proj: switching to Linux

2025-07-06 11:00:29 +02:00
parent 9ebbedb04a
commit 8f0dbd4cbd
23 changed files with 255 additions and 170 deletions
@@ -0,0 +1,62 @@
+#pragma once
+
+#include "stepperDrv.hpp"
+#include "stepperMotor.hpp"
+#include <cmath>
+
+class WatchMotor {
+    static constexpr uint8_t Positions = 6;
+
+  public:
+    using AllmostFinishedCb = void (*)(uint8_t newIdx);
+    WatchMotor(IStepperMotor &stepper, AllmostFinishedCb onDone)
+        : _stepper(stepper),
+          _onFinCb(onDone) {
+    }
+
+    void moveTo(uint8_t position, uint8_t profile, int minJumps, float accel, float speed) {
+        auto sign = position % 6;
+
+        int minTurns = minJumps / 6;
+
+        float corr = 0.0F;
+        float currentPos = _stepper.getScaledPos() * 6;
+        if ((_currentIndex > 4) && (currentPos < 2)) {
+            corr = 6 - _currentIndex - currentPos;
+        } else if ((_currentIndex < 2) && (currentPos > 2)) {
+            corr = _currentIndex + 6 - currentPos;
+        } else {
+            corr = _currentIndex - currentPos;
+        }
+
+        int steps = 0;
+        if (_currentIndex < sign) {
+            steps = (sign - _currentIndex);
+        } else if (_currentIndex >= sign) {
+            steps = (sign + 6 - _currentIndex);
+        }
+        steps += minTurns * 6;
+        if (steps < minJumps) {
+            steps += 6;
+        }
+
+        float delta = 2.0F * std::numbers::pi / 6 * steps;
+
+        ESP_LOGD("MV", "Moving to %d by %.2f + %.2f", sign, delta, corr);
+
+        _stepper.moveBy(delta + corr, profile, accel, speed, [&]() {
+            if (_onFinCb) {
+                _onFinCb(position);
+            }
+        });
+        _currentIndex = sign;
+    }
+
+    float getScaled() { return _stepper.getScaledPos() * 6; }
+    uint8_t getIndex() { return _currentIndex; }
+
+  private:
+    IStepperMotor &_stepper;
+    uint8_t _currentIndex{};
+    AllmostFinishedCb _onFinCb{};
+};