Feat/module code

README.md

@@ -1,13 +1,23 @@
 # SplitFlap
 
-modernized split flap
+A modernized split flap display.
+
+<div style="text-align: center;">
+
+![SplitFlap](./assets/splitFlap2.png)
+
+</div>
 
 #### Characters
 
-26 `A B C D E F G H I J K L M N O P Q R S T U V W X Y Z`
-10 `1 2 3 4 5 6 7 8 9 0`
-10 `? ! & ' - = ; : , .` `@ # $ ^ * % / +`
-2 `blank □ full ■ `
+26 `A B C D E F G H I J K L M N O P Q R S T U V W X Y Z` \
+10 `1 2 3 4 5 6 7 8 9 0` \
+2 `blank □ full ■ ` \
+14 `? ! + - = * ' : , . @ # % €/$` <!-- & ^ ; --> \
+
+`0 O` and `1 I` can share the same flap
+
+<!-- 26 + 8 + 2 = 36 -->
 
 ## Parts
 
@@ -23,4 +33,4 @@ A4988 Stepper Motor Drivers
 
 ### Micro controller
 
-Esp32
+Esp32 / Arduino pro micro

code/module/src/main.cpp

@@ -7,16 +7,15 @@
 #define RXD1 21
 
 // defines pins
-#define STEP_PIN 13
-#define DIR_PIN 12
+#define STEP_PIN 22
+#define DIR_PIN 23
+#define HALL_PIN 15
 
-SplitFlap splitFlap(STEP_PIN, DIR_PIN);
+SplitFlap splitFlap(STEP_PIN, DIR_PIN, HALL_PIN);
 
 // Use Serial1 for UART communication
 HardwareSerial mySerial(2);
 
-SplitFlap splitFlap(13, 12);
-
 bool readingPacket = false;
 
 void handleMyByte(uint8_t byte)
@@ -31,14 +30,30 @@ void setup()
   mySerial.begin(9600, SERIAL_8N1, RXD1, TXD1); // UART setup
 
   splitFlap.init();
+  splitFlap.home();
 
   Serial.println("Module started");
 }
 
+uint8_t flapIndex = 40;
+
 void loop()
 {
   splitFlap.update();
 
+  // move flap every 200ms
+  static unsigned long lastMove = 0;
+  if (millis() - lastMove > 5000)
+  {
+    flapIndex = (flapIndex + 1) % 50;
+
+    Serial.printf("Setting flap to index: %d\n", flapIndex);
+    splitFlap.setFlap(flapIndex);
+    // splitFlap.moveFlaps(51); // TODO: make sure this also works with > 50
+
+    lastMove = millis();
+  }
+
   // Check if data is available to read
   if (mySerial.available())
   {

code/shared/include/SplitFlap.h

@@ -13,59 +13,89 @@
 class SplitFlap
 {
 public:
-  SplitFlap(int stepPin, int dirPin)
+  SplitFlap(int stepPin, int dirPin, int hallPin)
   {
     this->stepPin = stepPin;
     this->dirPin = dirPin;
+    this->hallPin = hallPin;
     stepper = AccelStepper(AccelStepper::DRIVER, stepPin, dirPin);
 
-    // Set the maximum speed and acceleration
-    stepper.setMaxSpeed(STEPS_PER_REVOLUTION * 8); // Set the maximum speed in steps per second
-    stepper.setAcceleration(STEPS_PER_REVOLUTION); // Set the acceleration in steps per second squared
+    stepper.setMaxSpeed(STEPS_PER_REVOLUTION * 2);
+    stepper.setAcceleration(STEPS_PER_REVOLUTION * 2);
   }
 
   void init()
   {
     pinMode(stepPin, OUTPUT);
     pinMode(dirPin, OUTPUT);
+    pinMode(hallPin, INPUT_PULLUP);
 
     digitalWrite(dirPin, HIGH); // Enables the motor to move in a particular direction
-
-    this->home();
   }
 
   void home()
   {
-    // TODO: implement homing sequence
+    // TODO: make this non blocking by adding module states
+    Serial.println("Homing");
+    stepper.setSpeed(1000); // Steps per second
+    while (digitalRead(hallPin) == HIGH)
+    {
+      stepper.runSpeed();
+    }
+    stepper.setCurrentPosition(0);
+
+    // TODO: add max steps
   }
 
   void update()
   {
-    // if (current pos % flapSteps == 0) {
-    //   stepper.stop(); // reset to prevent overflow
-    // }
+    // normalized step
+    uint16_t normalizedStep = stepper.currentPosition() % STEPS_PER_REVOLUTION;
+
+    // at first flap, 1 deg
+    if (normalizedStep == STEPS_PER_REVOLUTION / 360 && digitalRead(hallPin) == HIGH)
+    {
+      Serial.println("Missed steps");
+
+      // get the target flap index before resetting the position
+      const uint8_t targetFlapIndex = getTargetFlapIndex();
+
+      stepper.setSpeed(1000); // Steps per second
+      while (digitalRead(hallPin) == HIGH)
+      {
+        stepper.runSpeed();
+      }
+
+      // set position to the nearest full rotation (rounded down)
+      long offset = stepper.currentPosition() % STEPS_PER_REVOLUTION;
+      stepper.setCurrentPosition(stepper.currentPosition() - offset);
+
+      setFlap(targetFlapIndex);
+    }
 
     stepper.run();
   }
 
+  [[deprecated("Use setFlap() with numeric index instead")]]
   void setCharacter(char c)
   {
     int targetIndex = getCharacterIndex(c);
     setFlap(targetIndex);
   }
 
-  void setFlap(int index)
+  /** move to a specific flap index */
+  void setFlap(uint8_t index)
   {
-    if (index < 0 || index >= FLAP_COUNT)
+    if (index >= FLAP_COUNT)
     {
       Serial.printf("Invalid index: %d\n", index);
       return;
     }
 
-    int currentIndex = getFlapIndex();
-    int currentPosition = stepper.currentPosition();
+    const uint8_t currentIndex = getCurrentFlapIndex();
+    const long currentPosition = stepper.currentPosition();
 
-    int steps = index - currentIndex;
+    int16_t steps = index - currentIndex;
 
     if (steps < 0)
     {
@@ -75,50 +105,26 @@ class SplitFlap
     stepper.moveTo(currentPosition + steps * FLAP_STEPS);
   }
 
-  void moveFlaps(int steps)
+  /** move x amount of flaps */
+  void moveFlaps(long steps)
   {
-    stepper.moveTo(stepper.currentPosition() + steps * FLAP_STEPS);
+    stepper.moveTo(stepper.targetPosition() + steps * FLAP_STEPS);
   }
 
 private:
   int stepPin;
   int dirPin;
+  int hallPin;
   AccelStepper stepper;
 
-  // 26 ABCDEFGHIJKLMNOPQRSTUVWXYZ
-  // 10 0123456789
-  // 20 !@#$%^&*()_+{}|:<>?/.,;[]\\=-`~
-  // 1 █ (full block)
-  // 1 space
-
-  // "ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789?!@#$%^&*()+:/.,=-`\" █
-  // ",.?!=/-+:$%()"
-
-  // ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789!@#$%^&*()_+{}|:<>?/.,;[]\\=-`~"
-  // █
-
-  // const String characters = "ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789?!@#$%^&*()+:/.,=-`\" █";
-  // "+-*!.#%@?,&': █"
-  // "?!@&()+-%$█*= "
-  // " █?!@%'+-=.,#:"
-
-  // TODO: maybe reuse 0 and o and 1 and i
-  // const String characters = "ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789?!@#$%^&*()+:/.,=-`\" █";
-  // | is full block
-  // ?!@-=+&%$#.,:'
+  [[deprecated("Update character list")]]
+  const String characters = "ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789+-:,.'%$@?!# █";
 
-  // "+-*!.#%@?,&': █"
-  // "?!@&()+-%$█*= "
-  // " █?!@%'+-=.,#:"
+  const uint8_t FLAP_COUNT = 50;
+  const uint16_t FLAP_STEPS = STEPS_PER_REVOLUTION / FLAP_COUNT;
 
-  // +-:,.'%$@?!# █
-
-  const String characters = "ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789+-:,.'%$@?!# |";
-  // | is full block??
-  const int FLAP_COUNT = characters.length();
-  const int FLAP_STEPS = STEPS_PER_REVOLUTION / characters.length();
-
-  int getCharacterIndex(char c)
+  [[deprecated("Use setFlap() with numeric index instead")]]
+  uint8_t getCharacterIndex(char c)
   {
     int index = characters.indexOf(toUpperCase(c)); // toupper(c) ??
     if (index == -1)
@@ -129,8 +135,15 @@ class SplitFlap
     return index;
   }
 
-  int getFlapIndex()
+  /** get the current flap index */
+  uint8_t getCurrentFlapIndex()
   {
     return stepper.currentPosition() / FLAP_STEPS % FLAP_COUNT;
   }
+
+  /** get the target flap index */
+  uint8_t getTargetFlapIndex()
+  {
+    return stepper.targetPosition() / FLAP_STEPS % FLAP_COUNT;
+  }
 };

splitflap.code-workspace

@@ -10,5 +10,78 @@
       "path": "code/module"
     }
   ],
-  "settings": {}
+  "settings": {
+    "files.associations": {
+      "algorithm": "cpp",
+      "array": "cpp",
+      "atomic": "cpp",
+      "cctype": "cpp",
+      "chrono": "cpp",
+      "clocale": "cpp",
+      "cmath": "cpp",
+      "condition_variable": "cpp",
+      "cstdarg": "cpp",
+      "cstddef": "cpp",
+      "cstdint": "cpp",
+      "cstdio": "cpp",
+      "cstdlib": "cpp",
+      "cstring": "cpp",
+      "ctime": "cpp",
+      "cwchar": "cpp",
+      "cwctype": "cpp",
+      "deque": "cpp",
+      "exception": "cpp",
+      "fstream": "cpp",
+      "functional": "cpp",
+      "initializer_list": "cpp",
+      "ios": "cpp",
+      "iosfwd": "cpp",
+      "istream": "cpp",
+      "iterator": "cpp",
+      "limits": "cpp",
+      "list": "cpp",
+      "map": "cpp",
+      "memory": "cpp",
+      "mutex": "cpp",
+      "new": "cpp",
+      "numeric": "cpp",
+      "optional": "cpp",
+      "ostream": "cpp",
+      "queue": "cpp",
+      "random": "cpp",
+      "ratio": "cpp",
+      "shared_mutex": "cpp",
+      "sstream": "cpp",
+      "stdexcept": "cpp",
+      "streambuf": "cpp",
+      "string": "cpp",
+      "string_view": "cpp",
+      "system_error": "cpp",
+      "thread": "cpp",
+      "tuple": "cpp",
+      "type_traits": "cpp",
+      "typeinfo": "cpp",
+      "unordered_map": "cpp",
+      "utility": "cpp",
+      "vector": "cpp",
+      "xfacet": "cpp",
+      "xhash": "cpp",
+      "xiosbase": "cpp",
+      "xlocale": "cpp",
+      "xlocinfo": "cpp",
+      "xlocnum": "cpp",
+      "xmemory": "cpp",
+      "xmemory0": "cpp",
+      "xstddef": "cpp",
+      "xstring": "cpp",
+      "xtr1common": "cpp",
+      "xtree": "cpp",
+      "xutility": "cpp",
+      "*.tcc": "cpp",
+      "unordered_set": "cpp",
+      "memory_resource": "cpp",
+      "iomanip": "cpp",
+      "cinttypes": "cpp"
+    }
+  }
 }