Better demo UI, show config name, tune for re-mounted motor

firmware/platformio.ini

@@ -18,8 +18,7 @@ monitor_flags =
 	--echo
 	--filter=esp32_exception_decoder
 lib_deps =
-    TFT_eSPI@2.3.70
-    fastled/FastLED @ ^3.4.0
+    bodmer/TFT_eSPI@2.4.25
     askuric/Simple FOC @ ^2.2
     infineon/TLV493D-Magnetic-Sensor @ ^1.0.3
     bxparks/AceButton @ ^1.9.1

firmware/src/display_task.cpp

@@ -3,7 +3,7 @@
 
 #include "font/roboto_light_60.h"
 
-DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 8192, 1, task_core} {
+DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 2048, 1, task_core} {
     semaphore_ = xSemaphoreCreateMutex();
     assert(semaphore_ != NULL);
     xSemaphoreGive(semaphore_);
@@ -78,13 +78,16 @@ void DisplayTask::run() {
     tft_.setRotation(0);
 
     spr_.setColorDepth(16);
-    spr_.createSprite(TFT_WIDTH, TFT_HEIGHT);
-    spr_.setFreeFont(&Roboto_Light_60);
+    if (spr_.createSprite(TFT_WIDTH, TFT_HEIGHT) == nullptr) {
+      Serial.println("ERROR: sprite allocation failed!");
+    }
     spr_.setTextColor(0xFFFF, TFT_BLACK);
     
     KnobState state;
 
     const int RADIUS = TFT_WIDTH / 2;
+    const uint16_t FILL_COLOR = spr_.color565(90, 18, 151);
+    const uint16_t DOT_COLOR = spr_.color565(80, 100, 200);
 
     int32_t pointer_center_x = TFT_WIDTH / 2;
     int32_t pointer_center_y = TFT_HEIGHT / 2;
@@ -94,42 +97,75 @@ void DisplayTask::run() {
     spr_.setTextDatum(CC_DATUM);
     spr_.setTextColor(TFT_WHITE);
     while(1) {
-
         {
             SemaphoreGuard lock(semaphore_);
             state = state_;
         }
 
         spr_.fillSprite(TFT_BLACK);
-        if (state.num_positions > 1) {
-          int32_t height = state.current_position * TFT_HEIGHT / (state.num_positions - 1);
-          spr_.fillRect(0, TFT_HEIGHT - height, TFT_WIDTH, height, spr_.color565(109, 20, 176));
+        if (state.config.num_positions > 1) {
+          int32_t height = state.current_position * TFT_HEIGHT / (state.config.num_positions - 1);
+          spr_.fillRect(0, TFT_HEIGHT - height, TFT_WIDTH, height, FILL_COLOR);
         }
 
-        spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2, 1);
+        spr_.setFreeFont(&Roboto_Light_60);
+        spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2 - 30, 1);
+        spr_.setFreeFont(&Roboto_Thin_24);
+        int32_t line_y = TFT_HEIGHT / 2 + 20;
+        char* start = state.config.descriptor;
+        char* end = start + strlen(state.config.descriptor);
+        while (start < end) {
+          char* newline = strchr(start, '\n');
+          if (newline == nullptr) {
+            newline = end;
+          }
+          
+          char buf[sizeof(state.config.descriptor)] = {};
+          strncat(buf, start, min(sizeof(buf) - 1, (size_t)(newline - start)));
+          spr_.drawString(String(buf), TFT_WIDTH / 2, line_y, 1);
+          start = newline + 1;
+          line_y += spr_.fontHeight(1);
+        }
 
         float left_bound = PI / 2;
 
-        if (state.num_positions > 0) {
-          float range_radians = (state.num_positions - 1) * state.position_width_radians;
+        if (state.config.num_positions > 0) {
+          float range_radians = (state.config.num_positions - 1) * state.config.position_width_radians;
           left_bound = PI / 2 + range_radians / 2;
           float right_bound = PI / 2 - range_radians / 2;
           spr_.drawLine(TFT_WIDTH/2 + RADIUS * cosf(left_bound), TFT_HEIGHT/2 - RADIUS * sinf(left_bound), TFT_WIDTH/2 + (RADIUS - 10) * cosf(left_bound), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(left_bound), TFT_WHITE);
           spr_.drawLine(TFT_WIDTH/2 + RADIUS * cosf(right_bound), TFT_HEIGHT/2 - RADIUS * sinf(right_bound), TFT_WIDTH/2 + (RADIUS - 10) * cosf(right_bound), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(right_bound), TFT_WHITE);
         }
 
-        float adjusted_sub_position = state.sub_position_unit;
-        if (state.num_positions > 0) {
+        float adjusted_sub_position = state.sub_position_unit * state.config.position_width_radians;
+        if (state.config.num_positions > 0) {
           if (state.current_position == 0 && state.sub_position_unit < 0) {
-            adjusted_sub_position = -logf(1 - state.sub_position_unit);
-          } else if (state.current_position == state.num_positions - 1 && state.sub_position_unit > 0) {
-            adjusted_sub_position = logf(1 + state.sub_position_unit);
+            adjusted_sub_position = -logf(1 - state.sub_position_unit  * state.config.position_width_radians / 5 / PI * 180) * 5 * PI / 180;
+          } else if (state.current_position == state.config.num_positions - 1 && state.sub_position_unit > 0) {
+            adjusted_sub_position = logf(1 + state.sub_position_unit  * state.config.position_width_radians / 5 / PI * 180)  * 5 * PI / 180;
           }
         }
 
-        float angle = left_bound - (state.current_position + adjusted_sub_position) * state.position_width_radians;
-        spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(angle), 5, TFT_BLUE);
-
+        float raw_angle = left_bound - state.current_position * state.config.position_width_radians;
+        float adjusted_angle = raw_angle - adjusted_sub_position;
+
+        if (state.config.num_positions > 0 && ((state.current_position == 0 && state.sub_position_unit < 0) || (state.current_position == state.config.num_positions - 1 && state.sub_position_unit > 0))) {
+
+          spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(raw_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(raw_angle), 5, DOT_COLOR);
+          if (raw_angle < adjusted_angle) {
+            for (float r = raw_angle; r <= adjusted_angle; r += 2 * PI / 180) {
+              spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(r), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(r), 2, DOT_COLOR);
+            }
+            spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 2, DOT_COLOR);
+          } else {
+            for (float r = raw_angle; r >= adjusted_angle; r -= 2 * PI / 180) {
+              spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(r), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(r), 2, DOT_COLOR);
+            }
+            spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 2, DOT_COLOR);
+          }
+        } else {
+          spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 5, DOT_COLOR);
+        }
 
         spr_.pushSprite(0, 0);
         delay(2);

firmware/src/interface_task.cpp

@@ -7,71 +7,80 @@ using namespace ace_button;
 
 static KnobConfig configs[] = {
     {
-        .num_positions = 0,
-        .position = 0,
-        .position_width_radians = 10 * PI / 180,
-        .detent_strength_unit = 0,
-        .snap_point = 1.1,
+        0,
+        0,
+        10 * PI / 180,
+        0,
+        1.1,
+        "Unbounded\nNo detents",
     },
     {
-        .num_positions = 11,
-        .position = 0,
-        .position_width_radians = 10 * PI / 180,
-        .detent_strength_unit = 0,
-        .snap_point = 1.1,
+        11,
+        0,
+        10 * PI / 180,
+        0,
+        1.1,
+        "Bounded 0-10\nNo detents",
     },
     {
-        .num_positions = 73,
-        .position = 0,
-        .position_width_radians = 10 * PI / 180,
-        .detent_strength_unit = 0,
-        .snap_point = 1.1,
+        73,
+        0,
+        10 * PI / 180,
+        0,
+        1.1,
+        "Multi-rev\nNo detents",
     },
     {
-        .num_positions = 2,
-        .position = 0,
-        .position_width_radians = 60 * PI / 180,
-        .detent_strength_unit = 1,
-        .snap_point = 1.1,
+        2,
+        0,
+        45 * PI / 180,
+        1,
+        0.6, // Note the snap point is slightly past the midpoint (0.5); compare to normal detents which use a snap point *past* the next value (i.e. > 1)
+        "On/off\nStrong detent",
     },
     {
-        .num_positions = 2,
-        .position = 0,
-        .position_width_radians = 60 * PI / 180,
-        .detent_strength_unit = 1,
-        .snap_point = 0.6,
+        1,
+        0,
+        60 * PI / 180,
+        0.01,
+        1.1,
+        "Return-to-center",
     },
     {
-        .num_positions = 256,
-        .position = 127,
-        .position_width_radians = 1 * PI / 180,
-        .detent_strength_unit = 0,
-        .snap_point = 1.1,
+        256,
+        127,
+        1 * PI / 180,
+        0,
+        1.1,
+        "Fine values\nNo detents",
     },
     {
-        .num_positions = 256,
-        .position = 127,
-        .position_width_radians = 1 * PI / 180,
-        .detent_strength_unit = 1,
-        .snap_point = 1.1,
+        256,
+        127,
+        1 * PI / 180,
+        1,
+        1.1,
+        "Fine values\nWith detents",
     },
     {
-        .num_positions = 32,
-        .position = 0,
-        .position_width_radians = 8.225806452 * PI / 180,
-        .detent_strength_unit = 1,
-        .snap_point = 1.1,
+        32,
+        0,
+        8.225806452 * PI / 180,
+        1,
+        1.1,
+        "Coarse values\nStrong detents",
     },
     {
-        .num_positions = 32,
-        .position = 0,
-        .position_width_radians = 8.225806452 * PI / 180,
-        .detent_strength_unit = 0.1,
-        .snap_point = 1.1,
+        32,
+        0,
+        8.225806452 * PI / 180,
+        0.1,
+        1.1,
+        "Coarse values\nWeak detents",
     },
 };
 
-InterfaceTask::InterfaceTask(const uint8_t task_core, MotorTask& motor_task) : Task{"Interface", 8192, 1, task_core}, motor_task_(motor_task) {
+InterfaceTask::InterfaceTask(const uint8_t task_core, MotorTask& motor_task) : Task{"Interface", 2048, 1, task_core}, motor_task_(motor_task) {
 }
 
 InterfaceTask::~InterfaceTask() {}
@@ -108,6 +117,6 @@ void InterfaceTask::handleEvent(AceButton* button, uint8_t event_type, uint8_t b
 
 void InterfaceTask::nextConfig() {
     current_config_ = (current_config_ + 1) % COUNT_OF(configs);
-    Serial.printf("Changing config to %d\n", current_config_);
+    Serial.printf("Changing config to %d:\n%s\n", current_config_, configs[current_config_].descriptor);
     motor_task_.setConfig(configs[current_config_]);
 }

firmware/src/knob_data.h

@@ -8,11 +8,11 @@ struct KnobConfig {
     float position_width_radians;
     float detent_strength_unit;
     float snap_point;
+    char descriptor[50];
 };
 
 struct KnobState {
-    int32_t num_positions;
     int32_t current_position;
     float sub_position_unit;
-    float position_width_radians;
+    KnobConfig config;
 };

firmware/src/main.cpp

@@ -18,9 +18,9 @@ CRGB leds[1];
 void setup() {
   Serial.begin(115200);
 
-  display_task.begin();
   motor_task.begin();
   interface_task.begin();
+  display_task.begin();
 
   vTaskDelete(nullptr);
 }

firmware/src/motor_task.cpp

@@ -69,7 +69,7 @@ void MotorTask::run() {
     tlv.update();
     delay(10);
 
-    motor.initFOC(6, Direction::CW);
+    motor.initFOC(-0.6, Direction::CCW);
     Serial.println(motor.zero_electric_angle);
 
     command.add('M', &doMotor, "foo");
@@ -90,6 +90,8 @@ void MotorTask::run() {
     uint32_t last_idle_start = 0;
     uint32_t last_debug = 0;
 
+    uint32_t last_display_update = 0;
+
     while (1) {
         motor.loopFOC();
 
@@ -138,21 +140,23 @@ void MotorTask::run() {
         bool out_of_bounds = config.num_positions > 0 && ((angle_to_detent_center > 0 && config.position == 0) || (angle_to_detent_center < 0 && config.position == config.num_positions - 1));
         motor.PID_velocity.limit = out_of_bounds ? 10 : 3;
         motor.PID_velocity.P = out_of_bounds ? 4 : config.detent_strength_unit * 4;
-        motor.PID_velocity.D = config.detent_strength_unit * 0.04;
+        motor.PID_velocity.D = config.detent_strength_unit * 0.02;
 
         if (fabsf(motor.shaft_velocity) > 20) {
-            // Don't apply torque if velocity is too high (helps avoid feedback loop)
+            // Don't apply torque if velocity is too high (helps avoid positive feedback loop/runaway)
             motor.move(0);
         } else {
             motor.move(motor.PID_velocity(-angle_to_detent_center + dead_zone_adjustment));
         }
 
-        display_task_.setData({
-            .num_positions = config.num_positions,
-            .current_position = config.position,
-            .sub_position_unit = -angle_to_detent_center / config.position_width_radians,
-            .position_width_radians = config.position_width_radians,
-        });
+        if (millis() - last_display_update > 10) {
+            display_task_.setData({
+                .current_position = config.position,
+                .sub_position_unit = -angle_to_detent_center / config.position_width_radians,
+                .config = config,
+            });
+            last_display_update = millis();
+        }
 
         motor.monitor();
         // command.run();

firmware/src/tlv_sensor.cpp

@@ -1,6 +1,6 @@
 #include "tlv_sensor.h"
 
-static const float ALPHA = 0.05;
+static const float ALPHA = 0.04;
 
 TlvSensor::TlvSensor() {}