From 9e8f4b51f5e40ba8f016d4e3738c4d1457c5c133 Mon Sep 17 00:00:00 2001
From: ChrGri <christophergrimm88@web.de>
Date: Sun, 4 Aug 2024 12:12:13 +0200
Subject: [PATCH] Per user request, slow movement to min position when new
 config is sent to pedal

---
 ESP32/include/StepperWithLimits.h             |  1 +
 ESP32/src/Main.cpp                            | 14 ++++++++++-
 ESP32/src/StepperWithLimits.cpp               | 25 +++++++++++--------
 .../FastAccelStepper/library.properties       | 12 +++++++++
 4 files changed, 41 insertions(+), 11 deletions(-)
 create mode 100644 ESP32_master/.pio/libdeps/esp32-speedcrafter/FastAccelStepper/library.properties

diff --git a/ESP32/include/StepperWithLimits.h b/ESP32/include/StepperWithLimits.h
index c3f1a2dc..558a54d6 100644
--- a/ESP32/include/StepperWithLimits.h
+++ b/ESP32/include/StepperWithLimits.h
@@ -31,6 +31,7 @@ class StepperWithLimits {
   void refindMinLimitSensorless(isv57communication * isv57);
 public:
   int8_t moveTo(int32_t position, bool blocking = false);
+  void moveSlowlyToPos(int32_t targetPos_ui32);
   void printStates();
 
 public:
diff --git a/ESP32/src/Main.cpp b/ESP32/src/Main.cpp
index 4d930298..e2ed4d94 100644
--- a/ESP32/src/Main.cpp
+++ b/ESP32/src/Main.cpp
@@ -231,6 +231,8 @@ StepperWithLimits* stepper = NULL;
 //static const int32_t MIN_STEPS = 5;
 
 #include "StepperMovementStrategy.h"
+
+bool moveSlowlyToPosition_b = false;
 /**********************************************************************************************/
 /*                                                                                            */
 /*                         OTA                                                                */
@@ -800,6 +802,7 @@ void pedalUpdateTask( void * pvParameters )
           }
           
           updatePedalCalcParameters(); // update the calc parameters
+          moveSlowlyToPosition_b = true;
         }
 
       }
@@ -1114,10 +1117,19 @@ void pedalUpdateTask( void * pvParameters )
     //int32_t stepperPosCurrent = stepper->getCurrentPositionFromMin();
     //int32_t stepperPosCurrent = stepper->getTargetPositionSteps();
     //int32_t movement = abs(stepperPosCurrent - Position_Next);
-    //if (movement > MIN_STEPS)
+    if (!moveSlowlyToPosition_b)
     {
       stepper->moveTo(Position_Next, false);
     }
+    else
+    {
+      moveSlowlyToPosition_b = false;
+      stepper->moveSlowlyToPos(Position_Next);
+    }
+
+    // move slowly to target position
+
+
 
     
 
diff --git a/ESP32/src/StepperWithLimits.cpp b/ESP32/src/StepperWithLimits.cpp
index 8262d1ec..ac59d50c 100644
--- a/ESP32/src/StepperWithLimits.cpp
+++ b/ESP32/src/StepperWithLimits.cpp
@@ -132,25 +132,30 @@ void StepperWithLimits::findMinMaxSensorless(isv57communication * isv57, DAP_con
 
   _limitMax = _stepper->getCurrentPosition();
 
+  
+  // move slowly to min position
+  moveSlowlyToPos(_posMin);
+
+
+#if defined(SUPPORT_ESP32_PULSE_COUNTER)
+  _stepper->clearPulseCounter();
+#endif
+
+
+}
+
+
+void StepperWithLimits::moveSlowlyToPos(int32_t targetPos_ui32) {
   // reduce speed and accelerartion
   _stepper->setSpeedInHz(MAXIMUM_STEPPER_SPEED / 4);
   _stepper->setAcceleration(MAXIMUM_STEPPER_ACCELERATION / 4);
 
   // move to min
-  _stepper->moveTo(_posMin, true);
+  _stepper->moveTo(targetPos_ui32, true);
 
   // increase speed and accelerartion
   _stepper->setAcceleration(MAXIMUM_STEPPER_ACCELERATION);
   _stepper->setSpeedInHz(MAXIMUM_STEPPER_SPEED);
-
-
-
-
-#if defined(SUPPORT_ESP32_PULSE_COUNTER)
-  _stepper->clearPulseCounter();
-#endif
-
-
 }
 
 
diff --git a/ESP32_master/.pio/libdeps/esp32-speedcrafter/FastAccelStepper/library.properties b/ESP32_master/.pio/libdeps/esp32-speedcrafter/FastAccelStepper/library.properties
new file mode 100644
index 00000000..b3787033
--- /dev/null
+++ b/ESP32_master/.pio/libdeps/esp32-speedcrafter/FastAccelStepper/library.properties
@@ -0,0 +1,12 @@
+name=FastAccelStepper
+version=0.30.15
+license=MIT
+author=Jochen Kiemes <jochen@kiemes.de>
+maintainer=Jochen Kiemes <jochen@kiemes.de>
+sentence=A high speed stepper library for Atmega 168/168p/328/328p (nano), 32u4 (leonardo), 2560, ESP32, ESP32S2, ESP32S3, ESP32C3 and Atmel SAM Due
+paragraph=Drive stepper motors with acceleration/deceleration profile up to 50 kSteps/s (Atmega) and 200kSteps/s (esp32).
+url=https://github.com/gin66/FastAccelStepper
+repository=https://github.com/gin66/FastAccelStepper.git
+architectures=avr,esp32,sam
+category=Device Control
+dot_a_linkage=true