Clamp speed

rotating-display-controller/rotating-display-controller.ino

@@ -18,13 +18,17 @@ int stepSequence[4][4] = {
 const int STEPS_PER_REVOLUTION = 2048; // 28BYJ-48 standard (512 steps * 4 gear reduction)
 const float DEGREES_PER_STEP = 360.0 / STEPS_PER_REVOLUTION;
 
+// Speed Limits (Clamping)
+const float MAX_TURN_SPEED = 45.0; // Maximum safe speed in deg/s
+const float MIN_TURN_SPEED = 0.1;  // Minimum safe speed to avoid div by zero
+
 // --- Global Variables ---
 enum State { MOVE, WAIT };
 enum Mode { AUTO, MANUAL };
 
 Mode autoMode = AUTO;          // Default: AUTO
-float targetAngle = 0.0;       // Target angle in degrees
-float turnSpeed = 5.0;         // Speed in degrees per second
+float targetAngle = 15.0;      // Target angle in degrees
+float turnSpeed = 45.0;         // Speed in degrees per second
 
 State _currState = MOVE;       // Default: MOVE
 
@@ -49,10 +53,6 @@ void setStep(int a, int b, int c, int d) {
 }
 
 void updateStepInterval() {
-  if (turnSpeed <= 0) {
-    _stepInterval = 0.1; // Fallback to avoid div by zero
-    return;
-  }
   // Calculate steps per second: speed / degrees_per_step
   float stepsPerSecond = turnSpeed / DEGREES_PER_STEP;
   _stepInterval = 1.0 / stepsPerSecond; // Seconds per step
@@ -157,12 +157,15 @@ void setup() {
   _waitTime = millis();
   
   // Initial calculation (move 0 degrees to set defaults)
-  calculateStepsForAngle(0.0); 
-  // Ensure we start in MOVE if we want immediate action, or WAIT if idle
-  // Based on your logic: "initialized in MOVE state"
+  calculateStepsForAngle(targetAngle); 
   _currState = MOVE;
   
   Serial.println("Ready. Commands: m[0|1], a[deg], s[deg/s], i[sec]");
+  Serial.println("  (Speed clamped between ");
+  Serial.print(MIN_TURN_SPEED);
+  Serial.print(" and ");
+  Serial.print(MAX_TURN_SPEED);
+  Serial.println(" deg/s)");
   printStatus();
 }
 
@@ -224,10 +227,11 @@ void loop() {
             printError("Invalid angle format.");
           } else {
             calculateStepsForAngle(angle);
+            targetAngle = angle;
             Serial.print("  -> Moving ");
             Serial.print(_stepCount);
             Serial.print(" steps (");
-            Serial.print(angle);
+            Serial.print(targetAngle);
             Serial.println(" degrees).");
             if (_stepCount == 0) {
               Serial.println("  -> No movement required (0 degrees).");
@@ -244,6 +248,17 @@ void loop() {
             printError("Invalid speed. Must be > 0.");
           } else {
             turnSpeed = speed;
+            
+            // Logic to check if clamping occurred
+            float actualSpeed = turnSpeed;
+            if (actualSpeed > MAX_TURN_SPEED) {
+              turnSpeed = MAX_TURN_SPEED;
+              Serial.print("  -> WARNING: Speed clamped to max ");
+            } else if (actualSpeed < MIN_TURN_SPEED) {
+              turnSpeed = MIN_TURN_SPEED;
+              Serial.print("  -> WARNING: Speed clamped to min ");
+            }
+            
             updateStepInterval();
             Serial.print("  -> Speed set to ");
             Serial.print(turnSpeed);