Move coordinate scaling from app to controller

- 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

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)
+    //range around center-threshold of each axis the coordinates stays at 0 (percentage of available range 0-100)
-    .tolerance_zero = 100,
+    .tolerance_zero = 7,
-    //threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
+    //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 = 80,
+    .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
-};
 

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");

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 =========
 //=============================================

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);

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,