diff --git a/main/config.cpp b/main/config.cpp
index d22ffa0..b9d1e38 100644
--- a/main/config.cpp
+++ b/main/config.cpp
@@ -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
-};
diff --git a/main/control.cpp b/main/control.cpp
index 9ebd302..5c54231 100644
--- a/main/control.cpp
+++ b/main/control.cpp
@@ -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");
diff --git a/main/joystick.cpp b/main/joystick.cpp
index 62997c3..11e63aa 100644
--- a/main/joystick.cpp
+++ b/main/joystick.cpp
@@ -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 =========
//=============================================
diff --git a/main/joystick.hpp b/main/joystick.hpp
index f7f3a87..050c51d 100644
--- a/main/joystick.hpp
+++ b/main/joystick.hpp
@@ -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);
diff --git a/react-app/src/App.js b/react-app/src/App.js
index 9326d2a..76921c4 100644
--- a/react-app/src/App.js
+++ b/react-app/src/App.js
@@ -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,