mirror of
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ac0d921413
* Socket refactor and SSL * esp-idf temp * Fixes * Echo component and noise * Add noise API transport support * Updates * ESP-IDF * Complete * Fixes * Fixes * Versions update * New i2c APIs * Complete i2c refactor * SPI migration * Revert ESP Preferences migration, too complex for now * OTA support * Remove echo again * Remove ssl again * GPIOFlags updates * Rename esphal and ICACHE_RAM_ATTR * Make ESP32 arduino compilable again * Fix GPIO flags * Complete pin registry refactor and fixes * Fixes to make test1 compile * Remove sdkconfig file * Ignore sdkconfig file * Fixes in reviewing * Make test2 compile * Make test4 compile * Make test5 compile * Run clang-format * Fix lint errors * Use esp-idf APIs instead of btStart * Another round of fixes * Start implementing ESP8266 * Make test3 compile * Guard esp8266 code * Lint * Reformat * Fixes * Fixes v2 * more fixes * ESP-IDF tidy target * Convert ARDUINO_ARCH_ESPxx * Update WiFiSignalSensor * Update time ifdefs * OTA needs millis from hal * RestartSwitch needs delay from hal * ESP-IDF Uart * Fix OTA blank password * Allow setting sdkconfig * Fix idf partitions and allow setting sdkconfig from yaml * Re-add read/write compat APIs and fix esp8266 uart * Fix esp8266 store log strings in flash * Fix ESP32 arduino preferences not initialized * Update ifdefs * Change how sdkconfig change is detected * Add checks to ci-custom and fix them * Run clang-format * Add esp-idf clang-tidy target and fix errors * Fixes from clang-tidy idf round 2 * Fixes from compiling tests with esp-idf * Run clang-format * Switch test5.yaml to esp-idf * Implement ESP8266 Preferences * Lint * Re-do PIO package version selection a bit * Fix arduinoespressif32 package version * Fix unit tests * Lint * Lint fixes * Fix readv/writev not defined * Fix graphing component * Re-add all old options from core/config.py Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>
52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
#include "stepper.h"
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#include "esphome/core/log.h"
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#include "esphome/core/hal.h"
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namespace esphome {
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namespace stepper {
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static const char *const TAG = "stepper";
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void Stepper::calculate_speed_(uint32_t now) {
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// delta t since last calculation in seconds
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float dt = (now - this->last_calculation_) * 1e-6f;
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this->last_calculation_ = now;
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if (this->has_reached_target()) {
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this->current_speed_ = 0.0f;
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return;
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}
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int32_t num_steps = abs(int32_t(this->target_position) - int32_t(this->current_position));
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// (v_0)^2 / 2*a
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float v_squared = this->current_speed_ * this->current_speed_;
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auto steps_to_decelerate = static_cast<int32_t>(v_squared / (2 * this->deceleration_));
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if (num_steps <= steps_to_decelerate) {
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// need to start decelerating
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this->current_speed_ -= this->deceleration_ * dt;
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} else {
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// we can still accelerate
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this->current_speed_ += this->acceleration_ * dt;
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}
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this->current_speed_ = clamp(this->current_speed_, 0.0f, this->max_speed_);
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}
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int32_t Stepper::should_step_() {
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uint32_t now = micros();
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this->calculate_speed_(now);
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if (this->current_speed_ == 0.0f)
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return 0;
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// assumes this method is called in a constant interval
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uint32_t dt = now - this->last_step_;
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if (dt >= (1 / this->current_speed_) * 1e6f) {
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int32_t mag = this->target_position > this->current_position ? 1 : -1;
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this->last_step_ = now;
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this->current_position += mag;
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return mag;
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}
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return 0;
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}
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} // namespace stepper
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} // namespace esphome
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