Cleanup

main/ModuleConfig.h

@@ -17,4 +17,5 @@ struct ModuleConfig
     bool home = false;
     bool state = true;
     bool analogJoystick = false;
+    bool wifi = false;
 };

main/ModuleController.cpp

@@ -168,6 +168,7 @@ DynamicJsonDocument ModuleController::get()
     doc[key_modules][key_digitalin] = moduleConfig->digitalin;
     doc[key_modules][key_scanner] = moduleConfig->scanner;
     doc[key_modules][key_joy] = moduleConfig->analogJoystick;
+    doc[key_modules][key_wifi] = moduleConfig->wifi;
     return doc;
 }
 // {"task":"/modules_set", "modules" : {"led" : 1, "motor": 1, "analogin" : 0, "pid" : 0, "laser" : 0, "dac" : 0, "analogout" : 0, "digitalout" : 0, "digitalin" : 0, "scanner" : 0}}
@@ -200,6 +201,9 @@ int ModuleController::set(DynamicJsonDocument j)
             moduleConfig->scanner = j[key_modules][key_scanner];
         if (j[key_modules].containsKey(key_joy))
             moduleConfig->analogJoystick = j[key_modules][key_joy];
+        if (j[key_modules].containsKey(key_wifi))
+            moduleConfig->wifi = j[key_modules][key_wifi];
+
         Config::setModuleConfig(moduleConfig);
         setup();
         WifiController::restartWebServer();

main/ModuleController.h

@@ -41,6 +41,7 @@ enum class AvailableModules
     analogin,
     state,
     analogJoystick,
+    wifi
 };
 
 class ModuleController

main/json_api_BD.txt

@@ -1,7 +1,9 @@
-{"task":"modules_get"}
+{"task":"/modules_get"}
 {"task":"/modules_set", "modules" : {"led" : 1, "motor": 1, "slm" : 0, "home":1, "analogin" : 0, "pid" : 0, "laser" : 1, "dac" : 0, "analogout" : 0, "digitalout" : 0, "digitalin" : 1, "scanner" : 0}}
 
 
+{"task":"/modules_set", "modules" : {"led" : 0, "motor": 1, "slm" : 0, "home":0, "analogin" : 0, "pid" : 0, "laser" : 0, "dac" : 0, "analogout" : 0, "digitalout" : 0, "digitalin" : 1, "scanner" : 0}}
+
 # X,Y,Z,A => 1,2,3,0
 {"task":"/motor_set",
     "motor":
@@ -42,11 +44,13 @@
     }
 }
 
+
+
 {"task":"/motor_act",
     "motor":
     {
         "steppers": [
-            { "stepperid": 1, "position": -100, "speed": 2000, "isabs": 0, "isaccel":0}
+            { "stepperid": 1, "position": -1000, "speed": 1000, "isabs": 0, "isaccel":0}
         ]
     }
 }

main/main.ino

@@ -5,6 +5,7 @@
 #include "src/serial/SerialProcess.h"
 #include "src/bt/BtController.h"
 #include "ModuleController.h"
+#include "src/motor/FocusMotor.h"
 
 
 #include "soc/soc.h"
@@ -45,11 +46,27 @@ void setup()
 	Config::checkifBootWentThrough();
 }
 
+long tProcessServer = 100; // process server every 100ms
+long oldTime = 0;
+
 void loop()
 {
-	// for any timing-related purposes
+
+	// receive and process serial messages
 	serial.loop();
-	WifiController::handelMessages();
+
+	// process the server every 100ms
+	// 	if (true){//motor->motorsBusy() or millis()-oldTime > tProcessServer) {
+	if (moduleController.get(AvailableModules::wifi) != nullptr and moduleController.get(AvailableModules::wifi)){
+		oldTime = millis();
+		WifiController::handelMessages();
+	}
+
+	// handle PS-controller inputs
 	BtController::loop();
+
+	// process all commands in their modules
 	moduleController.loop();
+	unsigned long end = micros();
+	//log_i("loop took %i ms", end - now);
 }

main/pindef.h

@@ -1,5 +1,5 @@
 #pragma once
-// initial pin definitions
+// initial pin definitions in "pindef.h"
 
 // ESP32-WEMOS D1 R32
 const int PIN_DEF_MOTOR_DIR_A = 0;
@@ -14,6 +14,10 @@ const int PIN_DEF_MOTOR_EN_A = GPIO_NUM_12;
 const int PIN_DEF_MOTOR_EN_X = GPIO_NUM_12;
 const int PIN_DEF_MOTOR_EN_Y = GPIO_NUM_12;
 const int PIN_DEF_MOTOR_EN_Z = GPIO_NUM_12;
+const bool PIN_DEF_MOTOR_EN_A_INVERTED = true;
+const bool PIN_DEF_MOTOR_EN_X_INVERTED = true;
+const bool PIN_DEF_MOTOR_EN_Y_INVERTED = true;
+const bool PIN_DEF_MOTOR_EN_Z_INVERTED = true;
 
 const int PIN_DEF_LASER_1 = GPIO_NUM_18;
 const int PIN_DEF_LASER_2 = GPIO_NUM_19;

main/src/bt/PsXController.cpp

@@ -28,14 +28,12 @@ void PsXController::loop()
 				log_i("Turn on LED ");
                 IS_PS_CONTROLER_LEDARRAY = !led->TurnedOn();
                 led->set_all(255, 255, 255);
-                delay(1000); // Debounce?
             }
             if (psx->event.button_down.circle)
             {
 				log_i("Turn off LED ");
                 IS_PS_CONTROLER_LEDARRAY = !led->TurnedOn();
                 led->set_all(0,0,0);
-                delay(1000); // Debounce?
             }
         }
         /* code */
@@ -52,13 +50,11 @@ void PsXController::loop()
 				// Switch laser 2 on/off on up/down button press
                 Serial.print("Turning on LAser 10000");
                 ledcWrite(laser->PWM_CHANNEL_LASER_2, 20000);
-                delay(100); // Debounce?
             }
             if (psx->event.button_down.down)
             {
                 Serial.print("Turning off LAser ");
                 ledcWrite(laser->PWM_CHANNEL_LASER_2, 0);
-                delay(100); // Debounce?
             }
 
             // LASER 2
@@ -67,13 +63,11 @@ void PsXController::loop()
             {
                 Serial.print("Turning on LAser 10000");
                 ledcWrite(laser->PWM_CHANNEL_LASER_1, 20000);
-                delay(100); // Debounce?
             }
             if (psx->event.button_down.left)
             {
                 Serial.print("Turning off LAser ");
                 ledcWrite(laser->PWM_CHANNEL_LASER_1, 0);
-                delay(100); // Debounce?
             }
         }
 
@@ -82,23 +76,25 @@ void PsXController::loop()
 		{
 			/* code */
 			FocusMotor *motor = (FocusMotor *)moduleController.get(AvailableModules::motor);
-			// Y-Direction
+			// Z-Direction
 			if (abs(psx->state.analog.stick.ly) > offset_val)
 			{
 				stick_ly = psx->state.analog.stick.ly;
 				stick_ly = stick_ly - sgn(stick_ly) * offset_val;
-				motor->data[Stepper::Y]->speed = stick_ly * 5 * global_speed;
-				motor->data[Stepper::Y]->isforever = true;
-				joystick_drive_Y = true;
-				if (motor->data[Stepper::Y]->stopped)
+				if(abs(stick_ly)>50)stick_ly=2*stick_ly; // add more speed above threshold
+				motor->data[Stepper::Z]->speed = stick_ly * global_speed;
+				Serial.println(motor->data[Stepper::Z]->speed);
+				motor->data[Stepper::Z]->isforever = true;
+				joystick_drive_Z = true;
+				if (motor->data[Stepper::Z]->stopped)
                 {
-                    motor->startStepper(Stepper::Y);
+                    motor->startStepper(Stepper::Z);
                 }
 			}
-			else if (motor->data[Stepper::Y]->speed != 0 && joystick_drive_Y)
+			else if (motor->data[Stepper::Z]->speed != 0 && joystick_drive_Z)
 			{
-				motor->stopStepper(Stepper::Y);
-				joystick_drive_Y = false;
+				motor->stopStepper(Stepper::Z);
+				joystick_drive_Z = false;
 			}
 
 			// X-Direction
@@ -107,7 +103,8 @@ void PsXController::loop()
 				// move_x
 				stick_rx = psx->state.analog.stick.rx;
 				stick_rx = stick_rx - sgn(stick_rx) * offset_val;
-				motor->data[Stepper::X]->speed = stick_rx * 5 * global_speed;
+				motor->data[Stepper::X]->speed = stick_rx * global_speed;
+				if(abs(stick_rx)>50)stick_rx=2*stick_rx; // add more speed above threshold
 				motor->data[Stepper::X]->isforever = true;
 				joystick_drive_X = true;
 				if (motor->data[Stepper::X]->stopped)
@@ -121,23 +118,24 @@ void PsXController::loop()
 				joystick_drive_X = false;
 			}
 
-			// Z-direction
+			// Y-direction
 			if ((abs(psx->state.analog.stick.ry) > offset_val))
 			{
 				stick_ry = psx->state.analog.stick.ry;
 				stick_ry = stick_ry - sgn(stick_ry) * offset_val;
-				motor->data[Stepper::Z]->speed = stick_ry * 5 * global_speed;
-				motor->data[Stepper::Z]->isforever = true;
-				joystick_drive_Z = true;
-				if (motor->data[Stepper::Z]->stopped)
+				motor->data[Stepper::Y]->speed = stick_ry * global_speed;
+				if(abs(stick_ry)>50)stick_ry=2*stick_ry; // add more speed above threshold
+				motor->data[Stepper::Y]->isforever = true;
+				joystick_drive_Y = true;
+				if (motor->data[Stepper::Y]->stopped)
                 {
-                    motor->startStepper(Stepper::Z);
+                    motor->startStepper(Stepper::Y);
                 }
 			}
-			else if (motor->data[Stepper::Z]->speed != 0 && joystick_drive_Z)
+			else if (motor->data[Stepper::Y]->speed != 0 && joystick_drive_Y)
 			{
-				motor->stopStepper(Stepper::Z);
-				joystick_drive_Z = false;
+				motor->stopStepper(Stepper::Y);
+				joystick_drive_Y = false;
 			}
 		}
 

main/src/bt/PsXController.h

@@ -18,7 +18,7 @@ class PsXController
     private:
     PSController * psx = nullptr;
     bool IS_PS_CONTROLER_LEDARRAY = false;
-    int offset_val = 1; // make sure you do not accidentally turn on two directions at the same time
+    int offset_val = 5; // make sure you do not accidentally turn on two directions at the same time
     int stick_ly = 0;
     int stick_lx = 0;
     int stick_rx = 0;
@@ -32,7 +32,7 @@ class PsXController
     int speed_x = 0;
     int speed_y = 0;
     int speed_z = 0;
-    int global_speed = 2; // multiplier for the speed
+    int global_speed = 10; // multiplier for the speed
 
     int analogout_val_1 = 0;
     int pwm_max = 0; // no idea how big it should be

main/src/config/JsonKeys.h

@@ -114,6 +114,7 @@ static const PROGMEM char *key_digitalout = "digitalout";
 static const PROGMEM char *key_digitalin = "digitalin";
 static const PROGMEM char *key_scanner = "scanner";
 static const PROGMEM char *key_joy = "joy";
+static const PROGMEM char *key_wifi = "wifi";
 static const PROGMEM char *key_joiypinX = "joyX";
 static const PROGMEM char *key_joiypinY = "joyY";
 static const PROGMEM char *key_readanaloginID = "readanaloginID";

main/src/laser/LaserController.cpp

@@ -82,80 +82,61 @@ void LaserController::LASER_despeckle(int LASERdespeckle, int LASERid, int LASER
 // Custom function accessible by the API
 int LaserController::act(DynamicJsonDocument ob)
 {
-	// here you can do something
-	Serial.println("LASER_act_fct");
-
-	isBusy = true;
-
-	int LASERid = (ob)["LASERid"];
-	int LASERval = (ob)["LASERval"];
-	int LASERdespeckle = (ob)["LASERdespeckle"];
-	int LASERdespecklePeriod = 20;
+	// JSON String
+	// {"task":"/laser_act", "LASERid":1, "LASERval":100, "LASERdespeckle":10, "LASERdespecklePeriod":20}
+
+	// assign values
+	int LASERid = 0;
+	int LASERval = 0;
+	int LASERdespeckle = 0;
+	int LASERdespecklePeriod = 0;
+	// default values overridden
+	if(ob.containsKey("LASERid")) LASERid = (ob)["LASERid"];
+	if(ob.containsKey("LASERval")) LASERval = (ob)["LASERval"];
+	if(ob.containsKey("LASERdespeckle")) LASERdespeckle = (ob)["LASERdespeckle"];
+	if(ob.containsKey("LASERdespecklePeriod")) LASERdespecklePeriod = (ob)["LASERdespecklePeriod"];
 	ob.clear();
 
-	if (ob.containsKey("LASERdespecklePeriod"))
-	{
-		LASERdespecklePeriod = (ob)["LASERdespecklePeriod"];
-	}
-
-	if (DEBUG)
-	{
-		Serial.print("LASERid ");
-		Serial.println(LASERid);
-		Serial.print("LASERval ");
-		Serial.println(LASERval);
-		Serial.print("LASERdespeckle ");
-		Serial.println(LASERdespeckle);
-		Serial.print("LASERdespecklePeriod ");
-		Serial.println(LASERdespecklePeriod);
-	}
+	// debugging
+	log_i("LaserID %i, LaserVal %i, LaserDespeckle %i, LaserDespecklePeriod %i", LASERid, LASERval, LASERdespeckle, LASERdespecklePeriod);
 
+	// action LASER 1
 	if (LASERid == 1 && pins.LASER_PIN_1 != 0)
 	{
 		LASER_val_1 = LASERval;
 		LASER_despeckle_1 = LASERdespeckle;
 		LASER_despeckle_period_1 = LASERdespecklePeriod;
-		if (DEBUG)
-		{
-			Serial.print("LaserPIN ");
-			Serial.println(pins.LASER_PIN_1);
-		}
 		ledcWrite(PWM_CHANNEL_LASER_1, LASERval);
+		log_i("LASERid %i, LASERval %i", LASERid, LASERval);
 		ob[key_return] = 1;
 	}
+	// action LASER 2
 	else if (LASERid == 2  && pins.LASER_PIN_2 != 0)
 	{
 		LASER_val_2 = LASERval;
 		LASER_despeckle_2 = LASERdespeckle;
 		LASER_despeckle_period_2 = LASERdespecklePeriod;
-		if (DEBUG)
-		{
-			Serial.print("LaserPIN ");
-			Serial.println(pins.LASER_PIN_2);
-		}
 		ledcWrite(PWM_CHANNEL_LASER_2, LASERval);
+		log_i("LASERid %i, LASERval %i", LASERid, LASERval);
 		ob[key_return] = 1;
 	}
+	// action LASER 3
 	else if (LASERid == 3  && pins.LASER_PIN_3 != 0)
 	{
 		LASER_val_3 = LASERval;
 		LASER_despeckle_3 = LASERdespeckle;
 		LASER_despeckle_period_3 = LASERdespecklePeriod;
-		if (DEBUG)
-		{
-			Serial.print("LaserPIN ");
-			Serial.println(pins.LASER_PIN_3);
-		}
 		ledcWrite(PWM_CHANNEL_LASER_3, LASERval);
+		log_i("LASERid %i, LASERval %i", LASERid, LASERval);
 		ob[key_return] = 1;
 	}
 	else{
 		ob[key_return] = 0;
 	}
-
-	isBusy = false;
-	return 1;
+	return ob[key_return];
 }
+
+
 int LaserController::set(DynamicJsonDocument ob)
 {
 	// here you can set parameters