PROFERIS - Mi³osz Stocki
348 lines
12 KiB
C++
348 lines
12 KiB
C++
/**
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* WijiBoard – BLE Stepper Controller Firmware
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* src/main.cpp
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*
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* Board : Tenstar Robot ESP32-C3 Super Mini (or compatible ESP32-C3)
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* Steppers: Two 28BYJ-48 via ULN2003 (AccelStepper, FULL4WIRE mode)
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*
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* BLE Command Characteristic (WRITE_NR):
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* S1+<n> → Step motor 1 CW n steps
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* S1-<n> → Step motor 1 CCW n steps
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* S2+<n> → Step motor 2 CW n steps
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* S2-<n> → Step motor 2 CCW n steps
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* SPD:<n> → Set max speed for both motors (steps/sec)
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* ACC:<n> → Set acceleration for both motors (steps/sec²)
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* HOME1 → Home motor 1 (Right)
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* HOME2 → Home motor 2 (Left)
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* HOMEALL → Home both motors simultaneously
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* POS → Request current positions (triggers NOTIFY)
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*
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* BLE Status Characteristic (NOTIFY):
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* P:<s1>,<s2> → Current step positions for motor 1 & 2
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*
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* UUIDs – must match web/js/ble.js exactly:
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* Service : a0b1c2d3-e4f5-6789-abcd-ef0123456700
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* Command : a0b1c2d3-e4f5-6789-abcd-ef0123456701
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* Status : a0b1c2d3-e4f5-6789-abcd-ef0123456702
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*/
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#include <AccelStepper.h>
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#include <Arduino.h>
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#include <BLEDevice.h>
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#include <BLEServer.h>
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#include <BLEUtils.h>
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// ─── Motor pin mapping (28BYJ-48 / ULN2003) ──────────────────────
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// Motor 1 – Shoulder
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#define M1_IN1 0
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#define M1_IN2 1
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#define M1_IN3 3
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#define M1_IN4 4
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// Motor 2 – Elbow
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#define M2_IN1 5
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#define M2_IN2 6
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#define M2_IN3 7
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#define M2_IN4 10
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// ─── Stepper constants ────────────────────────────────────────────
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#define STEPS_PER_REV 2048
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#define DEFAULT_SPEED 600.0f // steps/sec
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#define DEFAULT_ACCEL 100.0f // steps/sec²
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// ─── BLE UUIDs ────────────────────────────────────────────────────
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#define SERVICE_UUID "18f3b235-9831-4c75-8ec0-210469b820a0"
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#define CMD_UUID "cd083b06-4447-4cf3-a7c3-322ecf802ce4"
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#define STATUS_UUID "82e38c5b-d3ab-41d1-861c-b84dc6bb1e03"
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#define DEVICE_NAME "WijiBoard"
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// ─── Stepper objects ──────────────────────────────────────────────
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AccelStepper stepper1(AccelStepper::FULL4WIRE, M1_IN1, M1_IN2, M1_IN3, M1_IN4);
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AccelStepper stepper2(AccelStepper::FULL4WIRE, M2_IN1, M2_IN2, M2_IN3, M2_IN4);
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// ─── BLE globals ─────────────────────────────────────────────────
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BLEServer *pServer = nullptr;
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BLECharacteristic *pCmdChar = nullptr;
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BLECharacteristic *pStatusChar = nullptr;
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bool bleConnected = false;
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// ─── Status notify throttle ───────────────────────────────────────
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unsigned long lastNotify = 0;
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const unsigned long NOTIFY_INTERVAL_MS = 200;
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// ─── Forward declarations ─────────────────────────────────────────
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void parseCommand(const String &cmd);
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void sendPosition();
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void performHomingAll();
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void performHoming1();
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void performHoming2();
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// ─── Homing Routines ──────────────────────────────────────────────
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void runSteppersWithNotify() {
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stepper1.run();
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stepper2.run();
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if (bleConnected) {
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unsigned long now = millis();
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if (now - lastNotify >= NOTIFY_INTERVAL_MS) {
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lastNotify = now;
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sendPosition();
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}
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}
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}
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// ─── BLE Server Callbacks ─────────────────────────────────────────
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class ServerCallbacks : public BLEServerCallbacks {
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void onConnect(BLEServer *) override {
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bleConnected = true;
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Serial.println("[BLE] Client connected");
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}
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void onDisconnect(BLEServer *) override {
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bleConnected = false;
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Serial.println("[BLE] Client disconnected – restarting advertising");
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BLEDevice::startAdvertising();
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}
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};
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// ─── Command Characteristic Callbacks ────────────────────────────
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class CmdCallbacks : public BLECharacteristicCallbacks {
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void onWrite(BLECharacteristic *pChar) override {
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String val = pChar->getValue().c_str();
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val.trim();
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if (val.length() == 0)
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return;
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Serial.printf("[CMD] Received: '%s'\n", val.c_str());
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parseCommand(val);
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}
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};
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// ─── Command parser ───────────────────────────────────────────────
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void parseCommand(const String &cmd) {
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// S1+<n> or S1-<n> (Relative)
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if (cmd.startsWith("S1") && cmd.length() > 2) {
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long steps = cmd.substring(2).toInt();
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stepper1.move(steps);
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Serial.printf("[S1] Move relative %+ld steps\n", steps);
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return;
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}
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// S2+<n> or S2-<n> (Relative)
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if (cmd.startsWith("S2") && cmd.length() > 2) {
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long steps = cmd.substring(2).toInt();
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stepper2.move(steps);
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Serial.printf("[S2] Move relative %+ld steps\n", steps);
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return;
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}
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// X1:<n> (Absolute)
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if (cmd.startsWith("X1:")) {
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long target = cmd.substring(3).toInt();
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stepper1.moveTo(target);
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Serial.printf("[S1] Move absolute to %ld\n", target);
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return;
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}
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// X2:<n> (Absolute)
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if (cmd.startsWith("X2:")) {
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long target = cmd.substring(3).toInt();
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stepper2.moveTo(target);
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Serial.printf("[S2] Move absolute to %ld\n", target);
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return;
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}
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// SPD:<n>
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if (cmd.startsWith("SPD:")) {
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float spd = cmd.substring(4).toFloat();
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stepper1.setMaxSpeed(spd);
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stepper2.setMaxSpeed(spd);
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Serial.printf("[CFG] Max speed → %.0f steps/sec\n", spd);
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return;
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}
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// ACC:<n>
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if (cmd.startsWith("ACC:")) {
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float acc = cmd.substring(4).toFloat();
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stepper1.setAcceleration(acc);
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stepper2.setAcceleration(acc);
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Serial.printf("[CFG] Acceleration → %.0f steps/sec²\n", acc);
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return;
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}
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// HOME1
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if (cmd == "HOME1") {
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Serial.println("[S1] Homing Motor 1...");
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performHoming1();
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sendPosition();
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return;
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}
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// HOME2
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if (cmd == "HOME2") {
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Serial.println("[S2] Homing Motor 2...");
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performHoming2();
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sendPosition();
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return;
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}
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// HOMEALL
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if (cmd == "HOMEALL") {
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Serial.println("[SYS] Homing both motors...");
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performHomingAll();
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sendPosition();
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return;
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}
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// POS – explicit position request
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if (cmd == "POS") {
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sendPosition();
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return;
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}
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Serial.printf("[CMD] Unknown command: '%s'\n", cmd.c_str());
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}
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// ─── Send current positions via BLE NOTIFY ────────────────────────
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void sendPosition() {
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if (!bleConnected || !pStatusChar)
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return;
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String pos = "P:" + String(stepper1.currentPosition()) + "," +
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String(stepper2.currentPosition());
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pStatusChar->setValue(pos.c_str());
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pStatusChar->notify();
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Serial.printf("[POS] %s\n", pos.c_str());
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}
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// ─── Setup ────────────────────────────────────────────────────────
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void setup() {
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Serial.setTxTimeoutMs(0);
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Serial.begin(115200);
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delay(1000); // Wait for USB CDC to enumerate
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Serial.println("\n[BOOT] WijiBoard Stepper Controller");
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// ── Init steppers ──────────────────────────────────────────
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stepper1.setMaxSpeed(DEFAULT_SPEED);
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stepper1.setAcceleration(DEFAULT_ACCEL);
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stepper1.setCurrentPosition(0);
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stepper2.setMaxSpeed(DEFAULT_SPEED);
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stepper2.setAcceleration(DEFAULT_ACCEL);
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stepper2.setCurrentPosition(0);
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Serial.println("[STEP] Steppers initialized");
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// ── Init BLE ───────────────────────────────────────────────
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BLEDevice::init(DEVICE_NAME);
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pServer = BLEDevice::createServer();
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pServer->setCallbacks(new ServerCallbacks());
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// Service
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BLEService *pService = pServer->createService(SERVICE_UUID);
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// Command characteristic (Write without response)
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pCmdChar = pService->createCharacteristic(CMD_UUID,
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BLECharacteristic::PROPERTY_WRITE);
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pCmdChar->setCallbacks(new CmdCallbacks());
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// Status characteristic (Notify)
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pStatusChar = pService->createCharacteristic(
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STATUS_UUID, BLECharacteristic::PROPERTY_NOTIFY);
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// pStatusChar->addDescriptor(new BLE2902()); // Removed due to
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// deprecation/NimBLE conflicts
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pService->start();
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// Advertising
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BLEAdvertising *pAdv = BLEDevice::getAdvertising();
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pAdv->addServiceUUID(SERVICE_UUID);
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pAdv->setScanResponse(true);
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pAdv->setMinPreferred(0x06); // 7.5ms
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pAdv->setMaxPreferred(0x0C); // 15ms - CRITICAL for Linux/BlueZ stability
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BLEDevice::startAdvertising();
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Serial.printf("[BLE] Advertising as '%s' – ready!\n", DEVICE_NAME);
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}
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// ─── Loop ─────────────────────────────────────────────────────────
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void loop() {
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// Run steppers (non-blocking AccelStepper)
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stepper1.run();
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stepper2.run();
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// Periodic position notify while motors are moving
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if (bleConnected) {
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unsigned long now = millis();
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bool moving = stepper1.isRunning() || stepper2.isRunning();
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if (moving && (now - lastNotify >= NOTIFY_INTERVAL_MS)) {
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lastNotify = now;
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sendPosition();
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}
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}
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}
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// ─── Homing Routines ──────────────────────────────────────────────
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void performHomingAll() {
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Serial.println("[SYS] Homing all: Phase 1 (Stall UP)");
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// 1. Swing BOTH motors UP to hit the mechanism housing (stall point)
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// M1 (Left) swings UP by moving CW (negative)
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// M2 (Right) swings UP by moving CCW (positive)
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stepper1.move(-2048);
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stepper2.move(2048);
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while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
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runSteppersWithNotify();
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}
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// 2. At this point, BOTH are stalled against the mechanism housing.
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// We know the physical angles of these stall points!
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// M1 stall is at +474 steps (83.3 degrees).
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// M2 stall is at +530 steps (93.1 degrees).
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stepper1.setCurrentPosition(474);
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stepper2.setCurrentPosition(530);
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Serial.println("[SYS] Homing all: Phase 2 (Move to Outward Home)");
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// 3. Move BOTH motors to their outward home positions
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// M1 goes to +1024 (180 degrees, pointing Left)
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// M2 goes to 0 (0 degrees, pointing Right)
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stepper1.moveTo(1024);
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stepper2.moveTo(0);
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while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
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runSteppersWithNotify();
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}
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// 4. Disable outputs to rest
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stepper1.disableOutputs();
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stepper2.disableOutputs();
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Serial.println("[SYS] Homing all complete.");
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}
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void performHoming1() {
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Serial.println("[S1] Homing Motor 1: Phase 1 (Stall UP)");
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stepper1.move(-2048);
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while (stepper1.distanceToGo() != 0) {
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runSteppersWithNotify();
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}
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stepper1.setCurrentPosition(474);
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Serial.println("[S1] Homing Motor 1: Phase 2 (Move Outward)");
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stepper1.moveTo(1024);
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while (stepper1.distanceToGo() != 0) {
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runSteppersWithNotify();
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}
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stepper1.disableOutputs();
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Serial.println("[S1] Homing complete.");
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}
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void performHoming2() {
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Serial.println("[S2] Homing Motor 2: Phase 1 (Stall UP)");
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stepper2.move(2048);
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while (stepper2.distanceToGo() != 0) {
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runSteppersWithNotify();
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}
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stepper2.setCurrentPosition(530);
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Serial.println("[S2] Homing Motor 2: Phase 2 (Move Outward)");
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stepper2.moveTo(0);
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while (stepper2.distanceToGo() != 0) {
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runSteppersWithNotify();
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}
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stepper2.disableOutputs();
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Serial.println("[S2] Homing complete.");
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}
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