更新电机控制，彩色LED控制，按钮控制等，可以按钮，电机，LED的联动

src/main.cpp

@@ -3,9 +3,11 @@
 #include "OneButton.h"
 #include "Serialcommand.h"
 #include "config.h"
-#include "led.h"
 #include <Ticker.h> //调用Ticker.h库
 #include <soc/rtc_cntl_reg.h>
+#include "motocontrol.h"
+#include "moto.h"
+#include <FastLED.h>
 
 // 角度传感器
 // 收放线电机控制
@@ -17,20 +19,36 @@ OneButton button_down(BTN_DOWN, true);
 OneButton button_checktop(BTN_CT, true);
 HX711 scale;
 Serialcommand sercomm;
+#define NUM_LEDS 1
+#define DATA_PIN 25
+CRGB leds[NUM_LEDS];
+Motocontrol motocontrol;
+
 void sendinfo();
 Ticker tksendinfo(sendinfo, 500); // 发送状态
 
 HookStatus hookstatus = HS_Unknow;
 
+// 收
 void upbtn_click();
+void upbtn_dbclick();
+void upbtn_pressstart();
+void upbtn_pressend();
+// 放
 void downbtn_click();
+void downbtn_dbclick();
+void downbtn_pressstart();
+void downbtn_pressend();
+// 顶抬起
 void ctbtn_pressend();
+// 顶按下
 void ctbtn_pressstart();
-void led_tip(bool onled);
+
 int get_pullweight();
 void Task1(void *pvParameters);
+void led_show(CRGB ledcolor);
 // void Task1code( void *pvParameters );
-
+void showledidel();
 int pullweight = 0;
 
 void setup()
@@ -45,32 +63,64 @@ void setup()
 
   // 初始化按钮
   button_up.attachClick(upbtn_click);
+  button_up.attachDoubleClick(upbtn_dbclick);
+  button_up.attachLongPressStart(upbtn_pressstart);
+  button_up.attachLongPressStop(upbtn_pressend);
+
+  button_down.attachDoubleClick(downbtn_dbclick);
   button_down.attachClick(downbtn_click);
+  button_down.attachLongPressStart(downbtn_pressstart);
+  button_down.attachLongPressStop(downbtn_pressend);
+
   button_checktop.setPressTicks(10);                      // 10毫秒就产生按下事件，用于顶部按钮检测
   button_checktop.attachLongPressStart(ctbtn_pressstart); // 按下马上产生事件，
   button_checktop.attachLongPressStop(ctbtn_pressend);    // 抬起
 
-  // 关闭灯光LED
+  // 初始化RGB  LED   显示黄色灯表示需要注意 LED
-  pinMode(LED_TIP, OUTPUT);
+  FastLED.addLeds<WS2812, DATA_PIN, RGB>(leds, NUM_LEDS); // GRB ordering is typical
-  led_tip(false);
+   if (!motocontrol.init()) // 初始化电机控制
+    printf("motocontrol init fault\n");
 
+  // 发送状态任务开启--500ms一次
   tksendinfo.start();
+
+  // if (motocontrol.getstatus()==MS_Stop)
+  // {
+  //     //slowup();
+
+  // }
+
   Serial.println("PullupDevice is ready!");
 }
+void slowup()
+{
+  // motocontrol.setspeed(SPEED_UP_SLOW);
+  // motocontrol.up(0);  //一直收线直到到顶部
+}
+void showinfo()
+{
+  // moto_measure_t mf=motocontrol.getmotoinfo() ;
+  // printf("total_cnt:%.3f;speed:%.2f \n ", mf.output_round_cnt, mf.output_speed_rpm);
+  // if (pullweight>10)
+  //  printf("PullWeight:%d\n",pullweight);
+}
+
 // 在核心1上执行，重要的延迟低的
 void loop()
 {
-  tksendinfo.update();
+  tksendinfo.update();    // 定时发送信息任务
-  button_checktop.tick();
+  sercomm.getcommand();   // 得到控制命令
-  button_down.tick();
+  button_checktop.tick(); // 按钮
-  button_up.tick();
+  button_down.tick();     // 按钮
-  sercomm.getcommand();
+  button_up.tick();       // 按钮
-  if (pullweight>10)
+  motocontrol.update();   // 电机控制
-    printf("PullWeight:%d\n",pullweight);
+  showledidel();          //显示LED灯光
-  delay(10);
+  showinfo();             // 显示一些调试用信息
+  delay(1);
 }
 // 在核心0上执行耗时长的低优先级的
-void Task1(void *pvParameters) {
+void Task1(void *pvParameters)
+{
   // 初始化称重传感器
   scale.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN);
   scale.set_scale(516.f); // 这是缩放值，根据砝码实测
@@ -103,30 +153,149 @@ int get_pullweight()
   return round(Value);
 }
 // 提示灯光控制
-void led_tip(bool onled)
+void led_show(uint8_t cr,uint8_t cg,uint8_t cb)
 {
-  if (onled)
+  leds[0] =CRGB(cg,cr,cb);//颜色交叉了
-    digitalWrite(LED_TIP, LOW); // 亮灯
+  FastLED.show();
-  else
+}
-    digitalWrite(LED_TIP, HIGH); // 亮灯
+// 显示颜色
+void showledidel()
+{
+  switch (motocontrol.getcontrolstatus().motostatus)
+  {
+  case MotoStatus::MS_Down:
+  {
+    led_show(0,0,255);  //blue
+
+    break;
+  }
+  case MotoStatus::MS_Up:
+  {
+    led_show(255,0,0); // red
+    break;
   }
 
+  case MotoStatus::MS_Stop:
+  {
+    if (motocontrol.getcontrolstatus().is_toplocked)
+    {
+       led_show(0,255,0); //green
+    }else
+    {
+      if (motocontrol.getcontrolstatus().is_setzero)
+        led_show(255,0,255);           // 紫色
+      else
+        led_show(255,255,0);   //yellow
+    }
+    break;
+  }
+  }
+}
 
+/////////////////////////////////////按钮处理
+// 顶部按钮，检测是否到顶部
 void ctbtn_pressstart()
 {
   Serial.println("ctbtn_pressstart");
-  led_tip(true);
+  motocontrol.setlocked(true);
+  hookstatus = HS_Lock;
 }
+
 void ctbtn_pressend()
 {
   Serial.println("ctbtn_pressend");
-  led_tip(false);
+  motocontrol.setlocked(false);
 }
 void downbtn_click()
 {
   Serial.println("downbtn_click");
+
+  if (motocontrol.getcontrolstatus().motostatus!= MotoStatus::MS_Stop)
+  {
+    motocontrol.stop();
+  }
+  else
+  {
+    motocontrol.setspeed(SPEED_SLOW);
+    motocontrol.moto_run(MotoStatus::MS_Down);
+   }
 }
 void upbtn_click()
 {
   Serial.println("upbtn_click");
+  if (motocontrol.getcontrolstatus().motostatus != MotoStatus::MS_Stop)
+  {
+    motocontrol.stop();
+  }
+  else
+  {
+    motocontrol.setspeed(SPEED_SLOW);
+    motocontrol.moto_run(MotoStatus::MS_Up);
+  }
+}
+
+void downbtn_dbclick()
+{
+  Serial.println("downbtn_dbclick");
+
+  if (motocontrol.getcontrolstatus().motostatus != MotoStatus::MS_Stop)
+  {
+    motocontrol.stop();
+  }
+  else
+  {
+    motocontrol.setspeed(SPEED_FAST);
+    motocontrol.moto_run(MotoStatus::MS_Down);
+  }
+}
+void upbtn_dbclick()
+{
+  Serial.println("upbtn_dbclick");
+  if (motocontrol.getcontrolstatus().motostatus != MotoStatus::MS_Stop)
+  {
+    motocontrol.stop();
+  }
+  else
+  {
+    motocontrol.setspeed(SPEED_FAST);
+    motocontrol.moto_run(MotoStatus::MS_Up);
+  }
+}
+
+void upbtn_pressstart()
+{
+  Serial.println("upbtn_pressstart");
+  if (motocontrol.getcontrolstatus().motostatus != MotoStatus::MS_Stop)
+  {
+    motocontrol.stop();
+  }
+  else
+  {
+    motocontrol.setspeed(SPEED_BTN_FAST);
+    motocontrol.moto_run(MotoStatus::MS_Up);
+  }
+}
+void upbtn_pressend()
+{
+  Serial.println("upbtn_pressend");
+  motocontrol.stop();
+}
+
+void downbtn_pressstart()
+{
+  Serial.println("downbtn_pressstart");
+  if (motocontrol.getcontrolstatus().motostatus!= MotoStatus::MS_Stop)
+  {
+    motocontrol.stop();
+  }
+  else
+  {
+    motocontrol.setspeed(SPEED_BTN_FAST);
+    motocontrol.moto_run(MotoStatus::MS_Down);
+  }
+}
+void downbtn_pressend()
+{
+  Serial.println("downbtn_pressend");
+  motocontrol.stop();
 }