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#include <Arduino.h>
#include <FrequencyTimer2.h>
#include <Bounce2.h>
// PIN A1 potentiometer
// PIN D2 direction in
// PIN D3 motor direction out
// PIN D10 <occupied by timer2>
// PIN D11 motor frequency out
#define POTI_PIN A1
#define DIRECTION_PIN 2
#define MOTOR_FREQUENCY_PIN FREQUENCYTIMER2_PIN
#define MOTOR_DIRECTION_PIN 3
#define POT_JITTER_THRESHOLD 10
float fscale(int inputValue, float originalMin, float originalMax,
float newBegin, float newEnd, float curve);
Bounce direction_button;
struct {
int direction = 0;
int period = 7000;
int potValue = 1023;
} current, target;
bool timer_enabled = false;
void setup() {
pinMode(MOTOR_FREQUENCY_PIN, OUTPUT);
direction_button.attach(DIRECTION_PIN, INPUT_PULLUP);
target.direction = current.direction = !direction_button.read();
pinMode(MOTOR_DIRECTION_PIN, OUTPUT);
digitalWrite(MOTOR_DIRECTION_PIN, target.direction);
Serial.begin(9600);
FrequencyTimer2::setPeriod(7000);
FrequencyTimer2::disable();
}
void loop()
{
direction_button.update();
if (direction_button.changed())
{
target.direction = !direction_button.read();
Serial.print("target direction: ");
Serial.println(target.direction, DEC);
}
int newPotValue = analogRead(POTI_PIN);
if (abs(newPotValue - target.potValue) > POT_JITTER_THRESHOLD)
{
target.potValue = newPotValue;
target.period = (int)fscale(target.potValue / 10, 0, 102, 120, 7000, -5);
if (target.period > 6500)
target.period = 7000;
Serial.print("target period: ");
Serial.println(target.period, DEC);
}
const int step_delay = 200;
if (current.period != target.period || current.direction != target.direction)
{
if (!timer_enabled && target.period != 7000)
{
FrequencyTimer2::enable();
timer_enabled = true;
Serial.println("enable motor");
delay(step_delay);
}
/*int step = (current.potValue < 20) ? 1
: (current.potValue < 100) ? 2
: (current.potValue < 300) ? 3
: (current.potValue < 400) ? 5
: (current.potValue < 500) ? 10
: 20;*/
int step = (current.period < 150) ? 1
: (current.period < 200) ? 2
: (current.period < 250) ? 3
: (current.period < 300) ? 5
: (current.period < 400) ? 10
: (current.period < 500) ? 25
: (current.period < 1000) ? 50
: (current.period < 1500) ? 100
: (current.period < 2000) ? 300
: (current.period < 3000) ? 500
: 1000;
int period = (current.direction == target.direction) ? target.period : 7000;
step = min(abs(period - current.period), step);
if (period < current.period)
step *= -1;
current.period += step;
FrequencyTimer2::setPeriod(current.period);
//Serial.print("current potValue: ");
//Serial.print(current.potValue, DEC);
Serial.print(" current period: ");
Serial.println(current.period, DEC);
delay(step_delay);
if (current.period == 7000 && current.direction != target.direction)
{
FrequencyTimer2::disable();
timer_enabled = false;
Serial.println("disable motor");
current.direction = target.direction;
digitalWrite(MOTOR_DIRECTION_PIN, target.direction);
Serial.print("changed direction to: ");
Serial.println(current.direction, DEC);
delay(step_delay);
}
}
else if (timer_enabled && analogRead(POTI_PIN) == 1023)
{
FrequencyTimer2::disable();
timer_enabled = false;
Serial.println("disable motor");
delay(step_delay);
}
#if 0
static unsigned long v = 0;
if (Serial.available()) {
char ch = Serial.read();
switch(ch) {
case '0'...'9':
v = v * 10 + ch - '0';
break;
case 'p':
FrequencyTimer2::setPeriod(v);
Serial.print("set ");
Serial.print((long)v, DEC);
Serial.print(" = ");
Serial.print((long)FrequencyTimer2::getPeriod(), DEC);
Serial.println();
v = 0;
break;
case 'e':
FrequencyTimer2::enable();
break;
case 'd':
FrequencyTimer2::disable();
break;
break;
case 'n':
FrequencyTimer2::setOnOverflow(0);
break;
}
}
#endif
}
float fscale(int inputValue, float originalMin, float originalMax,
float newBegin, float newEnd, float curve)
{
// condition curve parameter
curve = constrain(curve, -10, 10);
curve = (curve * -.1) ; // - invert and scale - this seems more intuitive - postive numbers give more weight to high end on output
curve = pow(10, curve); // convert linear scale into lograthimic exponent for other pow function
// Check for out of range inputValues
inputValue = constrain(inputValue, originalMin, originalMax);
// Check for originalMin > originalMax - the math for all other cases i.e. negative numbers seems to work out fine
if (originalMin > originalMax)
return 0;
// Zero Refference the values
float originalRange = originalMax - originalMin;
float zeroRefCurVal = inputValue - originalMin;
float normalizedCurVal = zeroRefCurVal / originalRange; // normalize to 0 - 1 float
float rangedValue = 0;
if (newEnd > newBegin)
{
float newRange = newEnd - newBegin;
rangedValue = (pow(normalizedCurVal, curve) * newRange) + newBegin;
}
else
{
float newRange = newBegin - newEnd;
rangedValue = newBegin - (pow(normalizedCurVal, curve) * newRange);
}
return rangedValue;
}
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