From 263f78e73178622a0e52edf5a66d4ba4ece7ddf2 Mon Sep 17 00:00:00 2001
From: Miguel Angel de Heras <mdeheras@gmail.com>
Date: Mon, 7 Apr 2025 10:34:46 +0200
Subject: [PATCH] Actualizacion proyecto Julia Montilla

---
 2009/TONI.zip                                 | Bin 46642 -> 0 bytes
 .../4_Carrito_Motor_Vibrador/src/main.cpp     | 187 +++++++++++++-----
 2 files changed, 137 insertions(+), 50 deletions(-)
 delete mode 100644 2009/TONI.zip

diff --git a/2009/TONI.zip b/2009/TONI.zip
deleted file mode 100644
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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();