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Small PWM value (tank), source code optimalization
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pgillich
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Oct 30, 2016
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1 @@ | ||
| *.lua linguist-language=Lua |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,240 @@ | ||
| -- This file is part of ESP4S2. ESP4S2 is a bridge between MIT Scratch 2 and ESP8266 Lua. | ||
| -- Copyright (C) 2016 pgillich, under GPLv3 license. | ||
|
|
||
| function change2mode(pin,mode,oldMode) | ||
| if mode~=oldMode then | ||
| if oldMode==MODE_PWM then | ||
| pwmStop(pin) | ||
| end | ||
|
|
||
| if mode==MODE_INPUT then | ||
| gpioMode(pin, gpio.INPUT) | ||
| elseif mode==MODE_OUTPUT then | ||
| gpioMode(pin, gpio.OUTPUT) | ||
| elseif mode==MODE_PWM then | ||
| pwmStart(pin) | ||
| else | ||
| print("ERR: unknown mode, "..tostring(mode)) | ||
| end | ||
| end | ||
| end | ||
|
|
||
| function change2value(pin,mode,val,oldVal) | ||
| if mode==MODE_OUTPUT then | ||
| gpioWrite(pin,val) | ||
| elseif mode==MODE_PWM then | ||
| pwmSetduty(pin,val) | ||
| else | ||
| print("ERR: unknown mode, "..tostring(mode)) | ||
| end | ||
| end | ||
|
|
||
| function pinMode(pin,mode) | ||
| local resp="" | ||
| if type(PINS_state[pin])~=nil and type(PIN_MODES[mode])~=nil then | ||
| print(" pinMode("..tostring(pin)..","..tostring(mode)..")") | ||
| change2mode(pin,mode,PINS_state[pin]["m"]) | ||
| PINS_state[pin]["m"]=mode | ||
| end | ||
| return resp | ||
| end | ||
|
|
||
| function digitalWrite(pin,val) | ||
| local resp="" | ||
| if type(PINS_state[pin])~=nil and PINS_state[pin]["m"]==MODE_OUTPUT then | ||
| if val==0 or val==1 then | ||
| print(" digitalWrite("..tostring(pin)..","..tostring(val)..")") | ||
| change2value(pin, PINS_state[pin]["m"], val, PINS_state[pin]["v"]) | ||
| PINS_state[pin]["v"]=val | ||
| end | ||
| else | ||
| print("ERR: invalid digitalWrite("..tostring(pin)..","..tostring(val)..")") | ||
| end | ||
| return resp | ||
| end | ||
|
|
||
| function analogWrite(pin,val) | ||
| local resp="" | ||
| if type(PINS_state[pin])~=nil and PINS_state[pin]["m"]==MODE_PWM then | ||
| if val>=0 and val<=100 then | ||
| print(" analogWrite("..tostring(pin)..","..tostring(val)..")") | ||
| change2value(pin, PINS_state[pin]["m"], val, PINS_state[pin]["v"]) | ||
| PINS_state[pin]["v"]=val | ||
| end | ||
| else | ||
| print("ERR: invalid analogWrite("..tostring(pin)..","..tostring(val)..")") | ||
| end | ||
| return resp | ||
| end | ||
|
|
||
| function analogPairWrite(pin1,pin2,val) | ||
| local resp="" | ||
| if val>0 then | ||
| resp=resp..analogWrite(pin1,val) | ||
| resp=resp..analogWrite(pin2,0) | ||
| elseif val<0 then | ||
| resp=resp..analogWrite(pin1,0) | ||
| resp=resp..analogWrite(pin2,0-val) | ||
| else | ||
| resp=resp..analogWrite(pin1,0) | ||
| resp=resp..analogWrite(pin2,0) | ||
| end | ||
| return resp | ||
| end | ||
|
|
||
| function limitVmin(v,v_min) | ||
| if 0<v and v<v_min then | ||
| return 0 | ||
| elseif -v_min<v and v<0 then | ||
| return 0 | ||
| end | ||
| return v | ||
| end | ||
|
|
||
| function tankWrite(pin1,pin2,pin3,pin4,x,y) | ||
| x=x+(config.tank.x_corr or 0) | ||
| y=y+(config.tank.y_corr or 0) | ||
| local resp="" | ||
| local idx="" | ||
| if y>=0 then | ||
| idx=idx.."T" | ||
| else | ||
| idx=idx.."B" | ||
| end | ||
| if x>=0 then | ||
| idx=idx.."R" | ||
| else | ||
| idx=idx.."L" | ||
| end | ||
| local T=TANK_CONST[idx.."A"] | ||
| local v=(T.d*x*y+T.a*x+T.b*y+T.c)/100 | ||
| v=limitVmin(v,config.tank.v_min or 0) | ||
| resp=resp..analogPairWrite(pin1,pin2,v) | ||
| T=TANK_CONST[idx.."B"] | ||
| v=(T.d*x*y+T.a*x+T.b*y+T.c)/100 | ||
| v=limitVmin(v,config.tank.v_min or 0) | ||
| resp=resp..analogPairWrite(pin3,pin4,v) | ||
| return resp | ||
| end | ||
|
|
||
| function resetAll() | ||
| local resp="" | ||
| for pin,mv in pairs(PINS_state) do | ||
| local m=mv["m"] | ||
| local v=mv["v"] | ||
| if type(m)~=nil then | ||
| if m==MODE_OUTPUT then | ||
| resp=resp..digitalWrite(pin,0) | ||
| elseif m==MODE_PWM then | ||
| resp=resp..analogWrite(pin,0) | ||
| end | ||
| end | ||
| end | ||
| return resp | ||
| end | ||
|
|
||
| function getName() | ||
| return "name "..config.name | ||
| end | ||
|
|
||
| function getValue(pin) | ||
| if type(PINS_state[pin])~=nil then | ||
| if pin==0 and PINS_state[pin]["m"]==MODE_ANALOG then | ||
| return adcRead(pin) | ||
| elseif PINS_state[pin]["m"]==MODE_ANALOG then | ||
| readDevices() | ||
| return PINS_state[pin]["v"] | ||
| elseif PINS_state[pin]["m"]==MODE_INPUT then | ||
| return gpioRead(pin) | ||
| end | ||
| end | ||
| return -1 | ||
| end | ||
|
|
||
| function poll() | ||
| local data="" | ||
| readDevices() | ||
| for pin,mv in pairs(PINS_state) do | ||
| local m=mv["m"] | ||
| local v=mv["v"] | ||
| if type(m)~=nil and (m==MODE_INPUT or m==MODE_ANALOG) then | ||
| if string.len(data)>0 then | ||
| data=data.."\n" | ||
| end | ||
| data=data..tostring(pin).." "..tostring(v) | ||
| end | ||
| end | ||
| return data | ||
| end | ||
|
|
||
| function csplit(str,sep) | ||
| local ret={} | ||
| local n=1 | ||
| for w in str:gmatch("([^"..sep.."]*)") do | ||
| ret[n]=ret[n] or w | ||
| if w=="" then n=n+1 end | ||
| end | ||
| return ret | ||
| end | ||
|
|
||
| function exeCmd(st) | ||
| local resp="" | ||
| print("> "..st) | ||
| local command=csplit(st," ") | ||
| if #command>1 then | ||
| if config.name==command[1] then | ||
| table.remove(command,1) | ||
| else | ||
| for m,cfg in pairs(MAC_config[WIFI_CFG_NAME]) do | ||
| if cfg.name==command[1] then | ||
| return resp | ||
| end | ||
| end | ||
| end | ||
| end | ||
| if #command==1 then | ||
| local cmd=command[1] | ||
| if cmd=="reset_all" then | ||
| resp=resetAll() | ||
| elseif cmd=="getName" then | ||
| resp=getName() | ||
| elseif cmd=="poll" then | ||
| resp=poll() | ||
| end | ||
| elseif #command==2 then | ||
| local cmd=command[1] | ||
| local pin=tonumber(command[2]) | ||
| if cmd=="digitalRead" then | ||
| resp=tostring(pin).." "..tostring(getValue(pin)) | ||
| elseif cmd=="analogRead" then | ||
| resp=tostring(pin).." "..tostring(getValue(pin)) | ||
| end | ||
| elseif #command==3 then | ||
| local cmd=command[1] | ||
| local pin=tonumber(command[2]) | ||
| local val=tonumber(command[3]) | ||
| if cmd=="pinMode" then | ||
| resp=pinMode(pin,val) | ||
| elseif cmd=="digitalWrite" then | ||
| resp=digitalWrite(pin,val) | ||
| elseif cmd=="analogWrite" then | ||
| resp=analogWrite(pin,val) | ||
| end | ||
| elseif #command==4 then | ||
| local cmd=command[1] | ||
| local pin1=tonumber(command[2]) | ||
| local pin2=tonumber(command[3]) | ||
| local val=tonumber(command[4]) | ||
| if cmd=="analogPairWrite" then | ||
| resp=analogPairWrite(pin1,pin2,val) | ||
| end | ||
| elseif #command==7 then | ||
| local cmd=command[1] | ||
| if cmd=="tankWrite" then | ||
| resp=tankWrite(tonumber(command[2]),tonumber(command[3]),tonumber(command[4]),tonumber(command[5]),tonumber(command[6]),tonumber(command[7])) | ||
| end | ||
| else | ||
| print("ERR: unknown command") | ||
| end | ||
| return resp | ||
| end |
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| @@ -0,0 +1,40 @@ | ||
| MODE_UNAVAILABLE=-1 | ||
| MODE_INPUT=0 | ||
| MODE_OUTPUT=1 | ||
| MODE_ANALOG=2 | ||
| MODE_PWM=3 | ||
| MODE_SERVO=4 | ||
|
|
||
| PIN_MODES={ | ||
| [MODE_UNAVAILABLE]="UNAVAILABLE", | ||
| [MODE_INPUT]="INPUT", | ||
| [MODE_OUTPUT]="OUTPUT", | ||
| [MODE_ANALOG]="ANALOG", | ||
| [MODE_PWM]="PWM", | ||
| [MODE_SERVO]="SERVO" | ||
| } | ||
|
|
||
| PINS_state={ | ||
| [0]={m=-1,v=-1}, | ||
| [1]={m=-1,v=-1}, | ||
| [2]={m=-1,v=-1}, | ||
| [3]={m=-1,v=-1}, | ||
| [4]={m=-1,v=-1}, | ||
| [5]={m=-1,v=-1}, | ||
| [6]={m=-1,v=-1}, | ||
| [7]={m=-1,v=-1}, | ||
| [8]={m=-1,v=-1}, | ||
| [11]={m=-1,v=-1}, | ||
| [12]={m=-1,v=-1}, | ||
| } | ||
|
|
||
| TANK_CONST={ | ||
| ["TLA"]={a=-100,b=100,c=0,d=1}, | ||
| ["TLB"]={a=100,b=100,c=0,d=0}, | ||
| ["TRA"]={a=-100,b=100,c=0,d=0}, | ||
| ["TRB"]={a=100,b=100,c=0,d=-1}, | ||
| ["BLA"]={a=-100,b=100,c=0,d=0}, | ||
| ["BLB"]={a=100,b=100,c=0,d=1}, | ||
| ["BRA"]={a=-100,b=100,c=0,d=-1}, | ||
| ["BRB"]={a=100,b=100,c=0,d=0} | ||
| } |
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