zero sensor value when both buttons pressed

kraftsensor.c

@@ -12,6 +12,8 @@
 int32_t kraftsensor_value;
 uint8_t kraftsensor_valid;
 
+int32_t kraftsensor_zero_offset = 0/*197700*/;
+
 void timer2_init()
 {
     TCCR2A = (1<<WGM21); //TIMER0 SET-UP: CTC MODE
@@ -45,7 +47,7 @@ void do_kraftsensor(){
 
         //kraftsensor_value = tmp;
         /* conversion magic to milliNewton */
-        kraftsensor_value = ((tmp + 197700 /*539363*/)*9.81)/177.380;
+        kraftsensor_value = (((tmp /* + 539363*/)*9.81)/177.380)+kraftsensor_zero_offset;
 
         //if(abs(kraftsensor_read - old_value) > 10000){
         //    if(abs(last_read - kraftsensor_read) > 10000){

kraftsensor.h

@@ -8,6 +8,8 @@
 extern int32_t kraftsensor_value;
 extern uint8_t kraftsensor_valid;
 
+extern int32_t kraftsensor_zero_offset;
+
 void timer2_init();
 void kraftsensor_init();
 void do_kraftsensor(void);

pid_controller.h

@@ -25,8 +25,8 @@ typedef struct {
 } PID_vars;
 
 
-#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.5,.Ki=0.00,.Kd=0.0,.output_max=20000.0, \
+#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.7,.Ki=0.00,.Kd=0.00,.output_max=25000.0, \
-                       .output_min=-20000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
+                       .output_min=-25000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
 
 /* Function Prototypes */
 double pid(PID_vars *vars, double current_err);

spule.c

@@ -13,7 +13,7 @@ volatile uint16_t windings_wakeup = 0;
 int32_t spule_trans_pos = 0;
 uint8_t spule_trans_homed = 0;
 
-#define TRANS_ROT_FACTOR 0.07
+#define TRANS_ROT_FACTOR 0.14
 
 void timer1_init()
 {
@@ -59,7 +59,7 @@ void set_spooling_speed(uint16_t speed){
 }
 
 void do_spule(){
-    //PORTH &= ~(1<<5);
+    // Translatoric axis homeing code
     if(read_Input(IN_SPULE_HOME, LEVEL) && spule_trans_homed == 0){
         spule_trans_homed = 1;
         spule_trans_pos = 0;
@@ -71,12 +71,15 @@ void do_spule(){
         OCR1A = ICR1/2;
     }
 
+    // if not homed goto home
     if(!spule_trans_homed){
         ICR1 = 100;
         OCR1A = 50;
         set_Output(MOTOR_TRANS_DIR, 1); // direction: front
         TCCR1B |= _BV(CS11); //TURN ON
     }
+
+    // manual forwarding if button is held
     else if(!get_abzug_state()){
         if(read_Input(BTN_WICKELN_EIN, LEVEL)){
             set_spooling_speed(300);
@@ -85,24 +88,28 @@ void do_spule(){
         else
             spule_onoff(0);
     }
+
+    // normal operation
     else{
         /* speed regulation - keep taenzer at 10% */
         float p = 100.0/(int32_t)(taenzer_state.pos/1000);
         p-=1;
         p/=2;
         p+=1;
+        //tmp = (int32_t)(taenzer_state.pos/10000);
+        //printf("%ld\n", tmp);
 
         //printf("temp1: %d\n", tmp);
         //TODO fix bounds
         //if(tmp < -7500/abzug_speed/2)
         //    tmp = -7500/abzug_speed/2;
         //printf("temp2: %d\n", tmp);
-        if(p < 0.75)
+        if(p < 0.5)
-            p = 0.75;
+            p = 0.5;
-        if(p > 1.5)
+        if(p > 2)
-            p = 1.5;
+            p = 2;
 
-        uint16_t base_speed = (7500/abzug_speed);
+        uint16_t base_speed = (14000/abzug_speed);
         uint16_t ctrl_speed = base_speed * p;
 
         if(ctrl_speed <= 70)
@@ -111,6 +118,7 @@ void do_spule(){
         ICR5 = ctrl_speed;
         OCR5C = ICR5/2;
 
+
         ICR1 = ICR5/TRANS_ROT_FACTOR;
         OCR1A = ICR1/2;
 
@@ -148,10 +156,11 @@ ISR(TIMER5_OVF_vect) {
     //PORTH &= ~(1<<5);
     static uint16_t steps = 0;
     steps++;
-    if(steps == 50000){
+    if(steps == 25000){
         windings++;
         steps=0;
-        printf("windungen: %d\n", windings);
+        printf("windungen: %d\t", windings);
+        printf("trans pos: %ld\n", taenzer_state.pos);
     }
 
     if(windings == windings_wakeup){
@@ -179,5 +188,5 @@ ISR(TIMER5_OVF_vect) {
         OCR1A = ICR1/2;
         printf("nachlauf abbauen\n");
     }
-    //PORTH |= (1<<5);
+    //;PORTH |= (1<<5);
 }

taenzer.c

@@ -12,7 +12,7 @@
 #include <stdlib.h>
 
 #define TAENZER_KRAFT_SETPOINT 12000
-#define TAENZER_KRAFT_HYST 1000
+#define TAENZER_KRAFT_HYST 500
 
 
 taenzer_state_t taenzer_state;
@@ -68,12 +68,20 @@ void do_taenzer(){
 #if PLC_MQTT_ENABLED
         send_settings();
 #endif
+        if(taenzer_state.homed == 1 && read_Input(BTN_KRAFT_MINUS, LEVEL))
+        {
+            kraftsensor_zero_offset = -(kraftsensor_value-kraftsensor_zero_offset);
+        }
     }
     if (read_Input(BTN_KRAFT_MINUS, RISING)) {
         taenzer_state.force_setpoint -= 1000;
 #if PLC_MQTT_ENABLED
         send_settings();
 #endif
+        if(taenzer_state.homed == 1 && read_Input(BTN_KRAFT_PLUS, LEVEL))
+        {
+            kraftsensor_zero_offset = -(kraftsensor_value-kraftsensor_zero_offset);
+        }
     }
     if (read_Input(BTN_TAENZER_START, RISING)) {
         taenzer_state.active = 1;
@@ -84,7 +92,7 @@ void do_taenzer(){
         int32_t err = (kraftsensor_value - taenzer_state.force_setpoint);
 
         double pid_out = pid(&regler, err);
-        int16_t out = (int16_t)pid_out;
+        int32_t out = (int32_t)pid_out;
 
         ICR4 = 400000/abs(out);
         OCR4A = ICR4/2;
@@ -98,12 +106,15 @@ void do_taenzer(){
                 set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
                 TCCR4B |= _BV(CS41); //TURN ON
             }
-            else
+            else{
                 TCCR4B &= ~_BV(CS41); //TURN OFF
             }
+        }
         else
             TCCR4B &= ~_BV(CS41); //TURN OFF
     }
+    //else
+    //    TCCR4B &= ~_BV(CS41); //TURN OFF
 }
 
 void timer4_init()