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Add stall-based pingpong return mode and calibration improvements

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- Add MIN_PWM_PERCENT (20%) to ensure motor starts reliably
- Add CURRENT_CALIBRATION factor (0.33) for accurate current readings
- Add stall-based return option for pingpong mode (returns on stall instead of time)
- Update stall detection: 7A threshold, 1000ms confirm time
- Add DISABLE_STALL_DETECT config option
- Keep last speed setting when motor stops (UI improvement)
- Update webserver UI with 'Return on stall only' checkbox
This commit is contained in:
devdesk
2026-02-05 17:50:22 +02:00
parent ba27db4f55
commit 7a6617f9c0
4 changed files with 95 additions and 24 deletions
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47
src/webserver.cpp
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@@ -199,8 +199,8 @@ const char index_html[] PROGMEM = R"rawliteral(
<div class="slider-container">
<label>Speed</label>
<div class="speed-value"><span id="speedValue">0</span>%</div>
<input type="range" class="slider" id="speedSlider" min="0" max="100" value="0">
<div class="speed-value"><span id="speedValue">20</span>%</div>
<input type="range" class="slider" id="speedSlider" min="20" max="100" value="20">
</div>
<div class="buttons">
@@ -220,7 +220,7 @@ const char index_html[] PROGMEM = R"rawliteral(
<label>Speed</label>
<span class="value"><span id="ppSpeedVal">50</span>%</span>
</div>
<input type="range" class="setting-slider" id="ppSpeed" min="10" max="100" value="50">
<input type="range" class="setting-slider" id="ppSpeed" min="20" max="100" value="50">
<div class="setting-row" style="margin-top:15px;">
<label>Time before return</label>
@@ -239,6 +239,12 @@ const char index_html[] PROGMEM = R"rawliteral(
<span class="value"><span id="ppTimeRandVal">0</span>%</span>
</div>
<input type="range" class="setting-slider" id="ppTimeRand" min="0" max="50" value="0">
<div class="setting-row" style="margin-top:15px;">
<label for="ppStallReturn">Return on stall only</label>
<input type="checkbox" id="ppStallReturn" style="width:25px;height:25px;">
</div>
<small style="color:#888;display:block;margin-top:5px;">When enabled, direction switches only after stall detection (time randomness disabled)</small>
</div>
<div class="buttons">
@@ -263,6 +269,16 @@ const char index_html[] PROGMEM = R"rawliteral(
const ppSpeedRandVal = document.getElementById('ppSpeedRandVal');
const ppTimeRandVal = document.getElementById('ppTimeRandVal');
const ppStatus = document.getElementById('pingpongStatus');
const ppStallReturn = document.getElementById('ppStallReturn');
// Disable time randomness when stall return is checked
ppStallReturn.onchange = function() {
ppTimeRand.disabled = this.checked;
if (this.checked) {
ppTimeRand.value = 0;
ppTimeRandVal.textContent = '0';
}
};
slider.oninput = function() {
speedVal.textContent = this.value;
@@ -289,8 +305,7 @@ const char index_html[] PROGMEM = R"rawliteral(
function stopMotor() {
currentDir = 0;
slider.value = 0;
speedVal.textContent = '0';
// Don't reset slider - keep last speed
fetch('/stop')
.then(r => r.text())
.then(() => updateStatus());
@@ -301,7 +316,8 @@ const char index_html[] PROGMEM = R"rawliteral(
speed: ppSpeed.value,
time: ppTime.value,
speedRand: ppSpeedRand.value,
timeRand: ppTimeRand.value
timeRand: ppStallReturn.checked ? 0 : ppTimeRand.value,
stallReturn: ppStallReturn.checked ? 1 : 0
});
fetch('/pingpong/start?' + params)
.then(r => r.text())
@@ -324,8 +340,12 @@ const char index_html[] PROGMEM = R"rawliteral(
fetch('/status')
.then(r => r.json())
.then(data => {
slider.value = data.speed;
speedVal.textContent = data.speed;
// Only update speed display if motor is running (direction != 0)
// When stopped, keep the last speed setting
if (data.direction != 0) {
slider.value = data.speed;
speedVal.textContent = data.speed;
}
currentDir = data.direction;
updateStatus();
@@ -356,6 +376,8 @@ const char index_html[] PROGMEM = R"rawliteral(
ppSpeedRandVal.textContent = data.ppSpeedRand;
ppTimeRand.value = data.ppTimeRand;
ppTimeRandVal.textContent = data.ppTimeRand;
ppStallReturn.checked = data.ppStallReturn;
ppTimeRand.disabled = data.ppStallReturn;
} else {
ppStatus.textContent = 'INACTIVE';
ppStatus.classList.remove('active');
@@ -411,7 +433,8 @@ void handleStatus() {
",\"ppSpeed\":" + String(motor.getPingpongSpeed()) +
",\"ppTime\":" + String(motor.getPingpongTime()) +
",\"ppSpeedRand\":" + String(motor.getPingpongSpeedRandom()) +
",\"ppTimeRand\":" + String(motor.getPingpongTimeRandom()) + "}";
",\"ppTimeRand\":" + String(motor.getPingpongTimeRandom()) +
",\"ppStallReturn\":" + (motor.getPingpongStallReturn() ? "true" : "false") + "}";
server.send(200, "application/json", json);
}
@@ -420,6 +443,7 @@ void handlePingpongStart() {
int time = 2000;
int speedRand = 0;
int timeRand = 0;
bool stallReturn = false;
if (server.hasArg("speed")) {
speed = server.arg("speed").toInt();
@@ -433,8 +457,11 @@ void handlePingpongStart() {
if (server.hasArg("timeRand")) {
timeRand = server.arg("timeRand").toInt();
}
if (server.hasArg("stallReturn")) {
stallReturn = server.arg("stallReturn").toInt() != 0;
}
motor.startPingpong(speed, time, speedRand, timeRand);
motor.startPingpong(speed, time, speedRand, timeRand, stallReturn);
server.send(200, "text/plain", "OK");
}