Diving Part 2

Final alpha-Version

Display.cpp

@@ -32,8 +32,10 @@ Display::Display() : mode(FAST) {
 	angle = 0;
 	starttime = millis();
 	refreshScreen = true;
-	distanceValue = 0;
+	distanceValue = 0.0;
 	distanceUnit = "mm";
+	maxDiveDistance = 0.0;
+	levelHeightDiving = 0.0;
 }
 
 /******************
@@ -145,6 +147,8 @@ void Display::showFrame(Status status) {
 			drawBitmap((37 - imageSide_R) / 2, 47, imageSide_D, imageSide_D, epd_bitmap_Dive);
 			drawDistanceValue(distanceValue);
 			drawDistanceUnit(distanceUnit);
+			drawActualDiveStep(maxDiveDistance, levelHeightDiving, distanceValue);
+			drawMaxDiveDistance(maxDiveDistance);
 			break;
 		default:
 			break;
@@ -204,6 +208,20 @@ void Display::setWlsConnected(bool wlsConnected) {
 	}
 }
 
+void Display::setLevelHeightDiving(float levelHeightDiving) {
+	if (this->levelHeightDiving != levelHeightDiving) {
+		this->levelHeightDiving = levelHeightDiving;
+		setRefreshScreen();
+	}
+}
+
+void Display::setMaxDiveDistance(float maxDiveDistance) {
+	if (this->maxDiveDistance != maxDiveDistance) {
+		this->maxDiveDistance = maxDiveDistance;
+		setRefreshScreen();
+	}
+}
+
 void Display::setDistanceUnit(const String &distanceUnit) {
 	if (this->distanceUnit != distanceUnit) {
 		this->distanceUnit = distanceUnit;
@@ -267,6 +285,28 @@ void Display::drawDistanceUnit(String unit) {
 	u8g2_gfx.println(F(s));
 }
 
+void Display::drawMaxDiveDistance(float maxDiveDistance) {
+	String txt = String(maxDiveDistance, 2) + "mm";
+	char *s = &txt[0];
+	int16_t w = 0;
+	u8g2_gfx.setFont(u8g2_font_helvB10_tf);
+	w = u8g2_gfx.getUTF8Width(s);
+	u8g2_gfx.setCursor((SCREEN_WIDTH - w - 6), 59);
+	u8g2_gfx.println(F(s));
+}
+
+void Display::drawActualDiveStep(float maxDiveDistance, float levelHeightDiving, float distance) {
+	int totalSteps = ceil(maxDiveDistance / levelHeightDiving);
+	int actualStep = ceil(distance / levelHeightDiving);
+	String txt = String(actualStep) + "/" + String(totalSteps);
+	char *s = &txt[0];
+	int16_t w = 0;
+	u8g2_gfx.setFont(u8g2_font_helvB10_tf);
+	w = u8g2_gfx.getUTF8Width(s);
+	u8g2_gfx.setCursor(42, 59);
+	u8g2_gfx.println(F(s));
+}
+
 /********************************
  ** Private methods
  *******************************/

Display.h

@@ -40,6 +40,8 @@ class Display {
 		ValueMode mode;
 		float distanceValue;
 		String distanceUnit;
+		float maxDiveDistance;
+		float levelHeightDiving;
 		bool wlsConnected;
 		bool refreshScreen;
 		int angle;
@@ -64,6 +66,8 @@ class Display {
 		void drawMode(ValueMode mode);
 		void drawDistanceValue(float distance);
 		void drawDistanceUnit(String unit);
+		void drawMaxDiveDistance(float maxDiveDistance);
+		void drawActualDiveStep(float maxDiveDistance, float levelHeightDiving, float distance);
 		void setConfigOption(const String &configOption);
 		const String& getConfigOption() const;
 		void setConfigText(const String &configText);
@@ -73,6 +77,8 @@ class Display {
 		void setMode(const ValueMode &mode);
 		void setDistanceValue(const float &distanceValue);
 		void setDistanceUnit(const String &distanceUnit);
+		void setLevelHeightDiving(float levelHeightDiving);
+		void setMaxDiveDistance(float maxDiveDistance);
 };
 
 #endif /* DISPLAY_H_ */

Fraestisch_SFTools.ino

@@ -192,6 +192,8 @@ void loop() {
 				SetActualStatus(MOVING_ELEVATOR);
 				intermediateState = 1;
 			} else if (intermediateState == 1) {
+				Router_Elevator.setZeroPosition();
+				Router_Elevator.resetNullingDone();
 				if (RotaryControler.isSwitchLongPressed()) {
 					SetActualStatus(CONFIGURATION);
 					intermediateState = 0;
@@ -287,10 +289,11 @@ void loop() {
 			Router_Elevator.setMaxDiveDistance();
 			if (GreenButton.isPressed()) {
 				Serial.println("GB && BB pressing");
-				bool maxDiveDistReached = Router_Elevator.incrementDiveDistance();
-				//Router_Elevator.moveToTarget();
-				SetActualStatus(MOVING_ELEVATOR);
-				if (maxDiveDistReached) {
+				if (!Router_Elevator.maxDiveDistanceReached()) {
+					Router_Elevator.incrementDiveDistance();
+					Router_Elevator.moveToTarget();
+					SetActualStatus(MOVING_ELEVATOR);
+				} else {
 					originStatus = IDLE;
 					Router_Elevator.setDoDiveInitialization(true);
 					Router_Elevator.moveToParkPosition();

RouterElevator.cpp

@@ -16,6 +16,7 @@ RouterElevator::RouterElevator(ESP_FlexyStepper &_Stepper, Display &_display, Ro
 	targetDistance = 0.0;
 	maxDiveDistance = 0.0;
 	doDiveInitialization = true;
+	nullingDone = false;
 }
 
 void RouterElevator::setZeroPosition() {
@@ -23,6 +24,7 @@ void RouterElevator::setZeroPosition() {
 	Stepper.setCurrentPositionInMillimeters(0);
 	Stepper.setTargetPositionRelativeInMillimeters(0);
 	targetDistance = 0.0;
+	nullingDone = true;
 	setMode(FAST);
 	display.setDistanceValue(targetDistance);
 }
@@ -61,7 +63,9 @@ void RouterElevator::moveToTarget(void) {
 
 void RouterElevator::moveToParkPosition(void) {
 	float parkOffset = -5; //Router_Setup.getParkPostionOffset() * -1;
-	Stepper.setTargetPositionInMillimeters(parkOffset);
+	targetDistance = parkOffset;
+	Stepper.setTargetPositionInMillimeters(targetDistance);
+	display.setDistanceValue(targetDistance);
 }
 
 bool RouterElevator::isWLSTriggerd() {
@@ -111,7 +115,11 @@ void RouterElevator::onRotaryControlerTurn(RotaryEncoder::Direction turn) {
 	if (turn != RotaryEncoder::Direction::NOROTATION) {
 		int sign = (turn == RotaryEncoder::Direction::CLOCKWISE) ? 1 : -1;
 		float increment = mode.isSlow() ? Router_Setup.getEncoderSpeedSlow() : Router_Setup.getEncoderSpeedFast();
-		targetDistance = max(0.0f, targetDistance + increment / 100 * sign);
+		if (nullingDone) {
+			targetDistance = max(0.0f, targetDistance + increment / 100 * sign);
+		} else {
+			targetDistance = targetDistance + increment / 100 * sign;
+		}
 		display.setDistanceValue(targetDistance);
 		display.setDistanceUnit("mm");
 	}
@@ -134,8 +142,10 @@ void RouterElevator::setMaxDiveDistance() {
 		Serial.println("setMaxDiveDistance");
 		maxDiveDistance = targetDistance;
 		targetDistance = 0.0;
-		display.setDistanceValue(maxDiveDistance);
+		display.setDistanceValue(targetDistance);
 		display.setDistanceUnit("mm");
+		display.setMaxDiveDistance(maxDiveDistance);
+		display.setLevelHeightDiving(Router_Setup.getLevelHeightDiving());
 		display.setRefreshScreen();
 		setDoDiveInitialization(false);
 	}
@@ -145,5 +155,17 @@ bool RouterElevator::incrementDiveDistance() {
 	float increment = Router_Setup.getLevelHeightDiving();
 	targetDistance = min(maxDiveDistance, targetDistance + increment);
 	Serial.println("targetDistance: " + String(targetDistance, 2));
+	display.setMaxDiveDistance(maxDiveDistance);
+	display.setDistanceValue(targetDistance);
+	display.setLevelHeightDiving(Router_Setup.getLevelHeightDiving());
 	return targetDistance == maxDiveDistance;
 }
+
+bool RouterElevator::maxDiveDistanceReached() {
+	return targetDistance == maxDiveDistance;
+}
+
+
+void RouterElevator::resetNullingDone() {
+	this->nullingDone = false;
+}

RouterElevator.h

@@ -32,11 +32,12 @@ class RouterElevator {
 		float maxDiveDistance;
 		ValueMode mode;
 		bool doDiveInitialization;
+		bool nullingDone;
 
 	public:
 		RouterElevator(ESP_FlexyStepper &_Stepper, Display &_display, RouterSetup &_Router_Setup,
 				WLS &_WlsDetect, WLS &_Wls, int _LimitSwitch, int _DOWNWARD_DIR);
-		void setZeroPosition(void);
+		void setZeroPosition();
 		void moveRelativeInMillimeters(float distanceInMillimeters);
 		void moveToLowerLimitSwitch(void);
 		void moveToUpperLimitSwitch(void);
@@ -58,6 +59,8 @@ class RouterElevator {
 		float getMaxDiveDistance() const;
 		void setMaxDiveDistance();
 		bool incrementDiveDistance();
+		bool maxDiveDistanceReached();
+		void resetNullingDone();
 };
 
 

sloeber.ino.cpp

@@ -2,7 +2,7 @@
 //This is a automatic generated file
 //Please do not modify this file
 //If you touch this file your change will be overwritten during the next build
-//This file has been generated on 2022-02-26 22:19:46
+//This file has been generated on 2022-02-27 18:38:05
 
 #include "Arduino.h"
 #include <Arduino.h>