Add exponential scaling of stick coordinates

- joystick.hpp/cpp
  - add function joystick_scaleCoordinatesExp(joystickData_t * data, float exponent)
    which updates joystick data with its scaled coordinates and
    re-calculated radius

- control.cpp
  - scale coordinates exponential (pow 2) in JOYSTICK mode
  - scale coordinates exponential (pow 2) in HTTP mode

- config.cpp
  - fixed swapped x/y zero tolerances for hardware joystick

Note: tested armchair with scaling exponents 1.5; 2; 3 and noticed that
2 works best

main/config.cpp

@@ -72,8 +72,8 @@ joystick_config_t configJoystick = {
     .adc_x = ADC1_CHANNEL_3, //GPIO39
     .adc_y = ADC1_CHANNEL_0, //GPIO36
     //percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
-    .tolerance_zeroX_per = 7,
-    .tolerance_zeroY_per = 3,
+    .tolerance_zeroX_per = 3,
+    .tolerance_zeroY_per = 7,
     //percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
     .tolerance_end_per = 5, 
     //threshold the radius jumps to 1 before the stick is at max radius (range 0-1)

main/control.cpp

@@ -68,9 +68,12 @@ void controlledArmchair::startHandleLoop() {
                 break;
 
             case controlMode_t::JOYSTICK:
+                //get current joystick data with getData method of evaluatedJoystick
+                stickData = joystick.getData();
+                //additionaly scale coordinates exponentionally (more detail in slower area)
+                joystick_scaleCoordinatesExp(&stickData, 2); //TODO: add scaling exponent to config
                 //generate motor commands
-                //pass joystick data from getData method of evaluatedJoystick to generateCommandsDriving function
-                commands = joystick_generateCommandsDriving(joystick.getData());
+                commands = joystick_generateCommandsDriving(stickData);
                 //TODO: pass pointer to joystick object to control class instead of accessing it directly globally
                 motorRight->setTarget(commands.right.state, commands.right.duty); 
                 motorLeft->setTarget(commands.left.state, commands.left.duty); 
@@ -89,17 +92,16 @@ void controlledArmchair::startHandleLoop() {
                 break;
 
             case controlMode_t::HTTP:
-                //create emptry struct for receiving data from http function
-                joystickData_t dataRead = { };
-
                 //--- get joystick data from queue ---
                 //Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned
                 //TODO: as described above, when changing modes it might delay a few seconds for the change to apply
-                dataRead = httpJoystickMain_l->getData();
+                stickData = httpJoystickMain_l->getData();
+                //scale coordinates additionally (more detail in slower area)
+                joystick_scaleCoordinatesExp(&stickData, 2); //TODO: add scaling exponent to config
+                ESP_LOGD(TAG, "generating commands from x=%.3f  y=%.3f  radius=%.3f  angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle);
                 //--- generate motor commands ---
-                ESP_LOGD(TAG, "generating commands from x=%.3f  y=%.3f  radius=%.3f  angle=%.3f", dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
                 //Note: timeout (no data received) is handled in getData method
-                commands = joystick_generateCommandsDriving(dataRead);
+                commands = joystick_generateCommandsDriving(stickData);
 
                 //--- apply commands to motors ---
                 //TODO make motorctl.setTarget also accept motorcommand struct directly

main/control.hpp

@@ -75,6 +75,9 @@ class controlledArmchair {
         //struct with config parameters
         control_config_t config;
 
+        //store joystick data
+        joystickData_t stickData;
+
         //variables for http mode
         uint32_t http_timestamp_lastData = 0;
 

main/joystick.cpp

@@ -163,6 +163,35 @@ float scaleCoordinate(float input, float min, float max, float center, float tol
 
 
 
+//===========================================
+//====== joystick_scaleCoordinatesExp =======
+//===========================================
+//local function that scales the absolute value of a variable exponentionally
+float scaleExp(float value, float exponent){
+    float result = powf(fabs(value), exponent);
+    if (value >= 0) {
+        return result;
+    } else {
+        return -result;
+    }
+}
+//function that updates a joystickData object with exponentionally scaling applied to coordinates
+void joystick_scaleCoordinatesExp(joystickData_t * data, float exponent){
+    //scale x and y coordinate
+    data->x = scaleExp(data->x, exponent);
+    data->y = scaleExp(data->y, exponent);
+    //re-calculate radius
+    data->radius = sqrt(pow(data->x,2) + pow(data->y,2));
+    if (data->radius > 1-0.07) {//FIXME hardcoded radius tolerance
+        data->radius = 1;
+    }
+}
+
+
+
+
+
+
 //=============================================
 //========= joystick_evaluatePosition =========
 //=============================================
@@ -227,7 +256,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
     motorCommands_t commands;
     float dutyMax = 94; //TODO add this to config, make changeable during runtime
 
-    float dutyOffset = 5; //immedeately starts with this duty, TODO add this to config
+    float dutyOffset = 10; //immedeately starts with this duty, TODO add this to config
     float dutyRange = dutyMax - dutyOffset;
     float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
 

main/joystick.hpp

@@ -127,6 +127,15 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data );
 float scaleCoordinate(float input, float min, float max, float center, float tolerance_zero_per, float tolerance_end_per);
 
 
+
+//===========================================
+//====== joystick_scaleCoordinatesExp =======
+//===========================================
+//function that updates a joystickData object with exponentionally scaling applied to coordinates
+void joystick_scaleCoordinatesExp(joystickData_t * data, float exponent);
+
+
+
 //=============================================
 //========= joystick_evaluatePosition =========
 //=============================================