3 Gauges, routines switched

Gaugecontroller/Gaugecontroller.ino

@@ -2,31 +2,30 @@
 #include <math.h>
 #include <FastLED.h>
 
-static const uint8_t GAUGE_COUNT = 2;
+static const uint8_t GAUGE_COUNT = 3;
 
-// LED strip — one shared WS2812B strip, segmented per gauge.
+// One shared WS2812B strip, split into per-gauge segments.
-// Set LED_DATA_PIN to the digital pin driving the strip data line.
-// TOTAL_LEDS is computed automatically from gaugePins[].ledCount.
 static const uint8_t LED_DATA_PIN = 22;
 
-// For now: commands come over USB serial
+// For now, command and debug traffic share the same serial port.
 #define CMD_PORT Serial1
 #define DEBUG_PORT Serial1
 
 struct GaugePins {
   uint8_t dirPin;
   uint8_t stepPin;
-  int8_t enablePin;          // -1 if unused
+  int8_t enablePin;          // -1 means there is no enable pin
   bool dirInverted;
   bool stepActiveHigh;
   bool enableActiveLow;
-  uint8_t ledCount;          // WS2812B LEDs on this gauge's strip segment (0 if none)
+  uint8_t ledCount;          // LEDs assigned to this gauge
 };
 
 constexpr GaugePins gaugePins[GAUGE_COUNT] = {
   // dir, step, en, dirInv, stepHigh, enActiveLow, leds
   {50, 51, -1, false, true, true, 7},   // Gauge 0
   {8,  9,  -1, true,  true, true, 7},   // Gauge 1
+  {52, 53, -1, false, true, true, 7},   // Gauge 2
 };
 
 constexpr uint8_t sumLedCounts(uint8_t i = 0) {
@@ -47,8 +46,8 @@ struct Gauge {
   long targetPos = 0;
 
   long minPos = 0;
-  long maxPos = 3780;             // adjust to your usable travel
+  long maxPos = 3780;
-  long homingBackoffSteps = 3800; // should exceed reverse travel slightly
+  long homingBackoffSteps = 3800; // Deliberately a touch past full reverse travel.
 
   float velocity = 0.0f;
   float maxSpeed = 5000.0f;
@@ -77,14 +76,11 @@ struct BlinkState {
   LedFx         fx          = FX_BLINK;
   CRGB          onColor;
   unsigned long lastMs      = 0;
-  // FX_BLINK
   uint16_t      onMs        = 500;
   uint16_t      offMs       = 500;
   bool          currentlyOn = false;
-  // FX_BREATHE: smooth triangle-wave fade
   uint16_t      periodMs    = 2000;
   uint16_t      cyclePos    = 0;
-  // FX_DFLASH: two quick flashes then pause
   uint8_t       dphase      = 0;
 };
 
@@ -170,6 +166,7 @@ void updateHoming(uint8_t id) {
       return;
 
     case HS_START:
+      // No endstop here; homing just walks back far enough to hit the hard stop.
       g.velocity = 0.0f;
       g.stepAccumulator = 0.0f;
       g.homingStepsRemaining = g.homingBackoffSteps;
@@ -266,6 +263,7 @@ void updateGauge(uint8_t id) {
   }
 
   float dir = (error > 0) ? 1.0f : (error < 0 ? -1.0f : 0.0f);
+  // Basic trapezoidal profile: brake if the remaining travel is shorter than the stop distance.
   float brakingDistance = (g.velocity * g.velocity) / (2.0f * g.accel + 0.0001f);
 
   if ((float)labs(error) <= brakingDistance) {
@@ -286,6 +284,7 @@ void updateGauge(uint8_t id) {
     g.velocity = dir * 5.0f;
   }
 
+  // Integrate fractional steps until there is enough to emit a real pulse.
   g.stepAccumulator += g.velocity * dt;
 
   while (g.stepAccumulator >= 1.0f) {
@@ -565,9 +564,7 @@ bool parseLed(const String& line) {
 bool parseBlink(const String& line) {
   int id, onMs, offMs, r, g, b;
   char idxToken[16];
-  // Accept both forms:
+  // Optional RGB values let BLINK either reuse or replace the current colour.
-  //   BLINK <id> <idx> <on_ms> <off_ms>           — use current LED colour
-  //   BLINK <id> <idx> <on_ms> <off_ms> <r> <g> <b> — set colour in same command
   int count = sscanf(line.c_str(), "BLINK %d %15s %d %d %d %d %d",
                      &id, idxToken, &onMs, &offMs, &r, &g, &b);
   if (count != 4 && count != 7) return false;
@@ -590,7 +587,7 @@ bool parseBlink(const String& line) {
 
   CRGB color = (count == 7)
     ? CRGB(constrain(r, 0, 255), constrain(g, 0, 255), constrain(b, 0, 255))
-    : CRGB(0, 0, 0);  // placeholder; overwritten per-LED below when count==4
+    : CRGB(0, 0, 0);  // Placeholder; replaced with the live LED colour below.
 
   unsigned long nowMs = millis();
   for (int i = idxFirst; i <= idxLast; i++) {
@@ -697,6 +694,7 @@ void updateBlink() {
           uint32_t newPos = (uint32_t)bs.cyclePos + dt;
           bs.cyclePos = (uint16_t)(newPos % bs.periodMs);
           bs.lastMs = nowMs;
+          // Cheap triangle wave. It does the job and nobody has complained yet.
           uint16_t half = bs.periodMs >> 1;
           uint8_t bri = (bs.cyclePos < half)
               ? (uint8_t)((uint32_t)bs.cyclePos * 255 / half)
@@ -707,7 +705,7 @@ void updateBlink() {
           break;
         }
         case FX_DFLASH: {
-          static const uint16_t dur[4] = {100, 100, 100, 700};
+          static const uint16_t dur[4] = {100, 100, 100, 700}; // on, off, on, longer off
           if ((nowMs - bs.lastMs) >= dur[bs.dphase]) {
             bs.lastMs = nowMs;
             bs.dphase = (bs.dphase + 1) & 3;
@@ -781,7 +779,7 @@ void setup() {
     gauges[i].lastUpdateMicros = micros();
   }
 
-  // Compute per-gauge LED offsets and initialise the strip.
+  // Flatten the per-gauge LED counts into offsets on the shared strip.
   uint8_t ledOff = 0;
   for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
     gaugeLedOffset[i] = ledOff;
@@ -801,12 +799,14 @@ void loop() {
   readCommands();
   updateBlink();
 
+  for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
+    updateGauge(i);
+  }
+  
   if (ledsDirty) {
     FastLED.show();
     ledsDirty = false;
   }
 
-  for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
+
-    updateGauge(i);
-  }
 }