Merge branch 'display' into dev - mode-select menu, massage-mode, scroll status-screen
This commit is contained in:
jonny_l480
commit
0695c92418
20
README.md
20
README.md
@ -1,12 +1,15 @@
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# Overview
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Firmware for a homemade automated electric armchair.
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Extensive details about this project can be found here:
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Extensive details about this project can be found on the website:
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- ~~V1: [Electric Armchair V1](https://pfusch.zone/electric-armchair)~~
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- V2: [Electric Armchair V2](https://pfusch.zone/electric-armchair-v2)
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In the current version V2.2, only the esp-project in the [board_single/](board_single) folder plus the custom libraries in [common/](common) are used.
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Note: The projects in the folders `board_control/` and `board_motorctl/` are no longer compatible and legacy from V2.1.
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Note: In the current version V2.2, only the esp-project in the [board_single/](board_single) folder and the custom libraries in [common/](common) are used.
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The projects in the folders `board_control/` and `board_motorctl/` are no longer compatible and legacy from V2.1.
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<img src="doc/2023.09.09_armchair-frame.jpg" alt="Photo machine" style="width:60%;">
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*Photo of the built frame that carries the armchair*
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## Hardware Setup / Electrical
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### PCB
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@ -35,9 +38,10 @@ For more details refer to the documentation on the website.
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- Current Measurement: Monitors current of each motor
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- Battery Capacity: Measures battery voltage and calculates percentage according to discharge curve
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- Fan Control: Cooling fan for motor driver activated only when needed
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- Display:
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- Display + Rotary encoder:
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- Various status screens showing battery status, speed, RPM, motor current, mode, power, duty cycle, stick data
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- Menu for setting various options using encoder
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- Menu for setting various options using encoder (options are stored persistently in nvs flash)
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- Menu for selecting the control mode
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- Buzzer: Provides acoustic feedback when switching modes or interacting with menu
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## Planned Features
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@ -136,19 +140,19 @@ idf.py monitor
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| Count | Type | Action | Description |
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|-------|---------------|----------------------|---------------------------------------------------------------------------------------------|
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| 1x long | switch mode | **MENU** | Open menu to set various options, controlled via display and rotary encoder. |
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| 1x long | switch mode | **MENU_MODE_SELECT** | Open menu for selecting the current control mode |
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| 1x | control | [MASSAGE] **freeze** input | When in massage mode: lock or unlock joystick input at current position. |
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| 1x short, 1x long | switch mode | **ADJUST-CHAIR** | Switch to mode where the armchair leg and backrest are controlled via joystick. |
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| 2x | toggle mode | **IDLE** <=> previous| Enable/disable chair armchair (e.g., enable after startup or switch to previous mode after timeout). |
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| 3x | switch mode | **JOYSTICK** | Switch to JOYSTICK mode, to control armchair using joystick (default). |
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| 4x | switch mode | **HTTP** | Switch to **remote control** via web-app `http://191.168.4.1` in wifi `armchair`. |
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| 5x | | | |
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| 5x | switch mode | **MENU_SETTINGS** | Open menu to set various options, controlled via display and rotary encoder. |
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| 6x | switch mode | **MASSAGE** | Switch to MASSAGE mode where armchair shakes differently, depending on joystick position. |
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| 7x | | | |
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| 8x | toggle option| **deceleration limit** | Disable/enable deceleration limit (default on) => more responsive. |
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| 12x | toggle option| **alt stick mapping** | Toggle between default and alternative stick mapping (reverse direction swapped). |
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**When in MENU mode** (1x long press), the encoder controls the menu:
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**When in MENU_SETTINGS mode** (5x click), the encoder controls the settings menu: (similar in MENU_MODE_SELECT)
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| Encoder Event | Current Menu | Action |
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|---------------|--------------|--------------------------------------------------------------|
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@ -9,6 +9,7 @@ extern "C"
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#include "button.hpp"
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#include "encoder.hpp"
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#include "display.hpp"
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// tag for logging
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static const char *TAG = "button";
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@ -71,16 +72,17 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
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break;
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case 1:
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// ## switch to MENU state ##
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// ## switch to MENU_SETTINGS state ##
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if (lastPressLong)
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{
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control->changeMode(controlMode_t::MENU);
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ESP_LOGW(TAG, "1x long press -> clear encoder queue and change to menu mode");
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ESP_LOGW(TAG, "1x long press -> clear encoder queue and change to mode 'menu mode select'");
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buzzer->beep(5, 50, 30);
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// clear encoder event queue (prevent menu from exiting immediately due to long press event just happend)
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vTaskDelay(200 / portTICK_PERIOD_MS);
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//TODO move encoder queue clear to changeMode() method?
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rotary_encoder_event_t ev;
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while (xQueueReceive(encoderQueue, &ev, 0) == pdPASS);
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buzzer->beep(20, 20, 10);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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control->changeMode(controlMode_t::MENU_MODE_SELECT);
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}
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// ## toggle joystick freeze ##
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else if (control->getCurrentMode() == controlMode_t::MASSAGE)
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@ -122,6 +124,17 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
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control->changeMode(controlMode_t::HTTP); //switch to HTTP mode
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break;
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case 5:
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// ## switch to MENU_SETTINGS state ##
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ESP_LOGW(TAG, "5x press -> clear encoder queue and change to mode 'menu settings'");
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buzzer->beep(20, 20, 10);
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vTaskDelay(200 / portTICK_PERIOD_MS);
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// clear encoder event queue (prevent menu from using previous events)
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rotary_encoder_event_t ev;
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while (xQueueReceive(encoderQueue, &ev, 0) == pdPASS);
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control->changeMode(controlMode_t::MENU_SETTINGS);
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break;
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case 6:
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// ## switch to MASSAGE mode ##
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ESP_LOGW(TAG, "switch to MASSAGE");
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@ -156,7 +169,7 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
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//-----------------------------
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//------ startHandleLoop ------
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//-----------------------------
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// when not in MENU mode, repeatedly receives events from encoder button
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// when not in MENU_SETTINGS mode, repeatedly receives events from encoder button
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// and takes the corresponding action
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// this function has to be started once in a separate task
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#define INPUT_TIMEOUT 500 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
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@ -164,26 +177,27 @@ void buttonCommands::startHandleLoop()
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{
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//-- variables --
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bool isPressed = false;
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static rotary_encoder_event_t ev; // store event data
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static rotary_encoder_event_t event; // store event data
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// int count = 0; (from class)
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while (1)
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{
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//-- disable functionality when in menu mode --
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//(display task uses encoder in that mode)
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if (control->getCurrentMode() == controlMode_t::MENU)
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if (control->getCurrentMode() == controlMode_t::MENU_SETTINGS
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|| control->getCurrentMode() == controlMode_t::MENU_MODE_SELECT)
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{
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//do nothing every loop cycle
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ESP_LOGD(TAG, "in MENU mode -> button commands disabled");
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ESP_LOGD(TAG, "in MENU_SETTINGS or MENU_MODE_SELECT mode -> button commands disabled");
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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continue;
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}
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//-- get events from encoder --
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if (xQueueReceive(encoderQueue, &ev, INPUT_TIMEOUT / portTICK_PERIOD_MS))
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if (xQueueReceive(encoderQueue, &event, INPUT_TIMEOUT / portTICK_PERIOD_MS))
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{
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control->resetTimeout(); // user input -> reset switch to IDLE timeout
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switch (ev.type)
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switch (event.type)
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{
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break;
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case RE_ET_BTN_PRESSED:
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@ -196,9 +210,20 @@ void buttonCommands::startHandleLoop()
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ESP_LOGD(TAG, "Button released");
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isPressed = false; // rest stored state
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break;
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case RE_ET_CHANGED: // scroll through status pages when simply rotating encoder
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if (event.diff > 0)
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{
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display_rotateStatusPage(true, true); //select NEXT status screen, stau at last element (dont rotate to first)
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buzzer->beep(1, 65, 0);
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}
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else
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{
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display_rotateStatusPage(false, true); //select PREVIOUS status screen, stay at first element (dont rotate to last)
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buzzer->beep(1, 65, 0);
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}
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break;
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case RE_ET_BTN_LONG_PRESSED:
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case RE_ET_BTN_CLICKED:
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case RE_ET_CHANGED:
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default:
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break;
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}
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@ -99,8 +99,8 @@ sabertooth2x60_config_t sabertoothConfig = {
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motorctl_config_t configMotorControlLeft = {
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.name = "left",
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.loggingEnabled = true,
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.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
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.msFadeAccel = 1800, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1600, // deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = false,
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.tractionControlSystemEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_4, // GPIO32
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@ -117,8 +117,8 @@ motorctl_config_t configMotorControlLeft = {
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motorctl_config_t configMotorControlRight = {
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.name = "right",
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.loggingEnabled = false,
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.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
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.msFadeAccel = 1800, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1600, // deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = false,
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.tractionControlSystemEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_5, // GPIO33
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@ -179,10 +179,10 @@ joystick_config_t configJoystick = {
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//----------------------------
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fan_config_t configFans = {
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.gpio_fan = GPIO_NUM_13,
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.dutyThreshold = 40,
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.minOnMs = 1500,
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.minOffMs = 3000,
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.turnOffDelayMs = 5000,
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.dutyThreshold = 50,
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.minOnMs = 3500, // time motor duty has to be above the threshold for fans to turn on
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.minOffMs = 5000, // min time fans have to be off to be able to turn on again
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.turnOffDelayMs = 3000, // time fans continue to be on after duty is below threshold
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};
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@ -258,7 +258,7 @@ joystickGenerateCommands_config_t joystickGenerateCommands_config{
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//-- maxDuty --
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// max duty when both motors are at equal ratio e.g. driving straight forward
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// better to be set less than 100% to have some reserve for boosting the outer tire when turning
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.maxDutyStraight = 75,
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.maxDutyStraight = 65,
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//-- maxBoost --
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// boost is amount of duty added to maxDutyStraight to outer tire while turning
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// => turning: inner tire gets slower, outer tire gets faster
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@ -21,7 +21,29 @@ extern "C"
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//tag for logging
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static const char * TAG = "control";
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const char* controlModeStr[9] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO", "ADJUST_CHAIR", "MENU"};
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static const char * ERROR_STR = "ERR";
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const char* controlModeStr[10] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO", "ADJUST_CHAIR", "MENU_SETTINGS", "MENU_MODE_SELECT"};
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const uint8_t controlModeMaxCount = sizeof(controlModeStr) / sizeof(char *);
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#define MUTEX_TIMEOUT 10000 // restart when stuck waiting for handle() mutex
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//==========================
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//==== controlModeToStr ====
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//==========================
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// convert controlMode enum or mode index to string for logging, returns "ERR" when index is out of range of existing modes
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const char * controlModeToStr(int modeIndex){
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// return string when in allowed range
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if (modeIndex >= 0 && modeIndex < controlModeMaxCount)
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return controlModeStr[modeIndex];
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else
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// log and return error when not in range
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ESP_LOGE(TAG, "controlModeToStr: mode index '%d' is not in valid range - max 0-%d", modeIndex, controlModeMaxCount);
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return ERROR_STR;
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}
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const char * controlModeToStr(controlMode_t mode){
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return controlModeToStr((int)mode);
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}
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//-----------------------------
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@ -92,7 +114,7 @@ void controlledArmchair::startHandleLoop()
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while (1)
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{
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// mutex to prevent race condition with actions beeing run at mode change and previous mode still beeing executed
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if (xSemaphoreTake(handleIteration_mutex, portMAX_DELAY) == pdTRUE)
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if (xSemaphoreTake(handleIteration_mutex, MUTEX_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE)
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{
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//--- handle current mode ---
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ESP_LOGV(TAG, "control loop executing... mode='%s'", controlModeStr[(int)mode]);
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@ -100,6 +122,10 @@ void controlledArmchair::startHandleLoop()
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xSemaphoreGive(handleIteration_mutex);
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} // end mutex
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else {
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ESP_LOGE(TAG, "mutex timeout - stuck in changeMode? -> RESTART");
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esp_restart();
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}
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//--- slow loop ---
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// this section is run approx every 5s (+500ms)
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@ -271,10 +297,11 @@ void controlledArmchair::handle()
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}
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break;
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//------- handle MENU mode -------
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case controlMode_t::MENU:
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//------- handle MENU modes -------
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case controlMode_t::MENU_SETTINGS:
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case controlMode_t::MENU_MODE_SELECT:
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// nothing to do here, display task handles the menu
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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break;
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// TODO: add other modes here
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@ -409,6 +436,9 @@ void controlledArmchair::handleTimeout()
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//function to change to a specified control mode
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void controlledArmchair::changeMode(controlMode_t modeNew)
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{
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// variable to store configured accel limit before entering massage mode, to restore it later
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static uint32_t massagePreviousAccel = motorLeft->getFade(fadeType_t::ACCEL);
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static uint32_t massagePreviousDecel = motorLeft->getFade(fadeType_t::DECEL);
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// exit if target mode is already active
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if (mode == modeNew)
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@ -420,7 +450,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
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// mutex to wait for current handle iteration (control-task) to finish
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// prevents race conditions where operations when changing mode are run but old mode gets handled still
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ESP_LOGI(TAG, "changeMode: waiting for current handle() iteration to finish...");
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if (xSemaphoreTake(handleIteration_mutex, portMAX_DELAY) == pdTRUE)
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if (xSemaphoreTake(handleIteration_mutex, MUTEX_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE)
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{
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// copy previous mode
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modePrevious = mode;
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@ -454,11 +484,11 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
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ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input");
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// TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here...
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// enable downfading (set to default value)
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motorLeft->setFade(fadeType_t::DECEL, true);
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motorRight->setFade(fadeType_t::DECEL, true);
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// set upfading to default value
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motorLeft->setFade(fadeType_t::ACCEL, true);
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motorRight->setFade(fadeType_t::ACCEL, true);
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motorLeft->setFade(fadeType_t::DECEL, massagePreviousDecel);
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motorRight->setFade(fadeType_t::DECEL, massagePreviousDecel);
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// restore previously set acceleration limit
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motorLeft->setFade(fadeType_t::ACCEL, massagePreviousAccel);
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motorRight->setFade(fadeType_t::ACCEL, massagePreviousAccel);
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// reset frozen input state
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freezeInput = false;
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break;
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@ -507,20 +537,24 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
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buzzer->beep(3, 100, 50);
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break;
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case controlMode_t::MENU:
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case controlMode_t::MENU_SETTINGS:
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idleBothMotors();
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break;
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case controlMode_t::MASSAGE:
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ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading");
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uint32_t shake_msFadeAccel = 500; // TODO: move this to config
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uint32_t shake_msFadeAccel = 350; // TODO: move this to config
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uint32_t shake_msFadeDecel = 0; // TODO: move this to config
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// save currently set normal acceleration config (for restore when leavinge MASSAGE again)
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massagePreviousAccel = motorLeft->getFade(fadeType_t::ACCEL);
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massagePreviousDecel = motorLeft->getFade(fadeType_t::DECEL);
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// disable downfading (max. deceleration)
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motorLeft->setFade(fadeType_t::DECEL, false);
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motorRight->setFade(fadeType_t::DECEL, false);
|
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// reduce upfading (increase acceleration)
|
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motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
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motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
|
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motorLeft->setFade(fadeType_t::DECEL, shake_msFadeDecel, false);
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motorRight->setFade(fadeType_t::DECEL, shake_msFadeDecel, false);
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// reduce upfading (increase acceleration) but do not update nvs
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motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel, false);
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motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel, false);
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break;
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}
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@ -530,6 +564,11 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
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// unlock mutex for control task to continue handling modes
|
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xSemaphoreGive(handleIteration_mutex);
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} // end mutex
|
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else
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||||
{
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ESP_LOGE(TAG, "mutex timeout - stuck in handle() loop? -> RESTART");
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esp_restart();
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}
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}
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||||
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||||
//TODO simplify the following 3 functions? can be replaced by one?
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@ -20,9 +20,10 @@ extern "C"
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//---- struct, enum, variable declarations ---
|
||||
//--------------------------------------------
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||||
//enum that decides how the motors get controlled
|
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enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO, ADJUST_CHAIR, MENU};
|
||||
enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO, ADJUST_CHAIR, MENU_SETTINGS, MENU_MODE_SELECT};
|
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//string array representing the mode enum (for printing the state as string)
|
||||
extern const char* controlModeStr[9];
|
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extern const char* controlModeStr[10];
|
||||
extern const uint8_t controlModeMaxCount;
|
||||
|
||||
//--- control_config_t ---
|
||||
//struct with config parameters
|
||||
@ -34,6 +35,14 @@ typedef struct control_config_t {
|
||||
} control_config_t;
|
||||
|
||||
|
||||
//==========================
|
||||
//==== controlModeToStr ====
|
||||
//==========================
|
||||
// convert controlMode enum or index to string for logging
|
||||
const char * controlModeToStr(controlMode_t mode);
|
||||
const char * controlModeToStr(int modeIndex);
|
||||
|
||||
|
||||
//=======================================
|
||||
//============ control task =============
|
||||
//=======================================
|
||||
@ -84,8 +93,9 @@ class controlledArmchair {
|
||||
//function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
|
||||
void resetTimeout();
|
||||
|
||||
//methods to get the current control mode
|
||||
//methods to get the current or previous control mode
|
||||
controlMode_t getCurrentMode() const {return mode;};
|
||||
controlMode_t getPreviousMode() const {return modePrevious;};
|
||||
const char *getCurrentModeStr() const { return controlModeStr[(int)mode]; };
|
||||
|
||||
//--- mode specific ---
|
||||
|
||||
@ -9,7 +9,7 @@ extern "C"{
|
||||
|
||||
|
||||
//=== content config ===
|
||||
#define STARTUP_MSG_TIMEOUT 2000
|
||||
#define STARTUP_MSG_TIMEOUT 2600
|
||||
#define ADC_BATT_VOLTAGE ADC1_CHANNEL_6
|
||||
#define BAT_CELL_COUNT 7
|
||||
// continously vary display contrast from 0 to 250 in OVERVIEW status screen
|
||||
@ -49,7 +49,7 @@ int readAdc(adc1_channel_t adc, uint32_t samples){
|
||||
SSD1306_t dev;
|
||||
//tag for logging
|
||||
static const char * TAG = "display";
|
||||
//define currently shown status page (continously displayed content when not in MENU mode)
|
||||
//define currently shown status page (continously displayed content when not in MENU_SETTINGS mode)
|
||||
static displayStatusPage_t selectedStatusPage = STATUS_SCREEN_OVERVIEW;
|
||||
|
||||
|
||||
@ -441,6 +441,13 @@ void showStartupMsg(){
|
||||
//============================
|
||||
void display_selectStatusPage(displayStatusPage_t newStatusPage)
|
||||
{
|
||||
// get number of available screens
|
||||
const displayStatusPage_t max = STATUS_SCREEN_SCREENSAVER;
|
||||
const uint8_t maxItems = (uint8_t)max;
|
||||
// limit to available pages
|
||||
if (newStatusPage > maxItems) newStatusPage = (displayStatusPage_t)(maxItems);
|
||||
else if (newStatusPage < 0) newStatusPage = (displayStatusPage_t)0;
|
||||
|
||||
//-- run commands when switching FROM certain mode --
|
||||
switch (selectedStatusPage)
|
||||
{
|
||||
@ -470,37 +477,51 @@ void display_selectStatusPage(displayStatusPage_t newStatusPage)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//============================
|
||||
//======= display task =======
|
||||
//===== rotateStatusPage =====
|
||||
//============================
|
||||
// TODO: separate task for each loop?
|
||||
|
||||
void display_task(void *pvParameters)
|
||||
// select next/previous status screen and rotate to start/end (uses all available in struct)
|
||||
void display_rotateStatusPage(bool reverseDirection, bool noRotate)
|
||||
{
|
||||
ESP_LOGW(TAG, "Initializing display and starting handle loop");
|
||||
//get struct with pointers to all needed global objects from task parameter
|
||||
display_task_parameters_t *objects = (display_task_parameters_t *)pvParameters;
|
||||
// get number of available screens
|
||||
const displayStatusPage_t max = STATUS_SCREEN_SCREENSAVER;
|
||||
const uint8_t maxItems = (uint8_t)max - 1; // screensaver is not relevant
|
||||
|
||||
// initialize display
|
||||
display_init(objects->displayConfig);
|
||||
// TODO check if successfully initialized
|
||||
|
||||
// show startup message
|
||||
showStartupMsg();
|
||||
vTaskDelay(STARTUP_MSG_TIMEOUT / portTICK_PERIOD_MS);
|
||||
ssd1306_clear_screen(&dev, false);
|
||||
|
||||
// repeatedly update display with content
|
||||
while (1)
|
||||
if (reverseDirection == false) // rotate next
|
||||
{
|
||||
if (objects->control->getCurrentMode() == controlMode_t::MENU)
|
||||
if (selectedStatusPage >= maxItems) // already at last item
|
||||
{
|
||||
//uses encoder events to control menu and updates display
|
||||
handleMenu(objects, &dev);
|
||||
if (noRotate)
|
||||
return; // stay at last item when rotating disabled
|
||||
display_selectStatusPage((displayStatusPage_t)0); // rotate to first item
|
||||
}
|
||||
else //show selected status screen in any other mode
|
||||
else
|
||||
// select next screen
|
||||
display_selectStatusPage((displayStatusPage_t)((int)selectedStatusPage + 1));
|
||||
ssd1306_clear_screen(&dev, false); // clear screen when switching
|
||||
}
|
||||
else // rotate back
|
||||
{
|
||||
if (selectedStatusPage <= 0) // already at first item
|
||||
{
|
||||
if (noRotate)
|
||||
return; // stay at first item when rotating disabled
|
||||
display_selectStatusPage((displayStatusPage_t)(maxItems)); // rotate to last item
|
||||
}
|
||||
else
|
||||
// select previous screen
|
||||
display_selectStatusPage((displayStatusPage_t)((int)selectedStatusPage - 1));
|
||||
ssd1306_clear_screen(&dev, false); // clear screen when switching
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//==========================
|
||||
//=== handleStatusScreen ===
|
||||
//==========================
|
||||
//show currently selected status screen on display
|
||||
//function is repeatedly called by display task when not in MENU mode
|
||||
void handleStatusScreen(display_task_parameters_t *objects)
|
||||
{
|
||||
switch (selectedStatusPage)
|
||||
{
|
||||
@ -528,7 +549,8 @@ void display_task(void *pvParameters)
|
||||
// handle switch to screensaver when no user input for a long time
|
||||
if (inactiveMs > displayConfig.timeoutSwitchToScreensaverMs) // timeout - switch to screensaver is due
|
||||
{
|
||||
if (selectedStatusPage != STATUS_SCREEN_SCREENSAVER){ // switch/log only once at change
|
||||
if (selectedStatusPage != STATUS_SCREEN_SCREENSAVER)
|
||||
{ // switch/log only once at change
|
||||
ESP_LOGW(TAG, "no activity for more than %d min, switching to screensaver", inactiveMs / 1000 / 60);
|
||||
display_selectStatusPage(STATUS_SCREEN_SCREENSAVER);
|
||||
}
|
||||
@ -560,9 +582,52 @@ void display_task(void *pvParameters)
|
||||
brightnessIsReduced = false;
|
||||
}
|
||||
}
|
||||
// TODO add pages and menus
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//============================
|
||||
//======= display task =======
|
||||
//============================
|
||||
// TODO: separate task for each loop?
|
||||
void display_task(void *pvParameters)
|
||||
{
|
||||
ESP_LOGW(TAG, "Initializing display and starting handle loop");
|
||||
//get struct with pointers to all needed global objects from task parameter
|
||||
display_task_parameters_t *objects = (display_task_parameters_t *)pvParameters;
|
||||
|
||||
// initialize display
|
||||
display_init(objects->displayConfig);
|
||||
// TODO check if successfully initialized
|
||||
|
||||
// show startup message
|
||||
showStartupMsg();
|
||||
vTaskDelay(STARTUP_MSG_TIMEOUT / portTICK_PERIOD_MS);
|
||||
ssd1306_clear_screen(&dev, false);
|
||||
|
||||
// repeatedly update display with content depending on current mode
|
||||
while (1)
|
||||
{
|
||||
switch (objects->control->getCurrentMode())
|
||||
{
|
||||
case controlMode_t::MENU_SETTINGS:
|
||||
// uses encoder events to control menu (settings) and updates display
|
||||
handleMenu_settings(objects, &dev);
|
||||
break;
|
||||
case controlMode_t::MENU_MODE_SELECT:
|
||||
// uses encoder events to control menu (mode select) and updates display
|
||||
handleMenu_modeSelect(objects, &dev);
|
||||
break;
|
||||
default:
|
||||
// show selected status screen in any other mode
|
||||
handleStatusScreen(objects);
|
||||
break;
|
||||
} // end mode switch-case
|
||||
// TODO add pages and menus here
|
||||
} // end while(1)
|
||||
} // end display-task
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//-----------------------------------
|
||||
//---- text-related example code ----
|
||||
|
||||
@ -53,8 +53,8 @@ typedef struct display_task_parameters_t {
|
||||
} display_task_parameters_t;
|
||||
|
||||
|
||||
// enum for selecting the currently shown status page (display content when not in MENU mode)
|
||||
typedef enum displayStatusPage_t {STATUS_SCREEN_OVERVIEW=0, STATUS_SCREEN_SPEED, STATUS_SCREEN_JOYSTICK, STATUS_SCREEN_MOTORS, STATUS_SCREEN_SCREENSAVER} displayStatusPage_t;
|
||||
// enum for selecting the currently shown status page (display content when not in MENU_SETTINGS mode)
|
||||
typedef enum displayStatusPage_t {STATUS_SCREEN_OVERVIEW=0, STATUS_SCREEN_SPEED, STATUS_SCREEN_JOYSTICK, STATUS_SCREEN_MOTORS, STATUS_SCREEN_SCREENSAVER, __NUMBER_OF_AVAILABLE_SCREENS} displayStatusPage_t; //note: SCREENSAVER has to be last one since it is ignored by rotate and used to determine count
|
||||
|
||||
// get precise battery voltage (using lookup table)
|
||||
float getBatteryVoltage();
|
||||
@ -62,8 +62,10 @@ float getBatteryVoltage();
|
||||
// get battery charge level in percent (using lookup table as discharge curve)
|
||||
float getBatteryPercent();
|
||||
|
||||
// function to select one of the defined status screens which are shown on display when not in MENU mode
|
||||
// function to select one of the defined status screens which are shown on display when not in MENU_SETTINGS or MENU_SELECT_MODE mode
|
||||
void display_selectStatusPage(displayStatusPage_t newStatusPage);
|
||||
// select next/previous status screen to be shown, when noRotate is set is stays at first/last screen
|
||||
void display_rotateStatusPage(bool reverseDirection = false, bool noRotate = false);
|
||||
|
||||
//task that inititialized the display, displays welcome message
|
||||
//and releatedly updates the display with certain content
|
||||
|
||||
@ -265,7 +265,7 @@ extern "C" void app_main(void) {
|
||||
//------------------------------
|
||||
//--- create task for button ---
|
||||
//------------------------------
|
||||
//task that handles button/encoder events in any mode except 'MENU' (e.g. switch modes by pressing certain count)
|
||||
//task that handles button/encoder events in any mode except 'MENU_SETTINGS' and 'MENU_MODE_SELECT' (e.g. switch modes by pressing certain count)
|
||||
task_button_parameters_t button_param = {control, joystick, encoderQueue, motorLeft, motorRight, buzzer};
|
||||
xTaskCreate(&task_button, "task_button", 4096, &button_param, 3, NULL);
|
||||
|
||||
@ -279,7 +279,7 @@ extern "C" void app_main(void) {
|
||||
//-----------------------------------
|
||||
//----- create task for display -----
|
||||
//-----------------------------------
|
||||
//task that handles the display (show stats, handle menu in 'MENU' mode)
|
||||
//task that handles the display (show stats, handle menu in 'MENU_SETTINGS' and 'MENU_MODE_SELECT' mode)
|
||||
display_task_parameters_t display_param = {display_config, control, joystick, encoderQueue, motorLeft, motorRight, speedLeft, speedRight, buzzer, &nvsHandle};
|
||||
xTaskCreate(&display_task, "display_task", 3*2048, &display_param, 3, NULL);
|
||||
|
||||
@ -303,7 +303,7 @@ extern "C" void app_main(void) {
|
||||
|
||||
|
||||
//--- testing force specific mode after startup ---
|
||||
//control->changeMode(controlMode_t::MENU);
|
||||
//control->changeMode(controlMode_t::MENU_SETTINGS);
|
||||
|
||||
|
||||
|
||||
|
||||
@ -79,7 +79,7 @@ void item_calibrateJoystick_action(display_task_parameters_t *objects, SSD1306_t
|
||||
displayTextLineCentered(display, 1, true, false, "%s", "X-min");
|
||||
|
||||
//-- loop until all positions are defined --
|
||||
while (running && objects->control->getCurrentMode() == controlMode_t::MENU)
|
||||
while (running && objects->control->getCurrentMode() == controlMode_t::MENU_SETTINGS)
|
||||
{
|
||||
// repeatedly print adc value depending on currently selected axis
|
||||
switch (mode)
|
||||
@ -201,7 +201,7 @@ void item_debugJoystick_action(display_task_parameters_t * objects, SSD1306_t *
|
||||
|
||||
//-- show/update values --
|
||||
// stop when button pressed or control state changes (timeouts to IDLE)
|
||||
while (running && objects->control->getCurrentMode() == controlMode_t::MENU)
|
||||
while (running && objects->control->getCurrentMode() == controlMode_t::MENU_SETTINGS)
|
||||
{
|
||||
// repeatedly print all joystick data
|
||||
joystickData_t data = objects->joystick->getData();
|
||||
@ -658,6 +658,102 @@ void showItemList(SSD1306_t *display, int selectedItem)
|
||||
}
|
||||
|
||||
|
||||
|
||||
//----------------------------------
|
||||
//--- getNextSelectableModeIndex ---
|
||||
//----------------------------------
|
||||
// local function that returns index of the next (or previous) selectable control-mode index
|
||||
// used for mode select menu. offset defines the step size (e.g. get 3rd next menu index)
|
||||
int getNextSelectableModeIndex(int modeIndex, bool reverseDirection = false, uint8_t offset = 1)
|
||||
{
|
||||
// those modes are selectable via mode-select menu - NOTE: Add other new modes here
|
||||
static const controlMode_t selectableModes[] = {controlMode_t::IDLE,
|
||||
controlMode_t::JOYSTICK,
|
||||
controlMode_t::MASSAGE,
|
||||
controlMode_t::HTTP,
|
||||
controlMode_t::ADJUST_CHAIR,
|
||||
controlMode_t::MENU_SETTINGS};
|
||||
static const int selectableModesCount = sizeof(selectableModes) / sizeof(controlMode_t);
|
||||
|
||||
// when step size is greater than 1 define new modeIndex by recursively calling the function first
|
||||
if (offset > 1){
|
||||
modeIndex = getNextSelectableModeIndex(modeIndex, reverseDirection, offset - 1);
|
||||
}
|
||||
|
||||
// search next mode that is present in selectableModes
|
||||
bool rotatedAlready = false;
|
||||
while (1)
|
||||
{
|
||||
// try next/previous item
|
||||
if (reverseDirection)
|
||||
modeIndex--;
|
||||
else
|
||||
modeIndex++;
|
||||
|
||||
// go back to start/end if last/first possible mode reached
|
||||
if ((!reverseDirection && modeIndex >= controlModeMaxCount) || (reverseDirection && modeIndex < 0))
|
||||
{
|
||||
// prevent deadlock when no match was found for some reason
|
||||
if (rotatedAlready)
|
||||
{
|
||||
ESP_LOGE(TAG, "search for selectable mode failed - no matching mode found");
|
||||
return 0;
|
||||
}
|
||||
// go to start/end
|
||||
if (reverseDirection)
|
||||
modeIndex = controlModeMaxCount - 1;
|
||||
else
|
||||
modeIndex = 0;
|
||||
rotatedAlready = true;
|
||||
}
|
||||
// check if current mode index is present in allowed / selectable modes
|
||||
for (int j = 0; j < selectableModesCount; j++)
|
||||
{
|
||||
if (modeIndex == (int)selectableModes[j])
|
||||
// index matches one in the selectable modes -> success
|
||||
return modeIndex;
|
||||
}
|
||||
ESP_LOGV(TAG, "mode index %d is no selectable mode -> trying next", modeIndex);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//--------------------------
|
||||
//------ showModeList ------
|
||||
//--------------------------
|
||||
//function that renders mode-select menu (one update)
|
||||
void showModeList(SSD1306_t *display, int selectedMode)
|
||||
{
|
||||
// TODO add blinking of a line to indicate selecting
|
||||
|
||||
// line 1 " - select mode -"
|
||||
// line 2 " 2nd prev mode "
|
||||
// line 3 " prev mode "
|
||||
// line 4 "SEL MODE LARGE 1/3"
|
||||
// line 5 "SEL MODE LARGE 2/3"
|
||||
// line 6 "SEL MODE LARGE 4/3"
|
||||
// line 7 " next mode "
|
||||
// line 8 " 2nd next mode "
|
||||
|
||||
// print title (0)
|
||||
displayTextLine(display, 0, false, true, "- select mode -"); // inverted
|
||||
// print 2nd mode before (1)
|
||||
displayTextLineCentered(display, 1, false, false, "%s", controlModeToStr(getNextSelectableModeIndex(selectedMode, true, 2)));
|
||||
// print mode before (2)
|
||||
displayTextLineCentered(display, 2, false, false, "%s", controlModeToStr(getNextSelectableModeIndex(selectedMode, true)));
|
||||
// print selected mode large (3-5)
|
||||
displayTextLineCentered(display, 3, true, false, "%s", controlModeToStr(selectedMode));
|
||||
// print mode after (6)
|
||||
displayTextLineCentered(display, 6, false, false, "%s", controlModeToStr(getNextSelectableModeIndex(selectedMode)));
|
||||
// print mode after (7)
|
||||
displayTextLineCentered(display, 7, false, false, "%s", controlModeToStr(getNextSelectableModeIndex(selectedMode, false, 2)));
|
||||
// print message (6)
|
||||
//displayTextLineCentered(display, 7, false, true, "click to confirm");
|
||||
}
|
||||
|
||||
|
||||
|
||||
//-----------------------------
|
||||
//--- showValueSelectStatic ---
|
||||
//-----------------------------
|
||||
@ -732,14 +828,14 @@ void updateValueSelect(SSD1306_t *display, int selectedItem)
|
||||
|
||||
|
||||
|
||||
//========================
|
||||
//====== handleMenu ======
|
||||
//========================
|
||||
//===========================
|
||||
//=== handleMenu_settings ===
|
||||
//===========================
|
||||
//controls menu with encoder input and displays the text on oled display
|
||||
//function is repeatedly called by display task when in menu state
|
||||
#define QUEUE_TIMEOUT 3000 //timeout no encoder event - to not block the display loop and actually handle menu-timeout
|
||||
#define MENU_TIMEOUT 60000 //inactivity timeout (switch to IDLE mode) note: should be smaller than IDLE timeout in control task
|
||||
void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
|
||||
void handleMenu_settings(display_task_parameters_t * objects, SSD1306_t *display)
|
||||
{
|
||||
static uint32_t lastActivity = 0;
|
||||
static int selectedItem = 0;
|
||||
@ -749,7 +845,7 @@ void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
|
||||
switch (menuState)
|
||||
{
|
||||
//-------------------------
|
||||
//---- State MAIN MENU ----
|
||||
//---- State MAIN MENU_SETTINGS ----
|
||||
//-------------------------
|
||||
case MAIN_MENU:
|
||||
// update display
|
||||
@ -807,7 +903,7 @@ void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
|
||||
//--- exit menu mode ---
|
||||
// change to previous mode (e.g. JOYSTICK)
|
||||
objects->buzzer->beep(12, 15, 8);
|
||||
objects->control->toggleMode(controlMode_t::MENU); //currently already in MENU -> changes to previous mode
|
||||
objects->control->toggleMode(controlMode_t::MENU_SETTINGS); //currently already in MENU_SETTINGS -> changes to previous mode
|
||||
ssd1306_clear_screen(display, false);
|
||||
break;
|
||||
|
||||
@ -892,3 +988,99 @@ void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//=============================
|
||||
//=== handleMenu_modeSelect ===
|
||||
//=============================
|
||||
//controls menu for selecting the control mode with encoder input and displays the text on oled display
|
||||
//function is repeatedly called by display task when in menu state
|
||||
#define MENU_MODE_SEL_TIMEOUT 10000 // inactivity timeout (switch to IDLE mode) note: should be smaller than IDLE timeout in control task
|
||||
void handleMenu_modeSelect(display_task_parameters_t *objects, SSD1306_t *display)
|
||||
{
|
||||
static uint32_t lastActivity = 0;
|
||||
static bool firstRun = true; // track if last mode was already obtained when menu got opened
|
||||
static int selectedMode = (int)controlMode_t::IDLE;
|
||||
rotary_encoder_event_t event; // store encoder event data
|
||||
|
||||
// get current mode when run for first time since last select
|
||||
if (firstRun)
|
||||
{
|
||||
firstRun = false;
|
||||
ssd1306_clear_screen(display, false); // clear screen initially (no artefacts of previous content)
|
||||
selectedMode = (int)objects->control->getPreviousMode(); // store previous mode (since current mode is MENU)
|
||||
ESP_LOGI(TAG, "started mode-select menu, previous active is %s", controlModeStr[(int)selectedMode]);
|
||||
}
|
||||
|
||||
// renders list of modes with currently selected one on display
|
||||
showModeList(display, selectedMode);
|
||||
// wait for encoder event
|
||||
if (xQueueReceive(objects->encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
|
||||
{
|
||||
// reset menu- and control-timeout on any encoder event
|
||||
lastActivity = esp_log_timestamp();
|
||||
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
|
||||
switch (event.type)
|
||||
{
|
||||
case RE_ET_CHANGED:
|
||||
//--- scroll in list ---
|
||||
if (event.diff < 0)
|
||||
{
|
||||
selectedMode = getNextSelectableModeIndex(selectedMode);
|
||||
objects->buzzer->beep(1, 20, 0);
|
||||
ESP_LOGD(TAG, "showing next item: %d '%s'", selectedMode, controlModeToStr(selectedMode));
|
||||
}
|
||||
// note: display will update at start of next run
|
||||
else
|
||||
{
|
||||
selectedMode = getNextSelectableModeIndex(selectedMode, true);
|
||||
objects->buzzer->beep(1, 20, 0);
|
||||
ESP_LOGD(TAG, "showing previous item: %d '%s'", selectedMode, controlModeToStr(selectedMode));
|
||||
// note: display will update at start of next run
|
||||
}
|
||||
break;
|
||||
|
||||
case RE_ET_BTN_CLICKED:
|
||||
//--- confirm mode and exit ---
|
||||
objects->buzzer->beep(1, 50, 10);
|
||||
ESP_LOGI(TAG, "Button pressed - confirming selected mode '%s'", controlModeToStr(selectedMode));
|
||||
objects->control->changeMode((controlMode_t)selectedMode); //note: changeMode may take some time since it waits for control-handle loop iteration to finish which has quite large delay in menu state
|
||||
// clear display
|
||||
ssd1306_clear_screen(display, false);
|
||||
// reset first run
|
||||
firstRun = true;
|
||||
return; // function wont be called again due to mode change
|
||||
|
||||
case RE_ET_BTN_LONG_PRESSED:
|
||||
//--- exit to previous mode ---
|
||||
// change to previous mode (e.g. JOYSTICK)
|
||||
objects->buzzer->beep(12, 15, 8);
|
||||
objects->control->changeMode(objects->control->getPreviousMode());
|
||||
// clear display
|
||||
ssd1306_clear_screen(display, false);
|
||||
// reset first run
|
||||
firstRun = true;
|
||||
return; // function wont be called again due to mode change
|
||||
break;
|
||||
|
||||
case RE_ET_BTN_RELEASED:
|
||||
case RE_ET_BTN_PRESSED:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
//--- menu timeout ---
|
||||
// close menu and switch to IDLE mode when no encoder event occured within MENU_TIMEOUT
|
||||
if (esp_log_timestamp() - lastActivity > MENU_MODE_SEL_TIMEOUT)
|
||||
{
|
||||
ESP_LOGW(TAG, "TIMEOUT - no activity for more than %ds -> closing menu, switching to IDLE", MENU_TIMEOUT / 1000);
|
||||
// clear display
|
||||
ssd1306_clear_screen(display, false);
|
||||
// change control mode
|
||||
objects->control->changeMode(controlMode_t::IDLE);
|
||||
// reset first run
|
||||
firstRun = true;
|
||||
return; // function wont be called again due to mode change
|
||||
}
|
||||
}
|
||||
@ -30,4 +30,8 @@ typedef struct
|
||||
const char line7[17]; // below value
|
||||
} menuItem_t;
|
||||
|
||||
void handleMenu(display_task_parameters_t * objects, SSD1306_t *display);
|
||||
//controls menu for changing settings with encoder input and displays the text on oled display (has to be repeatedly called by display task)
|
||||
void handleMenu_settings(display_task_parameters_t * objects, SSD1306_t *display);
|
||||
|
||||
//controls menu for selecting the control mode with encoder input and displays the text on oled display (has to be repeatedly called by display task)
|
||||
void handleMenu_modeSelect(display_task_parameters_t * objects, SSD1306_t *display);
|
||||
@ -438,13 +438,21 @@ uint32_t shake_timestamp_turnedOn = 0;
|
||||
uint32_t shake_timestamp_turnedOff = 0;
|
||||
bool shake_state = false;
|
||||
joystickPos_t lastStickPos = joystickPos_t::CENTER;
|
||||
//stick position quadrant only with "X_AXIS and Y_AXIS" as hysteresis
|
||||
joystickPos_t stickQuadrant = joystickPos_t::CENTER;
|
||||
|
||||
//--- configure shake mode --- TODO: move this to config
|
||||
uint32_t shake_msOffMax = 80;
|
||||
uint32_t shake_msOffMax = 60;
|
||||
uint32_t shake_msOnMax = 120;
|
||||
float dutyShake = 60;
|
||||
uint32_t shake_minDelay = 20; //min time in ms motor stays on/off
|
||||
float dutyShakeMax = 30;
|
||||
float dutyShakeMin = 5;
|
||||
|
||||
inline void invertMotorDirection(motorstate_t *state)
|
||||
{
|
||||
if (*state == motorstate_t::FWD)
|
||||
*state = motorstate_t::REV;
|
||||
else
|
||||
*state = motorstate_t::FWD;
|
||||
}
|
||||
|
||||
//function that generates commands for both motors from the joystick data
|
||||
motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
|
||||
@ -452,25 +460,29 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
|
||||
//--- handle pulsing shake variable ---
|
||||
//TODO remove this, make individual per mode?
|
||||
//TODO only run this when not CENTER anyways?
|
||||
motorCommands_t commands;
|
||||
static motorCommands_t commands;
|
||||
float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
|
||||
static uint32_t cycleCount = 0;
|
||||
|
||||
//calculate on/off duration
|
||||
uint32_t msOn = shake_msOnMax * data.radius;
|
||||
uint32_t msOff = shake_msOffMax * data.radius;
|
||||
float msOn = (shake_msOnMax - shake_minDelay) * data.radius + shake_minDelay;
|
||||
float msOff = (shake_msOffMax - shake_minDelay) * data.radius + shake_minDelay;
|
||||
float dutyShake = (dutyShakeMax - dutyShakeMin) * ratio + dutyShakeMin;
|
||||
|
||||
//evaluate state (on/off)
|
||||
//evaluate state (motors on/off)
|
||||
if (data.radius > 0 ){
|
||||
//currently off
|
||||
//currently off:
|
||||
if (shake_state == false){
|
||||
//off long enough
|
||||
if (esp_log_timestamp() - shake_timestamp_turnedOff > msOff) {
|
||||
//turn on
|
||||
cycleCount++;
|
||||
shake_state = true;
|
||||
shake_timestamp_turnedOn = esp_log_timestamp();
|
||||
ESP_LOGD(TAG_CMD, "shake: cycleCount=%d, msOn=%f, msOff=%f, radius=%f, shakeDuty=%f", cycleCount, msOn, msOff, data.radius, dutyShake);
|
||||
}
|
||||
}
|
||||
//currently on
|
||||
//currently on:
|
||||
else {
|
||||
//on long enough
|
||||
if (esp_log_timestamp() - shake_timestamp_turnedOn > msOn) {
|
||||
@ -495,79 +507,49 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
|
||||
// float angle;
|
||||
//} joystickData_t;
|
||||
|
||||
//--- evaluate stick position ---
|
||||
//4 quadrants and center only - with X and Y axis as hysteresis
|
||||
switch (data.position){
|
||||
|
||||
case joystickPos_t::CENTER:
|
||||
//immediately set to center at center
|
||||
stickQuadrant = joystickPos_t::CENTER;
|
||||
break;
|
||||
|
||||
case joystickPos_t::Y_AXIS:
|
||||
//when moving from center to axis initially start in a certain quadrant
|
||||
if (stickQuadrant == joystickPos_t::CENTER) {
|
||||
if (data.y > 0){
|
||||
stickQuadrant = joystickPos_t::TOP_RIGHT;
|
||||
} else {
|
||||
stickQuadrant = joystickPos_t::BOTTOM_RIGHT;
|
||||
// force off when stick pos changes - TODO: is this necessary?
|
||||
static joystickPos_t stickPosPrev = joystickPos_t::CENTER;
|
||||
if (data.position != stickPosPrev) {
|
||||
ESP_LOGW(TAG, "massage: stick quadrant changed, stopping for one cycle");
|
||||
shake_state = false;
|
||||
shake_timestamp_turnedOff = esp_log_timestamp();
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case joystickPos_t::X_AXIS:
|
||||
//when moving from center to axis initially start in a certain quadrant
|
||||
if (stickQuadrant == joystickPos_t::CENTER) {
|
||||
if (data.x > 0){
|
||||
stickQuadrant = joystickPos_t::TOP_RIGHT;
|
||||
} else {
|
||||
stickQuadrant = joystickPos_t::TOP_LEFT;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case joystickPos_t::TOP_RIGHT:
|
||||
case joystickPos_t::TOP_LEFT:
|
||||
case joystickPos_t::BOTTOM_LEFT:
|
||||
case joystickPos_t::BOTTOM_RIGHT:
|
||||
//update/change evaluated pos when in one of the 4 quadrants
|
||||
stickQuadrant = data.position;
|
||||
//TODO: maybe beep when switching mode? (difficult because beep object has to be passed to function)
|
||||
break;
|
||||
}
|
||||
|
||||
stickPosPrev = data.position; // update last position
|
||||
|
||||
//--- handle different modes (joystick in any of 4 quadrants) ---
|
||||
switch (stickQuadrant){
|
||||
switch (data.position){
|
||||
// idle
|
||||
case joystickPos_t::CENTER:
|
||||
case joystickPos_t::X_AXIS: //never true
|
||||
case joystickPos_t::Y_AXIS: //never true
|
||||
commands.left.state = motorstate_t::IDLE;
|
||||
commands.right.state = motorstate_t::IDLE;
|
||||
commands.left.duty = 0;
|
||||
commands.right.duty = 0;
|
||||
ESP_LOGI(TAG_CMD, "generate shake commands: CENTER -> idle");
|
||||
ESP_LOGD(TAG_CMD, "generate shake commands: CENTER -> idle");
|
||||
return commands;
|
||||
break;
|
||||
//4 different modes
|
||||
// shake forward/reverse
|
||||
case joystickPos_t::X_AXIS:
|
||||
case joystickPos_t::Y_AXIS:
|
||||
case joystickPos_t::TOP_RIGHT:
|
||||
case joystickPos_t::TOP_LEFT:
|
||||
commands.left.state = motorstate_t::FWD;
|
||||
commands.right.state = motorstate_t::FWD;
|
||||
break;
|
||||
case joystickPos_t::TOP_LEFT:
|
||||
commands.left.state = motorstate_t::REV;
|
||||
commands.right.state = motorstate_t::REV;
|
||||
break;
|
||||
// shake left right
|
||||
case joystickPos_t::BOTTOM_LEFT:
|
||||
commands.left.state = motorstate_t::REV;
|
||||
commands.right.state = motorstate_t::FWD;
|
||||
break;
|
||||
case joystickPos_t::BOTTOM_RIGHT:
|
||||
commands.left.state = motorstate_t::FWD;
|
||||
commands.right.state = motorstate_t::REV;
|
||||
break;
|
||||
}
|
||||
|
||||
// change direction every second on cycle in any mode
|
||||
//(to not start driving on average)
|
||||
if (cycleCount % 2 == 0)
|
||||
{
|
||||
invertMotorDirection(&commands.left.state);
|
||||
invertMotorDirection(&commands.right.state);
|
||||
}
|
||||
|
||||
//--- turn motors on/off depending on pulsing shake variable ---
|
||||
if (shake_state == true){
|
||||
@ -582,11 +564,7 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
|
||||
commands.right.duty = 0;
|
||||
}
|
||||
|
||||
|
||||
ESP_LOGI(TAG_CMD, "generated commands from data: state=%s, angle=%.3f, ratio=%.3f/%.3f, radius=%.2f, x=%.2f, y=%.2f",
|
||||
joystickPosStr[(int)data.position], data.angle, ratio, (1-ratio), data.radius, data.x, data.y);
|
||||
ESP_LOGI(TAG_CMD, "motor left: state=%s, duty=%.3f", motorstateStr[(int)commands.left.state], commands.left.duty);
|
||||
ESP_LOGI(TAG_CMD, "motor right: state=%s, duty=%.3f", motorstateStr[(int)commands.right.state], commands.right.duty);
|
||||
ESP_LOGD(TAG_CMD, "motor left: state=%s, duty=%.3f, cycleCount=%d, msOn=%f, msOff=%f", motorstateStr[(int)commands.left.state], commands.left.duty, cycleCount, msOn, msOff);
|
||||
|
||||
return commands;
|
||||
}
|
||||
|
||||
@ -620,17 +620,23 @@ uint32_t controlledMotor::getFadeDefault(fadeType_t fadeType){
|
||||
//function for editing or enabling the fading/ramp of the motor control
|
||||
|
||||
//set/update fading duration/amount
|
||||
void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew){
|
||||
void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew, bool writeToNvs){
|
||||
//TODO: mutex for msFade variable also used in handle function
|
||||
switch(fadeType){
|
||||
case fadeType_t::ACCEL:
|
||||
ESP_LOGW(TAG, "[%s] changed fade-up time from %d to %d", config.name, config.msFadeAccel, msFadeNew);
|
||||
if (writeToNvs)
|
||||
writeAccelDuration(msFadeNew);
|
||||
else
|
||||
config.msFadeAccel = msFadeNew;
|
||||
break;
|
||||
case fadeType_t::DECEL:
|
||||
ESP_LOGW(TAG, "[%s] changed fade-down time from %d to %d",config.name, config.msFadeDecel, msFadeNew);
|
||||
// write new value to nvs and update the variable
|
||||
if (writeToNvs)
|
||||
writeDecelDuration(msFadeNew);
|
||||
else
|
||||
config.msFadeDecel = msFadeNew;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
@ -54,7 +54,7 @@ class controlledMotor {
|
||||
uint32_t getFade(fadeType_t fadeType); //get currently set acceleration or deceleration fading time
|
||||
uint32_t getFadeDefault(fadeType_t fadeType); //get acceleration or deceleration fading time from config
|
||||
void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading
|
||||
void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time
|
||||
void setFade(fadeType_t fadeType, uint32_t msFadeNew, bool writeToNvs = true); //set acceleration or deceleration fade time and write it to nvs by default
|
||||
bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
|
||||
|
||||
float getCurrentA() {return cSensor.read();}; //read current-sensor of this motor (Ampere)
|
||||
|
||||
BIN
doc/2023.09.09_armchair-frame.jpg
Normal file
BIN
doc/2023.09.09_armchair-frame.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 354 KiB |
Loading…
x
Reference in New Issue
Block a user