Merge pull request #86 from kivancsikert/mk4/fix-motor-driver

Fix non-latching valve drivers
kivancsikert · Feb 3, 2024 · 0e7c36d · 0e7c36d
2 parents 088258c + 3bd2228
commit 0e7c36d
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Showing 3 changed files with 12 additions and 5 deletions.
diff --git a/.github/workflows/release-drafter.yml b/.github/workflows/release-drafter.yml
@@ -14,6 +14,6 @@ jobs:
   update_release_draft:
     runs-on: ubuntu-latest
     steps:
-      - uses: release-drafter/release-drafter@v5
+      - uses: release-drafter/release-drafter@v6
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/src/kernel/drivers/Drv8801Driver.hpp b/src/kernel/drivers/Drv8801Driver.hpp
@@ -61,9 +61,11 @@ class Drv8801Driver
     void drive(MotorPhase phase, double duty = 1) override {
         if (duty == 0) {
             Log.traceln("Stopping");
+            sleep();
             digitalWrite(enablePin, LOW);
             return;
         }
+        wakeUp();
         digitalWrite(enablePin, HIGH);
 
         int direction = (phase == MotorPhase::FORWARD ? 1 : -1);

diff --git a/src/peripherals/valve/ValveComponent.hpp b/src/peripherals/valve/ValveComponent.hpp
@@ -54,21 +54,26 @@ class HoldingValveControlStrategy
     void driveAndHold(PwmMotorDriver& controller, ValveState targetState) {
         switch (targetState) {
             case ValveState::OPEN:
-                controller.drive(MotorPhase::FORWARD, holdDuty);
+                driveAndHold(controller, MotorPhase::FORWARD);
                 break;
             case ValveState::CLOSED:
-                controller.drive(MotorPhase::REVERSE, holdDuty);
+                driveAndHold(controller, MotorPhase::REVERSE);
                 break;
             default:
                 // Ignore
                 break;
         }
-        delay(switchDuration.count());
-        controller.stop();
     }
 
     const milliseconds switchDuration;
     const double holdDuty;
+
+private:
+    void driveAndHold(PwmMotorDriver& controller, MotorPhase phase) {
+        controller.drive(phase, 1.0);
+        delay(switchDuration.count());
+        controller.drive(phase, holdDuty);
+    }
 };
 
 class NormallyClosedValveControlStrategy