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