Add functions to modify/toggle fading (button x8)
- add 3 functions to controlledMotor class in motorctl.cpp/hpp
- setFade: set specific msFade duration for acceleration or
deceleration
- setFade: disable or set to default ramp for acceleration or
deceleration
- toggleFade: toggle between fading enabled or disables for
acceleration or deceleration
- button.cpp
- add controlledMotor objects to constructor
- add new command 8x press which now toggles fade-deceleration of both
motors
- config.cpp
- slightly decrease fading durations
This commit is contained in:
jonny_l480
parent
bcbd2578f6
commit
0b113eafb5
@ -19,11 +19,13 @@ static const char * TAG = "button";
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//-----------------------------
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//-------- constructor --------
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//-----------------------------
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buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, controlledArmchair * control_f, buzzer_t * buzzer_f ){
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buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, controlledArmchair * control_f, buzzer_t * buzzer_f, controlledMotor * motorLeft_f, controlledMotor * motorRight_f){
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//copy object pointers
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button = button_f;
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control = control_f;
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buzzer = buzzer_f;
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motorLeft = motorLeft_f;
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motorRight = motorRight_f;
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//TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
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}
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@ -63,6 +65,19 @@ void buttonCommands::action (uint8_t count){
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ESP_LOGW(TAG, "cmd %d: toggle between MASSAGE and JOYSTICK", count);
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control->toggleModes(controlMode_t::MASSAGE, controlMode_t::JOYSTICK); //toggle between MASSAGE and JOYSTICK mode
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break;
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case 8:
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//toggle deceleration fading between on and off
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bool decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
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motorRight->toggleFade(fadeType_t::DECEL);
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ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
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if (decelEnabled){
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buzzer->beep(3, 60, 50);
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} else {
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buzzer->beep(1, 1000, 1);
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}
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}
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}
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@ -3,6 +3,7 @@
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#include "gpio_evaluateSwitch.hpp"
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#include "buzzer.hpp"
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#include "control.hpp"
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#include "motorctl.hpp"
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@ -16,7 +17,9 @@ class buttonCommands {
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buttonCommands (
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gpio_evaluatedSwitch * button_f,
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controlledArmchair * control_f,
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buzzer_t * buzzer_f
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buzzer_t * buzzer_f,
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controlledMotor * motorLeft_f,
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controlledMotor * motorRight_f
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);
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//--- functions ---
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@ -32,6 +35,8 @@ class buttonCommands {
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gpio_evaluatedSwitch* button;
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controlledArmchair * control;
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buzzer_t* buzzer;
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controlledMotor * motorLeft;
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controlledMotor * motorRight;
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//--- variables ---
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uint8_t count = 0;
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@ -29,8 +29,8 @@ single100a_config_t configDriverRight = {
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//--- configure motor contol ---
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motorctl_config_t configMotorControl = {
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.msFadeAccel = 2000, //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 = 1300, //acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 800, //deceleration of the motor (ms it takes from 100% to 0%)
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.currentMax = 10
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};
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@ -75,7 +75,7 @@ void task_control( void * pvParameters ){
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void task_button( void * pvParameters ){
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ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
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//create button instance
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buttonCommands commandButton(&buttonJoystick, &control, &buzzer);
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buttonCommands commandButton(&buttonJoystick, &control, &buzzer, &motorLeft, &motorRight);
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//start handle loop
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commandButton.startHandleLoop();
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}
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@ -11,6 +11,9 @@ static const char * TAG = "motor-control";
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controlledMotor::controlledMotor(single100a_config_t config_driver, motorctl_config_t config_control): motor(config_driver) {
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//copy parameters for controlling the motor
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config = config_control;
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//copy configured default fading durations to actually used variables
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msFadeAccel = config.msFadeAccel;
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msFadeDecel = config.msFadeDecel;
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init();
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//TODO: add currentsensor object here
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@ -89,11 +92,15 @@ void controlledMotor::handle(){
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//--- calculate increment ---
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//calculate increment for fading UP with passed time since last run and configured fade time
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int64_t usPassed = esp_timer_get_time() - timestampLastRunUs;
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dutyIncrementAccel = ( usPassed / ((float)config.msFadeAccel * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
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if (msFadeAccel > 0){
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dutyIncrementAccel = ( usPassed / ((float)msFadeAccel * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
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} else {
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dutyIncrementAccel = 100;
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}
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//calculate increment for fading DOWN with passed time since last run and configured fade time
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if (config.msFadeDecel > 0){
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dutyIncrementDecel = ( usPassed / ((float)config.msFadeDecel * 1000) ) * 100;
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if (msFadeDecel > 0){
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dutyIncrementDecel = ( usPassed / ((float)msFadeDecel * 1000) ) * 100;
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} else {
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dutyIncrementDecel = 100;
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}
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@ -130,7 +137,7 @@ void controlledMotor::handle(){
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if (dutyNow <= 0) { //reverse, accelerating
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fade(&dutyNow, dutyTarget, - dutyIncrementAccel);
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}
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else if (&dutyNow > 0) { //forward, decelerating
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else if (dutyNow > 0) { //forward, decelerating
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fade(&dutyNow, dutyTarget, - dutyIncrementDecel);
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}
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}
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@ -222,3 +229,76 @@ motorCommand_t controlledMotor::getStatus(){
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return status;
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};
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//===============================
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//=========== setFade ===========
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//===============================
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//function for editing or enabling the fading/ramp of the motor control
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//set/update fading duration/amount
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void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew){
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//TODO: mutex for msFade variable also used in handle function
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switch(fadeType){
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case fadeType_t::ACCEL:
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msFadeAccel = msFadeNew;
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break;
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case fadeType_t::DECEL:
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msFadeDecel = msFadeNew;
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break;
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}
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}
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//enable (set to default value) or disable fading
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void controlledMotor::setFade(fadeType_t fadeType, bool enabled){
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uint32_t msFadeNew = 0; //define new fade time as default disabled
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if(enabled){ //enable
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//set to default/configured value
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switch(fadeType){
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case fadeType_t::ACCEL:
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msFadeNew = config.msFadeAccel;
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break;
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case fadeType_t::DECEL:
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msFadeNew = config.msFadeDecel;
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break;
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}
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}
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//apply new Fade value
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setFade(fadeType, msFadeNew);
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}
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//==================================
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//=========== toggleFade ===========
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//==================================
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//toggle fading between OFF and default value
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bool controlledMotor::toggleFade(fadeType_t fadeType){
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uint32_t msFadeNew = 0;
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bool enabled = false;
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switch(fadeType){
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case fadeType_t::ACCEL:
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if (msFadeAccel == 0){
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msFadeNew = config.msFadeAccel;
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enabled = true;
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} else {
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msFadeNew = 0;
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}
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break;
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case fadeType_t::DECEL:
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if (msFadeDecel == 0){
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msFadeNew = config.msFadeAccel;
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enabled = true;
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} else {
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msFadeNew = 0;
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}
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break;
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}
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//apply new Fade value
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setFade(fadeType, msFadeNew);
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//return new state (fading enabled/disabled)
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return enabled;
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}
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@ -13,7 +13,7 @@ extern "C"
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//-------------------------------------
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//-------- struct declarations -------
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//-------- struct/type declarations -------
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//-------------------------------------
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//struct for sending command for one motor in the queue
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@ -35,6 +35,10 @@ typedef struct motorctl_config_t {
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float currentMax;
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} motorctl_config_t;
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//enum fade type (acceleration, deceleration)
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//e.g. used for specifying which fading should be modified with setFade, togleFade functions
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enum class fadeType_t {ACCEL, DECEL};
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class controlledMotor {
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@ -45,6 +49,10 @@ class controlledMotor {
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void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
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motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
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void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading
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void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time
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bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
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private:
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//--- functions ---
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@ -60,7 +68,7 @@ class controlledMotor {
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//--- variables ---
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//struct for storing control specific parameters
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motorctl_config_t config;
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motorstate_t state = motorstate_t::IDLE;
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float currentMax;
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@ -72,12 +80,13 @@ class controlledMotor {
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float dutyIncrementDecel;
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float dutyDelta;
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uint32_t msFadeAccel;
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uint32_t msFadeDecel;
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uint32_t ramp;
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int64_t timestampLastRunUs;
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struct motorCommand_t commandReceive = {};
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struct motorCommand_t commandSend = {};
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};
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