diff --git a/2009/TONI.zip b/2009/TONI.zip
deleted file mode 100644
index 6c39139..0000000
Binary files a/2009/TONI.zip and /dev/null differ
diff --git a/2024/P25_055_Julia_Montilla/4_Carrito_Motor_Vibrador/src/main.cpp b/2024/P25_055_Julia_Montilla/4_Carrito_Motor_Vibrador/src/main.cpp
index f201c8b..3c2de23 100644
--- a/2024/P25_055_Julia_Montilla/4_Carrito_Motor_Vibrador/src/main.cpp
+++ b/2024/P25_055_Julia_Montilla/4_Carrito_Motor_Vibrador/src/main.cpp
@@ -10,6 +10,7 @@
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <WebSerial.h>
+//#include <analogWrite.h>
AsyncWebServer server(8080);
unsigned long last_print_time = millis();
@@ -24,10 +25,16 @@ unsigned long last_print_time = millis();
#define TIME_TO_CLOSE 1000
#define TIME_TO_OPEN 750
#define TIME_VIBRATION_ACTIVE 7000
+#define STOP_MOTOR 0
+#define CLOSE_MOTOR 1
+#define OPEN_MOTOR 2
-const int Channel = 0; // Canal PWM, puede ser de 0 a 15
+
+const int Channel0 = 0; // Canal PWM, puede ser de 0 a 15
+const int Channel1 = 1; // Canal PWM, puede ser de 0 a 15
const int frequency = 5000; // Frecuencia en Hz
const int resolution = 8; // Resolución en bits (de 1 a 15)
+const int resolution_analog = 12; // Resolución en bits (de 9 a 12)
/*#define UP_ANGLE 0
#define DOWN_ANGLE 66
@@ -41,9 +48,13 @@ const int resolution = 8; // Resolución en bits (de 1 a 15)
volatile int dir = 1;
const int K1 = 16;
const int K2 = 17;
-const int ENA = 14;
-const int IN1 = 26;
-const int IN2 = 33;
+const int PWM_R = 33;
+const int PWM_L = 14;
+const int EN_M = 26;
+const int IS_R = 32;
+const int IS_L = 35;
+const int FC_UP = 18;
+const int FC_DOWN = 22;
// Set these to your desired credentials.
char *ssid = "Neteja_Neteja"; // your network SSID (name)
@@ -64,15 +75,23 @@ IPAddress subnet(255, 255, 255, 0);
const char* host_ip = "192.168.1.255";
bool first_time = true;
+unsigned long time_first_time = millis();
bool state_tapa = false;
unsigned long time_cycle = millis();
int num_loop = 1;
+int orientation = 0;
+int protection_orientation = 0;
+unsigned long time_protection = millis();
void cierra(int SPEED)
{
- ledcWrite(Channel, SPEED);
- digitalWrite(IN2, LOW);
- digitalWrite(IN1, HIGH);
+ if (protection_orientation==CLOSE_MOTOR) ledcWrite(Channel1, 0);
+ else ledcWrite(Channel1, SPEED);
+ ledcWrite(Channel0, 0);
+ if (orientation!=CLOSE_MOTOR) time_protection = millis();
+ orientation = CLOSE_MOTOR;
+ //digitalWrite(IN2, LOW);
+ //digitalWrite(IN1, HIGH);
if(state_tapa == true)
{
WebSerial.println(String(num_loop) + "-Cerrando Tapa:" + String(millis()-time_cycle));
@@ -80,11 +99,16 @@ void cierra(int SPEED)
}
}
+
void abrir(int SPEED)
{
- ledcWrite(Channel, SPEED);
- digitalWrite(IN1, LOW);
- digitalWrite(IN2, HIGH);
+ ledcWrite(Channel1, 0);
+ if (protection_orientation==OPEN_MOTOR) ledcWrite(Channel0, 0);
+ else ledcWrite(Channel0, SPEED);
+ if (orientation!=OPEN_MOTOR) time_protection = millis();
+ orientation = OPEN_MOTOR;
+ //digitalWrite(IN1, LOW);
+ //digitalWrite(IN2, HIGH);
if(state_tapa == true)
{
WebSerial.println(String(num_loop) + "-Abriendo Tapa:" + String(millis()-time_cycle));
@@ -92,13 +116,14 @@ void abrir(int SPEED)
}
}
-void stop_motor()
+void stop_motor(bool emergency=false)
{
- ledcWrite(Channel, 0);
- //digitalWrite(IN1, LOW);
- //digitalWrite(IN2, LOW);
- digitalWrite(IN1, HIGH);
- digitalWrite(IN2, HIGH);
+ ledcWrite(Channel0, 0);
+ ledcWrite(Channel1, 0);
+ orientation = STOP_MOTOR;
+ if(!emergency) protection_orientation = STOP_MOTOR;
+ //digitalWrite(IN1, HIGH);
+ //digitalWrite(IN2, HIGH);
if(state_tapa == false)
{
WebSerial.println(String(num_loop) + "-Parando Motor:" + String(millis()-time_cycle));
@@ -106,31 +131,8 @@ void stop_motor()
}
}
-void STOP()
- {
- digitalWrite(K1, LOW);
- digitalWrite(K2, LOW);
- }
-
-/*#define TIME_START 30000
-#define TIME_CLOSE 55000
-#define TIME_MOTOR_ON 60000
-#define TIME_MOTOR_OFF 65000
-#define TIME_LOOP 120000
-#define SPEED_MOTOR 180*/
-
void START()
{
-
- /*cierra(SPEED_MOTOR);
- delay(1000);
- stop_motor();
- delay(5000);
- abrir(SPEED_MOTOR);
- delay(1000);
- stop_motor();
- delay(5000);*/
-
if (((millis()-time_cycle)<TIME_START+TIME_TO_OPEN)&&(millis()-time_cycle)>TIME_START)
{
abrir(SPEED_MOTOR);
@@ -150,11 +152,13 @@ void START()
else if (((millis()-time_cycle)<TIME_VIBRATION_ON+TIME_VIBRATION_ACTIVE)&&(millis()-time_cycle)>TIME_VIBRATION_ON)
{
stop_motor();
+ //WebSerial.println("Activa vibracion");
digitalWrite(K1, HIGH);
digitalWrite(K2, HIGH);
}
else if (((millis()-time_cycle)<TIME_LOOP)&&(millis()-time_cycle)>TIME_VIBRATION_ON+TIME_VIBRATION_ACTIVE)
{
+ //WebSerial.println("Desactiva vibracion");
digitalWrite(K1, LOW);
digitalWrite(K2, LOW);
}
@@ -168,23 +172,83 @@ void START()
}
+const int N = 10;
+float measure_current()
+ {
+ int pin = IS_L;
+ float current_correction = 1.0;
+ if (orientation==OPEN_MOTOR)
+ {
+ pin = IS_R;
+ }
+
+ int val = analogRead(pin);
+ for (int i=0; i<N; i++)
+ val += analogRead(pin);
+ return (val/N)*(3300*current_correction)/4095;
+ }
+
+bool fc_stop_up = false;
+volatile unsigned long time_fc_up_low = millis();
+volatile unsigned long time_fc_up_high = millis();
+void is_up() {
+ if(!digitalRead(FC_UP)&&(millis()-time_fc_up_low)>=100)
+ {
+ //Serial.println("Close_Up");
+ time_fc_up_high = millis();
+ protection_orientation = OPEN_MOTOR;
+ fc_stop_up = true;
+ }
+ else if(digitalRead(FC_UP)&&(millis()-time_fc_up_high)>=100)
+ {
+ //Serial.println("Open_Up");
+ fc_stop_up = false;
+ time_fc_up_low = millis();
+ }
+ //has_interrupted = true;
+}
+
+volatile unsigned long time_fc_down_high = millis();
+volatile unsigned long time_fc_down_low = millis();
+bool fc_stop_down = false;
+void is_down() {
+ if(!digitalRead(FC_DOWN)&&(millis()-time_fc_down_low)>=100)
+ {
+ //Serial.println("Close_Down");
+ time_fc_down_high = millis();
+ protection_orientation = CLOSE_MOTOR;
+ fc_stop_down = true;
+ }
+ else if(digitalRead(FC_DOWN)&&(millis()-time_fc_down_high)>=100)
+ {
+ //Serial.println("Open_Down");
+ fc_stop_down = false;
+ time_fc_down_low = millis();
+ }
+ //has_interrupted = true;
+}
+
void setup()
{
IPAddress ip;
delay(1000);
- ledcSetup(Channel, frequency, resolution);
+ ledcSetup(Channel0, frequency, resolution);
+ ledcSetup(Channel1, frequency, resolution);
+ analogReadResolution(resolution_analog);
pinMode(K1, OUTPUT);
pinMode(K2, OUTPUT);
- ledcAttachPin(ENA, Channel);
- pinMode(IN1, OUTPUT);
- pinMode(IN2, OUTPUT);
+ pinMode(FC_UP, INPUT_PULLUP);
+ pinMode(FC_DOWN, INPUT_PULLUP);
+ ledcAttachPin(PWM_R, Channel0);
+ ledcAttachPin(PWM_L, Channel1);
+ pinMode(EN_M, OUTPUT);
digitalWrite(K1, LOW);
digitalWrite(K2, LOW);
stop_motor();
- //ledcWrite(Channel, 128);
- //digitalWrite(IN1, LOW);
- //digitalWrite(IN2, HIGH);
+ ledcWrite(Channel0, 0);
+ ledcWrite(Channel1, 0);
+ digitalWrite(EN_M, LOW);
Serial.begin(115200);
if(readId==0) ip=ip0;
else if(readId==1) ip=ip1;
@@ -284,15 +348,38 @@ void setup()
time_cycle = millis();
});*/
time_cycle = millis();
+ digitalWrite(EN_M, HIGH);
+ cierra(SPEED_MOTOR);
+ time_first_time = millis();
+ //attachInterrupt(digitalPinToInterrupt(FC_UP), is_up, CHANGE); // Configurar la interrupción
+ //attachInterrupt(digitalPinToInterrupt(FC_DOWN), is_down, CHANGE); // Configurar la interrupción
+
+
}
+
+
void loop() {
+ is_down();
+ is_up();
+ if (((measure_current()>=2000)&&(orientation!=STOP_MOTOR)&&((millis()-time_protection)>=250))||((fc_stop_up)&&(orientation==OPEN_MOTOR))||((fc_stop_down)&&(orientation==CLOSE_MOTOR))) { //Para el motor si la corriente es mayor a 1.5A (Borrar en caso de no funcionar)
+ if((!fc_stop_up)&&(!fc_stop_down))
+ {
+ protection_orientation = orientation;
+ Serial.println("Proteccion por corriente");
+ }
+ else Serial.println("Proteccion por FC");
+ stop_motor(true);
+ //Serial.println("Parada de emergencia");
+ }
+
if (first_time)
{
- cierra(SPEED_MOTOR);
- delay(1000);
- stop_motor();
- first_time = false;
+ if (millis()-time_first_time>=1000)
+ {
+ stop_motor();
+ first_time = false;
+ }
}
WebSerial.loop();
httpServer.handleClient();