dffb859826
- Add STALL_THRESHOLD (8A) and STALL_CONFIRM_SAMPLES (3) config - Add 500ms stabilization delay after direction change to prevent false positives - Add stall warning banner in web UI - Stop motor and pingpong when stall detected Algorithm: If active current > 8A for 3 consecutive samples (300ms), and motor has been running for at least 500ms, trigger stall callback.
76 lines
2.1 KiB
C++
76 lines
2.1 KiB
C++
#ifndef MOTOR_H
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#define MOTOR_H
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#include <Arduino.h>
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#include "config.h"
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// Stall callback function type
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typedef void (*StallCallback)();
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class MotorController {
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public:
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void begin();
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void setSpeed(int speed); // 0-100 percentage
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void setDirection(int dir); // -1=reverse, 0=stop, 1=forward
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void stop();
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void update(); // Call in loop() for current monitoring
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int getSpeed();
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int getDirection();
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float getCurrentRight(); // Current in amps (forward direction)
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float getCurrentLeft(); // Current in amps (reverse direction)
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float getCurrentActive(); // Current from active direction
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// Stall detection
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bool isStalled();
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void setStallCallback(StallCallback callback);
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void resetStallDetection();
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// Pingpong mode (time-based only)
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void startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent);
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void stopPingpong();
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bool isPingpongActive();
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int getPingpongSpeed();
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int getPingpongTime();
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int getPingpongSpeedRandom();
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int getPingpongTimeRandom();
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private:
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int _speed = 0;
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int _direction = 0;
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float _currentRight = 0;
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float _currentLeft = 0;
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// ADC zero-current offset (calibrated at startup)
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int _adcOffsetRight = 0;
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int _adcOffsetLeft = 0;
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// Pingpong state
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bool _pingpongActive = false;
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int _pingpongBaseSpeed = 50;
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int _pingpongBaseTime = 2000;
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int _pingpongSpeedRandomPercent = 0;
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int _pingpongTimeRandomPercent = 0;
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int _pingpongCurrentSpeed = 50;
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int _pingpongCurrentTime = 2000;
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unsigned long _pingpongLastSwitch = 0;
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int _pingpongDirection = 1;
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// Stall detection state
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bool _stalled = false;
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int _stallConfirmCount = 0;
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StallCallback _stallCallback = nullptr;
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unsigned long _lastDirectionChangeTime = 0;
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void applyMotorState();
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float readCurrentSense(int pin);
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void calibrateCurrentOffset();
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void updatePingpong();
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int applyRandomness(int baseValue, int randomPercent);
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void checkStall();
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};
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extern MotorController motor;
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#endif
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