mirror of
https://github.com/Threnklyn/esphome-dev.git
synced 2026-05-19 20:53:26 +02:00
Otto Winter
6682c43dfa
## Description: Move esphome-core codebase into esphome (and a bunch of other refactors). See https://github.com/esphome/feature-requests/issues/97 Yes this is a shit ton of work and no there's no way to automate it :( But it will be worth it 👍 Progress: - Core support (file copy etc): 80% - Base Abstractions (light, switch): ~50% - Integrations: ~10% - Working? Yes, (but only with ported components). Other refactors: - Moves all codegen related stuff into a single class: `esphome.codegen` (imported as `cg`) - Rework coroutine syntax - Move from `component/platform.py` to `domain/component.py` structure as with HA - Move all defaults out of C++ and into config validation. - Remove `make_...` helpers from Application class. Reason: Merge conflicts with every single new integration. - Pointer Variables are stored globally instead of locally in setup(). Reason: stack size limit. Future work: - Rework const.py - Move all `CONF_...` into a conf class (usage `conf.UPDATE_INTERVAL` vs `CONF_UPDATE_INTERVAL`). Reason: Less convoluted import block - Enable loading from `custom_components` folder. **Related issue (if applicable):** https://github.com/esphome/feature-requests/issues/97 **Pull request in [esphome-docs](https://github.com/esphome/esphome-docs) with documentation (if applicable):** esphome/esphome-docs#<esphome-docs PR number goes here> ## Checklist: - [ ] The code change is tested and works locally. - [ ] Tests have been added to verify that the new code works (under `tests/` folder). If user exposed functionality or configuration variables are added/changed: - [ ] Documentation added/updated in [esphomedocs](https://github.com/OttoWinter/esphomedocs).
51 lines
1.5 KiB
C++
51 lines
1.5 KiB
C++
#include "stepper.h"
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#include "esphome/core/log.h"
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namespace esphome {
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namespace stepper {
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static const char *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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