNewVal());
return(true);
}
@ -83,9 +86,9 @@ struct DEV_WindowShade : Service::WindowCovering {
// If the current window shade position does NOT equal the target position, BUT the motor has stopped moving,
// we must have reached the target position, so set the current position equal to the target position
if(current->getVal()!=target->getVal() && !motor->stepsRemaining()){
current->setVal(target->getVal());
LOG1("Motor Stopped at Shade Position=%d\n",current->getVal());
if(currentPos.getVal()!=targetPos.getVal() && !motor->stepsRemaining()){
currentPos.setVal(targetPos.getVal());
LOG1("Motor Stopped at Shade Position=%d\n",currentPos.getVal());
}
}