further rotate control freezes

[harrih]

Hi there
first Thankyou very much for your work on teensyStep and VisualTeensy
this may be related to the issue flagged by baaender

Am having freezing issues with rotate control
Which I have narrowed down to largish jumps in the speed modifier value from 1 tick interval to the next
Also the value at which this freezing occurs is not symetrical ie a jump of 0.05 in a negative direction will cause a freeze whereas a similar jump in the positive direction does not.
These values also seem to be very dependent on the acceleration and maxspindlespeed chosen
I am using a high acceleration rate as I am not using this to directly to control motors but rather to generate pulse and direction output as a result of a 3D rotation process on a previously generated pulse stream.
I am attaching a sketch that illustrates this issue as best as i can
Playing with the basespeed variable and observing the count behaviour in the console should show what I mean
tested on T3.1 & t3.5

Thanks Harry Harrison

`//this code is purely for testing purposes to check on 1for1 pulse in out
//max rates available how to ensure reliabilty of data throughput
//will eventually be embodied in a program that takes 3 pulse streams representing
//Yaw Tilt Roll perform a 3Drotion on these and then retransmit the data to the motors
// this is effectively a stabilising routine for a servo controlled camera pointing device.
// original motor signal comes from KUPER hardware which performs all smoothing scaling recording and other signal conditioning
// so no accelleration limiting required
//HOWEVER in the event of unfiltered input particularly direct input from Highcount encoders
// with very little smoothing,
// the code needs to be able to survive abrupt changes in speed/ direction without freezing

//As set up

#include <Arduino.h>
#include <QuadDecode_def.h>
#include <teensystep.h>

int t;
int t_old;
volatile bool TickFlag = false;
double motorPosn;
double motorPosnOld;
double motorDelta = 0;
constexpr unsigned maxSpindleSpeed = 100'000;
constexpr unsigned spindleStepPin = 22;
constexpr unsigned spindleDirPin = 21;
constexpr unsigned AnalogIn = A14;
int sensorValue = 0;
int Counter = 0;
double MaxVal;
RotateControl controller;
Stepper motor(spindleStepPin, spindleDirPin);
IntervalTimer tickTimer;

float baseSpeed = 0.024; //adjust this to see effects of instantaneous override speed change equivalent to
// double this value. Seems to work up to ).25 ie 0.5 swing equivalent to 500 count per
float ratio = 0.9;
volatile float speedmodifier = 0.005;
volatile byte state = LOW;
volatile double count = 0;
volatile double total = 0;
float a = 0.01;
constexpr unsigned recalcPeriod = 10000; //µs period for calculation of new target points.
double totalOld = 0;
double totalNew = 0;
////////////////////////////////Functions definition///////////////////////////////////////////////
void blink();
void tickRoutine();
void Tick();
void ConsolePrint();

////////////////////////////////Functions///////////////////////////////////////////////
void blink()
{
state = !state;
digitalWriteFast(13, !digitalReadFast(13));
}

void TickRoutine()
{
if (TickFlag == true)
{
TickFlag = false;
Counter++;
speedmodifier = baseSpeed;
controller.overrideSpeed(speedmodifier);
motorPosnOld = motorPosn;
motorPosn = motor.getPosition();
motorDelta = motorPosnOld - motorPosn;
if (Counter > 300)
{
baseSpeed = -baseSpeed;
blink();
Counter = 0;
}
}
}
void tick()
{ //isr function to sevice interval timer
TickFlag = true;
digitalWriteFast(23, !digitalReadFast(23)); //write interval time to pin 23 for logic analyzer
digitalWriteFast(LED_BUILTIN, !digitalReadFast(LED_BUILTIN));
}

void consolePrint()
{ // utility to print to console
t = int(millis());
t = t / 100;
if (t > t_old)
{
Serial.print("MotorPosn ");
Serial.println(motor.getPosition());
Serial.print("speedModifier ");
Serial.println((speedmodifier));
if (motor.getPosition() > MaxVal)
{
MaxVal = motor.getPosition();
}
Serial.print("MaxVal");
Serial.println(MaxVal);
Serial.print("motorDelta ");
Serial.println(motorDelta);
}
}

//////////////////////////////////////////////End Functions////////////////////////////////////////////////

////////////////////////////Program setup------------------------------------------------------------
/////////////////////////////Program setup------------------------------------------------------------

void setup()
{
pinMode(LED_BUILTIN, OUTPUT);
pinMode(23, OUTPUT);
pinMode(22, OUTPUT);
pinMode(21, OUTPUT);
pinMode(3, INPUT_PULLUP);
pinMode(4, INPUT_PULLUP);
pinMode(A14, INPUT);
Serial.begin(115200); //use fastest baud rate for SERIAL MONITOR
while (!Serial)
{
/* do nothing */
}
Serial.flush();

tickTimer.begin(tick, recalcPeriod); //10 millisecs
motor
    .setMaxSpeed(maxSpindleSpeed)
    .setAcceleration(5000000)
    .setPosition(0); // set start position of counter
motor.setPullInOutSpeed(5000, 5000);

controller.rotateAsync(motor); // let the motor run with constant speed
controller.overrideSpeed(0);   // start with stopped motor

tickTimer.priority(128); // lowest priority, potentially long caclulations need to be interruptable by TeensyStep
//attachInterrupt(digitalPinToInterrupt(22), stepP, RISING);

}

////////////////////////////////////Program loop-------------------------------------------
void loop()
{
//speedmodifier= ReadPot();
TickRoutine();
consolePrint();
}`

[EeeLo]

Looks like same problem with you