Tune seat travel timing and down movement ratio

Auto_Seat.ino

@@ -1,22 +1,41 @@
 // Auto_Seat
-// Initial automatic seat relay controller.
+// Timed automatic seat controller with relay protection.
 
 #define seatRelayD8 8
 #define seatRelayD9 9
 #define parkingPin A0
 #define ignitionPin 7
 
+const uint16_t SEAT_HARD_LIMIT_UP_MS = 6000;
 const int PARKING_ON_THRESHOLD = 950;
 const int PARKING_OFF_THRESHOLD = 940;
-const unsigned long SEAT_UP_MS = 2000UL;
+const int DOWN_SPEED_NUM = 11;
-const unsigned long SEAT_DOWN_MS = 2200UL;
+const int DOWN_SPEED_DEN = 10;
+const unsigned long IGNITION_STABILIZE_MS = 1000UL;
+const unsigned long DRIVE_CONFIRM_MS = 80UL;
+const unsigned long PARK_CONFIRM_MS = 250UL;
+const unsigned long RELAY_DEADTIME_MS = 120UL;
+const unsigned long DOWN_EDGE_MARGIN_MS = 300UL;
 
-boolean parkingState = LOW;
 boolean ignitionState = LOW;
-boolean previousDriveMode = LOW;
+boolean parkingState = LOW;
+boolean prevIgnitionState = LOW;
+boolean confirmedDriveMode = LOW;
+boolean pendingDriveMode = LOW;
+bool isStabilizing = false;
+bool downEdgeMarginActive = false;
 int parkingRawValue = 0;
-unsigned long moveStartTime = 0;
+long currentPosMs = 0;
-int seatAction = 0;
+long targetPosMs = 0;
+long downSpeedRemainder = 0;
+unsigned long lastTime = 0;
+unsigned long stabilizeStartTime = 0;
+unsigned long pendingDriveModeStartTime = 0;
+unsigned long relayDeadtimeStartTime = 0;
+unsigned long downEdgeMarginTime = DOWN_EDGE_MARGIN_MS;
+int currentSeatAction = 0;
+int requestedSeatAction = 0;
+int lastStoppedSeatAction = 0;
 
 void setup() {
   pinMode(parkingPin, INPUT);
@@ -24,21 +43,37 @@ void setup() {
   pinMode(seatRelayD8, OUTPUT);
   pinMode(seatRelayD9, OUTPUT);
   applySeatAction(0);
+  seat(0);
+  measurement();
+  confirmedDriveMode = getRawDriveMode();
+  pendingDriveMode = confirmedDriveMode;
+  targetPosMs = getTargetForConfirmedMode();
+  lastTime = millis();
 }
 
 void loop() {
   measurement();
-  boolean driveMode = ignitionState == HIGH && parkingState == LOW;
+  unsigned long currentTime = millis();
+  unsigned long deltaTime = currentTime - lastTime;
+  lastTime = currentTime;
 
-  if (driveMode != previousDriveMode) {
+  if (prevIgnitionState == LOW && ignitionState == HIGH) {
-    previousDriveMode = driveMode;
+    isStabilizing = true;
-    moveStartTime = millis();
+    stabilizeStartTime = currentTime;
-    seatAction = driveMode ? 1 : -1;
   }
+  prevIgnitionState = ignitionState;
 
-  if (seatAction == 1 && millis() - moveStartTime >= SEAT_UP_MS) seatAction = 0;
+  if (isStabilizing && currentTime - stabilizeStartTime < IGNITION_STABILIZE_MS) {
-  if (seatAction == -1 && millis() - moveStartTime >= SEAT_DOWN_MS) seatAction = 0;
+    seat(0);
-  applySeatAction(seatAction);
+    updateRelayOutput(currentTime);
+    return;
+  }
+  isStabilizing = false;
+
+  updateConfirmedDriveMode(currentTime);
+  targetPosMs = getTargetForConfirmedMode();
+  updateMovement(deltaTime);
+  updateRelayOutput(currentTime);
 }
 
 void measurement() {
@@ -48,19 +83,83 @@ void measurement() {
   else if (parkingState == HIGH && parkingRawValue <= PARKING_OFF_THRESHOLD) parkingState = LOW;
 }
 
-void setRelay(int relayPin, boolean state) {
+boolean getRawDriveMode() { return ignitionState == HIGH && parkingState == LOW; }
-  digitalWrite(relayPin, state ? LOW : HIGH);
+long getTargetForConfirmedMode() { return confirmedDriveMode == HIGH ? SEAT_HARD_LIMIT_UP_MS : 0; }
+
+void updateConfirmedDriveMode(unsigned long currentTime) {
+  boolean rawDriveMode = getRawDriveMode();
+  if (rawDriveMode != pendingDriveMode) {
+    pendingDriveMode = rawDriveMode;
+    pendingDriveModeStartTime = currentTime;
+  }
+  unsigned long confirmMs = pendingDriveMode == HIGH ? DRIVE_CONFIRM_MS : PARK_CONFIRM_MS;
+  if (pendingDriveMode != confirmedDriveMode && currentTime - pendingDriveModeStartTime >= confirmMs) {
+    confirmedDriveMode = pendingDriveMode;
+  }
+}
+
+void updateMovement(unsigned long deltaTime) {
+  if (downEdgeMarginActive) {
+    seat(-1);
+    downEdgeMarginTime += deltaTime;
+    if (downEdgeMarginTime >= DOWN_EDGE_MARGIN_MS) {
+      downEdgeMarginActive = false;
+      downEdgeMarginTime = DOWN_EDGE_MARGIN_MS;
+      seat(0);
+    }
+    return;
+  }
+
+  if (currentPosMs < targetPosMs) {
+    seat(1);
+    currentPosMs += deltaTime;
+    if (currentPosMs >= targetPosMs) {
+      currentPosMs = targetPosMs;
+      seat(0);
+    }
+  } else if (currentPosMs > targetPosMs) {
+    seat(-1);
+    long scaled = deltaTime * DOWN_SPEED_NUM + downSpeedRemainder;
+    currentPosMs -= scaled / DOWN_SPEED_DEN;
+    downSpeedRemainder = scaled % DOWN_SPEED_DEN;
+    if (currentPosMs <= targetPosMs) {
+      currentPosMs = targetPosMs;
+      downSpeedRemainder = 0;
+      if (targetPosMs == 0) {
+        downEdgeMarginActive = true;
+        downEdgeMarginTime = 0;
+      } else {
+        seat(0);
+      }
+    }
+  } else {
+    seat(0);
+  }
+}
+
+void setRelay(int relayPin, boolean state) { digitalWrite(relayPin, state ? LOW : HIGH); }
+void seat(int action) { requestedSeatAction = action; }
+
+void updateRelayOutput(unsigned long currentTime) {
+  if (requestedSeatAction == currentSeatAction) {
+    applySeatAction(currentSeatAction);
+    return;
+  }
+  if (currentSeatAction != 0) {
+    lastStoppedSeatAction = currentSeatAction;
+    currentSeatAction = 0;
+    relayDeadtimeStartTime = currentTime;
+    applySeatAction(0);
+    return;
+  }
+  bool sameDirectionResume = requestedSeatAction != 0 && requestedSeatAction == lastStoppedSeatAction;
+  bool deadtimeDone = currentTime - relayDeadtimeStartTime >= RELAY_DEADTIME_MS;
+  if (sameDirectionResume || deadtimeDone) currentSeatAction = requestedSeatAction;
+  applySeatAction(currentSeatAction);
 }
 
 void applySeatAction(int action) {
-  if (action == 1) {
+  if (action == 1) { setRelay(seatRelayD8, 1); setRelay(seatRelayD9, 0); }
-    setRelay(seatRelayD8, 1);
+  else if (action == -1) { setRelay(seatRelayD8, 0); setRelay(seatRelayD9, 1); }
-    setRelay(seatRelayD9, 0);
+  else { setRelay(seatRelayD8, 0); setRelay(seatRelayD9, 0); }
-  } else if (action == -1) {
-    setRelay(seatRelayD8, 0);
-    setRelay(seatRelayD9, 1);
-  } else {
-    setRelay(seatRelayD8, 0);
-    setRelay(seatRelayD9, 0);
-  }
 }