MotorBackward function limitations

[MagnusPer]

The MotorBackward function has limitation for how long it could run in time.,

#define MotorMaxSpeed 2950  // 3359 is max PWM for 25Khz at 84 MHz with APB1 Clock
#define MotorMinSpeed 2000        // Minimum speed to start with

in my case I want to to back harder and for longer time, but the function don't allow that due to two reasons. MotorBackward(MotorMinSpeed+500, MotorMaxSpeed, 3000);

1. if (currentSpeed >= maxSpeed) { break; }
2. if (timeCount >= time_ms) { break; }

My expectation is that when maxSpeed has been reached the time left shall be used to be driven till it has elapsed.

void MotorBackward(uint16_t minSpeed, uint16_t maxSpeed, uint16_t time_ms) {

    State = BACKWARD;
    uint16_t timeCount = 0;

for (uint16_t currentSpeed = minSpeed; currentSpeed < maxSpeed; currentSpeed++) {

      currentSpeed += 3;
      if (currentSpeed >= maxSpeed) {
          break;
      }

      TIM4->CCR1 = currentSpeed;
      TIM4->CCR2 = 0;

      TIM4->CCR3 = 0;
      TIM4->CCR4 = currentSpeed;

      HAL_Delay(1);
      timeCount++;

      CheckSecurity();

      if (timeCount >= time_ms) {
          break;
      }
 }

[Selective031]

Correct, this is one of the small quirks that needs to be fixed. The fix will be something like this, at the beginning of the function before the loop starts, create a timer, if the timer reaches it end during the windup, break. If there is still time left when the windup if done, loop and check security until the timer reaches the end, then break.

[Selective031]

This is untested, but something like this:

void MotorBackward(uint16_t minSpeed, uint16_t maxSpeed, uint16_t time_ms) {

    uint32_t motor_timer;
    State = BACKWARD;
//  uint16_t timeCount = 0;

    motor_timer = HAL_GetTick();

for (uint16_t currentSpeed = minSpeed; currentSpeed < maxSpeed; currentSpeed++) {

      currentSpeed += 3;
      if (currentSpeed >= maxSpeed) {
          break;
      }

      TIM4->CCR1 = currentSpeed;
      TIM4->CCR2 = 0;

      TIM4->CCR3 = 0;
      TIM4->CCR4 = currentSpeed;

      HAL_Delay(1);
//    timeCount++;

//    CheckSecurity();

      if (HAL_GetTick() - motor_timer >= time_ms || CheckSecurity() != SECURITY_OK) {
          break;
      }
 }
while (HAL_GetTick() - motor_timer < time_ms) {
    if (CheckSecurity() != SECURITY_OK) break;
}
    MotorStop();
}

[Selective031]

The fix should also be included in MotorLeft and MotorRight as well.

[MagnusPer]

Yes - you are correct in also update this for other functions (MotorLeft/Right) as well

One other idea to make the function even more configurable is also to include step-up current_speed +=3 as a argument, but that may be to much, don't really know my self if that is needed or not? Maybe a future enhancement if any need that functionality.

[Selective031]

The step-up count is mainly because of different motors, RPM and power.. you want it to windup slowly and not too fast, so its a balance, but it could be moved to settings,

[Selective031]

A fix has been committed to dev branch, which will fix this.