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Remove all stall detection logic, add 100ms current logging

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- Removed all STALL_* configuration parameters from config.h
- Simplified motor.h: removed stall-related methods and member variables
- Simplified motor.cpp: deleted checkStall(), resetStallDetection()
- Added frequent current logging (100ms) for data collection
- Removed stall callback system from main.cpp
- Simplified pingpong mode: time-based only, removed stall-return option
- Updated webserver: removed stall warning UI, removed stallReturn checkbox
- Updated status JSON: removed stalled and ppStallReturn fields

This version is for testing with new beefy PSU to collect current data
before designing new stall detection algorithm.
This commit is contained in:
devdesk
2026-02-05 20:59:38 +02:00
parent 241d1ae457
commit fcfee5fa66
5 changed files with 32 additions and 300 deletions
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65
src/webserver.cpp
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@@ -58,15 +58,6 @@ const char index_html[] PROGMEM = R"rawliteral(
font-size: 12px;
color: #888;
}
.stall-warning {
background: #ff5252;
color: white;
padding: 10px;
border-radius: 5px;
margin-bottom: 20px;
display: none;
}
.stall-warning.active { display: block; }
.slider-container {
background: #16213e;
padding: 20px;
@@ -178,18 +169,14 @@ const char index_html[] PROGMEM = R"rawliteral(
<div class="container">
<h1>Motor Control</h1>
<div class="stall-warning" id="stallWarning">
⚠️ STALL DETECTED - Motor Stopped
</div>
<div class="current-display">
<div>
<div class="current-label">CURRENT (Active)</div>
<div class="current-value"><span id="currentActive">0.00</span>A</div>
<div class="current-label">CURRENT R</div>
<div class="current-value"><span id="currentR">0.00</span>A</div>
</div>
<div>
<div class="current-label">THRESHOLD</div>
<div class="current-value" style="color:#ff9100;">4.0A</div>
<div class="current-label">CURRENT L</div>
<div class="current-value"><span id="currentL">0.00</span>A</div>
</div>
</div>
@@ -239,12 +226,6 @@ 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">
@@ -269,16 +250,6 @@ 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;
@@ -316,8 +287,7 @@ const char index_html[] PROGMEM = R"rawliteral(
speed: ppSpeed.value,
time: ppTime.value,
speedRand: ppSpeedRand.value,
timeRand: ppStallReturn.checked ? 0 : ppTimeRand.value,
stallReturn: ppStallReturn.checked ? 1 : 0
timeRand: ppTimeRand.value
});
fetch('/pingpong/start?' + params)
.then(r => r.text())
@@ -350,17 +320,8 @@ const char index_html[] PROGMEM = R"rawliteral(
updateStatus();
// Update current display
const active = data.direction > 0 ? data.currentR :
data.direction < 0 ? data.currentL : 0;
document.getElementById('currentActive').textContent = active.toFixed(2);
// Show/hide stall warning
const stallWarning = document.getElementById('stallWarning');
if (data.stalled) {
stallWarning.classList.add('active');
} else {
stallWarning.classList.remove('active');
}
document.getElementById('currentR').textContent = data.currentR.toFixed(2);
document.getElementById('currentL').textContent = data.currentL.toFixed(2);
// Update pingpong status
if (data.pingpong) {
@@ -376,8 +337,6 @@ 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');
@@ -428,13 +387,11 @@ void handleStatus() {
",\"direction\":" + String(motor.getDirection()) +
",\"currentR\":" + String(motor.getCurrentRight(), 2) +
",\"currentL\":" + String(motor.getCurrentLeft(), 2) +
",\"stalled\":" + (motor.isStalled() ? "true" : "false") +
",\"pingpong\":" + (motor.isPingpongActive() ? "true" : "false") +
",\"ppSpeed\":" + String(motor.getPingpongSpeed()) +
",\"ppTime\":" + String(motor.getPingpongTime()) +
",\"ppSpeedRand\":" + String(motor.getPingpongSpeedRandom()) +
",\"ppTimeRand\":" + String(motor.getPingpongTimeRandom()) +
",\"ppStallReturn\":" + (motor.getPingpongStallReturn() ? "true" : "false") + "}";
",\"ppTimeRand\":" + String(motor.getPingpongTimeRandom()) + "}";
server.send(200, "application/json", json);
}
@@ -443,7 +400,6 @@ void handlePingpongStart() {
int time = 2000;
int speedRand = 0;
int timeRand = 0;
bool stallReturn = false;
if (server.hasArg("speed")) {
speed = server.arg("speed").toInt();
@@ -457,11 +413,8 @@ 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, stallReturn);
motor.startPingpong(speed, time, speedRand, timeRand);
server.send(200, "text/plain", "OK");
}