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Move coordinate scaling from app to controller

Browse Source 
- joystick.cpp/hpp:
  - move method scaleCoordinate from joystick class to public function
  - modify scaleCoordinate function to accept float values instead of
    ADC pin, change tolerance parameters to percent instead of absolute
    number
  - change method getData to use the public function now

- control.cpp:
  - use scaleCoordinate function in http mode
  - calculate radius in http mode

- config.cpp
  - adjust tolerance thresholds for joystick to percent

- App.js
  - disable "snap to zero" feature -> just scale joystick output to
    value of -1 to 1
This commit is contained in:
jonny_ji7 2022-06-19 15:37:42 +02:00
parent 0165a88f1f
commit 20873b4175
5 changed files with 116 additions and 72 deletions
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43
main/config.cpp
View File

@ -27,7 +27,7 @@ single100a_config_t configDriverRight = {
.pwmFreq = 10000
};
//configure motor contol
//--- configure motor contol ---
motorctl_config_t configMotorControl = {
.msFade = 900,
.currentMax = 10
@ -40,16 +40,17 @@ controlledMotor motorRight(configDriverRight, configMotorControl);
//--------------------------------------
//------- joystick configuration -------
//--------------------------------------
joystick_config_t configJoystick = {
.adc_x = ADC1_CHANNEL_3, //GPIO39
.adc_y = ADC1_CHANNEL_0, //GPIO36
//range around center-threshold of each axis the coordinates stays at 0 (adc value 0-4095)
.tolerance_zero = 100,
//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
.tolerance_end = 80,
//range around center-threshold of each axis the coordinates stays at 0 (percentage of available range 0-100)
.tolerance_zero = 7,
//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (percentage of available range 0-100)
.tolerance_end = 5,
//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
.tolerance_radius = 0.05,
@ -63,6 +64,27 @@ joystick_config_t configJoystick = {
.y_inverted = true
};
//----------------------------
//--- configure fan contol ---
//----------------------------
fan_config_t configFanLeft = {
.gpio_fan = GPIO_NUM_2,
.msRun = 5000,
.dutyThreshold = 35
};
fan_config_t configFanRight = {
.gpio_fan = GPIO_NUM_15,
.msRun = 5000,
.dutyThreshold = 35
};
//=================================
//===== create global objects =====
//=================================
//create global joystic instance
evaluatedJoystick joystick(configJoystick);
@ -76,15 +98,4 @@ buzzer_t buzzer(GPIO_NUM_12, 100);
controlledArmchair control(&buzzer, &motorLeft, &motorRight);
//configure fan contol
fan_config_t configFanLeft = {
.gpio_fan = GPIO_NUM_2,
.msRun = 5000,
.dutyThreshold = 35
};
fan_config_t configFanRight = {
.gpio_fan = GPIO_NUM_15,
.msRun = 5000,
.dutyThreshold = 35
};

14
main/control.cpp
View File

@ -87,11 +87,21 @@ void controlledArmchair::startHandleLoop() {
//reset timestamp lastAction
http_timestamp_lastData = esp_log_timestamp();
ESP_LOGD(TAG, "received data from http queue -> generating commands\n x=%.3f y=%.3f radius=%.3f angle=%.3f",
ESP_LOGD(TAG, "received data (from queue): x=%.3f y=%.3f radius=%.3f angle=%.3f",
dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
//--- scale coordinates ---
//note: scaleCoordinate function currently can not handle negative input -> add offset to input
// scaleCoordinate(input, min, max, center, tolerance_zero_per, tolerance_end_per)
dataRead.x = scaleCoordinate(dataRead.x+1, 0, 2, 1, 5, 2); //TODO: move tolerance to config (virtualJoystick or control_Config_t?)
dataRead.y = scaleCoordinate(dataRead.y+1, 0, 2, 1, 5, 2);
//--- calculate radius with new coordinates ---
dataRead.radius = sqrt(pow(dataRead.x,2) + pow(dataRead.y,2));
ESP_LOGD(TAG, "processed/scaled data: x=%.3f y=%.3f radius=%.3f", dataRead.x, dataRead.y, dataRead.radius);
//--- generate motor commands ---
//pass received joystick data from http queue to generatecommands function from joystick.hpp
ESP_LOGV(TAG, "generating commands...");
commands = joystick_generateCommandsDriving(dataRead);
//--- apply commands to motors ---
@ -103,7 +113,7 @@ void controlledArmchair::startHandleLoop() {
//--- timeout ---
//turn off motors when motor still on and no new data received for some time
if (
(esp_log_timestamp() - http_timestamp_lastData > 3000) //no data received for x seconds
(esp_log_timestamp() - http_timestamp_lastData > 3000) //no data received for x seconds //TODO: move timeout to config
&& (commands.left.state != motorstate_t::IDLE || commands.right.state != motorstate_t::IDLE) //at least one motor is still running
){
ESP_LOGE(TAG, "TIMEOUT - no data received for 3s -> stopping motors");

96
main/joystick.cpp
View File

@ -68,50 +68,6 @@ int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
//----------------------------
//------ getCoordinate -------
//----------------------------
//function to read voltage at a gpio pin and scale it to a value from -1 to 1 using the given thresholds and tolerances
float evaluatedJoystick::getCoordinate(adc1_channel_t adc_channel, bool inverted, int min, int max, int center, int tolerance_zero, int tolerance_end) {
float coordinate = 0;
//read voltage from adc
int input = readAdc(adc_channel, inverted);
//define coordinate value considering the different tolerances
//--- center ---
if ((input < center+tolerance_zero) && (input > center-tolerance_zero) ) { //adc value is inside tolerance around center threshold
coordinate = 0;
}
//--- maximum ---
else if (input > max-tolerance_end) {
coordinate = 1;
}
//--- minimum ---
else if (input < min+tolerance_end) {
coordinate = -1;
}
//--- positive area ---
else if (input > center) {
float range = max - center - tolerance_zero - tolerance_end;
coordinate = (input - center - tolerance_end) / range;
}
//--- negative area ---
else if (input < center) {
float range = (center - min - tolerance_zero - tolerance_end);
coordinate = -(center-input - tolerance_end) / range;
}
ESP_LOGD(TAG, "coordinate=%.3f, input=%d/4095, isInverted=%d", coordinate, input, inverted);
//return coordinate (-1 to 1)
return coordinate;
}
//-------------------------------
//---------- getData ------------
//-------------------------------
@ -120,10 +76,11 @@ joystickData_t evaluatedJoystick::getData() {
//get coordinates
//TODO individual tolerances for each axis? Otherwise some parameters can be removed
ESP_LOGD(TAG, "getting X coodrinate...");
float x = getCoordinate(config.adc_x, config.x_inverted, config.x_min, config.x_max, x_center, config.tolerance_zero, config.tolerance_end);
float x = scaleCoordinate(readAdc(config.adc_x, config.x_inverted), config.x_min, config.x_max, x_center, config.tolerance_zero, config.tolerance_end);
data.x = x;
ESP_LOGD(TAG, "getting Y coodrinate...");
float y = getCoordinate(config.adc_y, config.y_inverted, config.y_min, config.y_max, y_center, config.tolerance_zero, config.tolerance_end);
float y = scaleCoordinate(readAdc(config.adc_y, config.y_inverted), config.y_min, config.y_max, y_center, config.tolerance_zero, config.tolerance_end);
data.y = y;
//calculate radius
@ -159,6 +116,53 @@ void evaluatedJoystick::defineCenter(){
//==============================
//====== scaleCoordinate =======
//==============================
//function that scales an input value (e.g. from adc pin) to a value from -1 to 1 using the given thresholds and tolerances
float scaleCoordinate(float input, float min, float max, float center, float tolerance_zero_per, float tolerance_end_per) {
float coordinate = 0;
//convert tolerance percentages to actual values of range
double tolerance_zero = (max-min) * tolerance_zero_per / 100;
double tolerance_end = (max-min) * tolerance_end_per / 100;
//define coordinate value considering the different tolerances
//--- center ---
if ((input < center+tolerance_zero) && (input > center-tolerance_zero) ) { //adc value is inside tolerance around center threshold
coordinate = 0;
}
//--- maximum ---
else if (input > max-tolerance_end) {
coordinate = 1;
}
//--- minimum ---
else if (input < min+tolerance_end) {
coordinate = -1;
}
//--- positive area ---
else if (input > center) {
float range = max - center - tolerance_zero - tolerance_end;
coordinate = (input - center - tolerance_zero - tolerance_end) / range;
}
//--- negative area ---
else if (input < center) {
float range = (center - min - tolerance_zero - tolerance_end);
coordinate = -(center-input - tolerance_zero - tolerance_end) / range;
}
ESP_LOGD(TAG, "scaled coordinate from %.3f to %.3f", input, coordinate);
//return coordinate (-1 to 1)
return coordinate;
}
//=============================================
//========= joystick_evaluatePosition =========
//=============================================

14
main/joystick.hpp
View File

@ -86,8 +86,6 @@ class evaluatedJoystick {
void init();
//read adc while making multiple samples with option to invert the result
int readAdc(adc1_channel_t adc_channel, bool inverted = false);
//read input voltage and scale to value from -1 to 1 using the given thresholds and tolerances
float getCoordinate(adc1_channel_t adc_channel, bool inverted, int min, int max, int center, int tolerance_zero, int tolerance_end);
//--- variables ---
joystick_config_t config;
@ -111,9 +109,15 @@ class evaluatedJoystick {
motorCommands_t joystick_generateCommandsDriving(joystickData_t data );
//==============================
//====== scaleCoordinate =======
//==============================
//function that scales an input value (e.g. from adc pin) to a value from -1 to 1 using the giben thresholds and tolerances
float scaleCoordinate(float input, float min, float max, float center, float tolerance_zero_per, float tolerance_end_per);
//============================================
//========= joystick_CommandsDriving =========
//============================================
//=============================================
//========= joystick_evaluatePosition =========
//=============================================
//function that defines and returns enum joystickPos from x and y coordinates
joystickPos_t joystick_evaluatePosition(float x, float y);

21
react-app/src/App.js vendored
View File

@ -33,7 +33,7 @@ function App() {
// - snaps 0 zero for a given tolerance in percent
// - rounds value do given decimal places
// - TODO: add threshold it snaps to 1 / -1 (100%) toleranceEnd
const ScaleCoordinate = (input) => {
const ScaleCoordinateTolerance = (input) => {
//calc tolerance threshold and available range
const tolerance = joystickSize/2 * toleranceSnapToZeroPer/100;
const range = joystickSize/2 - tolerance;
@ -61,6 +61,15 @@ function App() {
//----------------------------------------
//----------- Scale coordinate -----------
//----------------------------------------
//simply scale coordinate from joystick to a value of -1 to 1 without applying any tolerances
const ScaleCoordinate = (input) => {
return ( input / (joystickSize/2) ).toFixed(decimalPlaces);
}
//-------------------------------------------
//------- Senda data via POST request -------
@ -106,13 +115,19 @@ function App() {
//evaluate coordinates and send to esp32
const handleMove = (e) => {
//console.log("data from joystick-element X:" + e.x + " Y:" + e.y + " distance:" + e.distance);
//calculate needed variables
//--- convert coordinates ---
//Note: tolerance (snap to zero) now handled by controller -> send raw coordinates
//const x = ScaleCoordinateTolerance(e.x);
//const y = ScaleCoordinateTolerance(e.y);
const x = ScaleCoordinate(e.x);
const y = ScaleCoordinate(e.y);
//--- scale radius ---
const radius = (e.distance / 100).toFixed(5);
//--- calculate angle ---
const angle = ( Math.atan( y / x ) * 180 / Math.PI ).toFixed(2);
//crate object with necessary data
//create object with necessary data
const joystick_data={
x: x,
y: y,