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Implement proper stepper idling. Should close #3

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osiu97
2026-07-08 19:31:51 +02:00
parent 90458e2e17
commit c6f73a3b8d
5 changed files with 70 additions and 6 deletions
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src/main.cpp
+30 -5
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@@ -15,6 +15,7 @@
* HOME1 → Home motor 1 (Right)
* HOME2 → Home motor 2 (Left)
* HOMEALL → Home both motors simultaneously
* DISABLE → Disable steppers (un-hold) and require rehoming
* POS → Request current positions (triggers NOTIFY)
*
* BLE Status Characteristic (NOTIFY):
@@ -72,6 +73,11 @@ bool bleConnected = false;
unsigned long lastNotify = 0;
const unsigned long NOTIFY_INTERVAL_MS = 200;
// ─── Idle timeout tracker ─────────────────────────────────────────
unsigned long lastMotorActive = 0;
const unsigned long IDLE_TIMEOUT_MS = 30 * 60 * 1000; // 30 minutes
bool motorsDisabled = true; // Assume disabled at startup until moved
// ─── Forward declarations ─────────────────────────────────────────
void parseCommand(const String &cmd);
void sendPosition();
@@ -193,6 +199,14 @@ void parseCommand(const String &cmd) {
sendPosition();
return;
}
// DISABLE
if (cmd == "DISABLE") {
stepper1.disableOutputs();
stepper2.disableOutputs();
motorsDisabled = true;
Serial.println("[SYS] Steppers manually disabled.");
return;
}
// POS – explicit position request
if (cmd == "POS") {
sendPosition();
@@ -280,6 +294,22 @@ void loop() {
stepper1.run();
stepper2.run();
bool moving = stepper1.isRunning() || stepper2.isRunning() || homingState != HOME_IDLE;
if (moving) {
lastMotorActive = millis();
motorsDisabled = false;
} else if (!motorsDisabled && (millis() - lastMotorActive > IDLE_TIMEOUT_MS)) {
stepper1.disableOutputs();
stepper2.disableOutputs();
motorsDisabled = true;
Serial.println("[SYS] Idle timeout reached. Steppers disabled.");
if (bleConnected && pStatusChar) {
pStatusChar->setValue("SYS:IDLE_TIMEOUT");
pStatusChar->notify();
}
}
if (homingState == HOME_ALL_PHASE1) {
if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) {
stepper1.setCurrentPosition(1024);
@@ -291,8 +321,6 @@ void loop() {
}
} else if (homingState == HOME_ALL_PHASE2) {
if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) {
stepper1.disableOutputs();
stepper2.disableOutputs();
stepper1.setMaxSpeed(currentMaxSpeed);
stepper2.setMaxSpeed(currentMaxSpeed);
stepper1.setAcceleration(currentAccel);
@@ -309,7 +337,6 @@ void loop() {
}
} else if (homingState == HOME_1_PHASE2) {
if (stepper1.distanceToGo() == 0) {
stepper1.disableOutputs();
stepper1.setMaxSpeed(currentMaxSpeed);
stepper1.setAcceleration(currentAccel);
homingState = HOME_IDLE;
@@ -322,7 +349,6 @@ void loop() {
}
} else if (homingState == HOME_2_PHASE2) {
if (stepper2.distanceToGo() == 0) {
stepper2.disableOutputs();
stepper2.setMaxSpeed(currentMaxSpeed);
stepper2.setAcceleration(currentAccel);
homingState = HOME_IDLE;
@@ -332,7 +358,6 @@ void loop() {
// Periodic position notify while motors are moving
if (bleConnected) {
unsigned long now = millis();
bool moving = stepper1.isRunning() || stepper2.isRunning() || homingState != HOME_IDLE;
if (moving && (now - lastNotify >= NOTIFY_INTERVAL_MS)) {
lastNotify = now;
sendPosition();