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Add chairAdjust task, pos tracking, move with encoder

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This commit is contained in:
jonny 2024-09-04 18:27:24 +02:00
parent 70df86f70c
commit 2a2678b734
5 changed files with 195 additions and 35 deletions
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58
board_single/main/button.cpp
View File

@ -23,7 +23,7 @@ void task_button(void *task_button_parameters)
task_button_parameters_t *objects = (task_button_parameters_t *)task_button_parameters;
ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
// create button instance
buttonCommands commandButton(objects->control, objects->joystick, objects->encoderQueue, objects->motorLeft, objects->motorRight, objects->buzzer);
buttonCommands commandButton(objects->control, objects->joystick, objects->encoderQueue, objects->motorLeft, objects->motorRight, objects->legRest, objects->backRest, objects->buzzer);
// start handle loop
commandButton.startHandleLoop();
}
@ -35,8 +35,10 @@ buttonCommands::buttonCommands(
controlledArmchair *control_f,
evaluatedJoystick *joystick_f,
QueueHandle_t encoderQueue_f,
controlledMotor *motorLeft_f,
controlledMotor * motorLeft_f,
controlledMotor *motorRight_f,
cControlledRest *legRest_f,
cControlledRest *backRest_f,
buzzer_t *buzzer_f)
{
// copy object pointers
@ -46,6 +48,8 @@ buttonCommands::buttonCommands(
motorLeft = motorLeft_f;
motorRight = motorRight_f;
buzzer = buzzer_f;
legRest = legRest_f;
backRest = backRest_f;
// TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
}
@ -141,6 +145,12 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
control->changeMode(controlMode_t::MASSAGE); //switch to MASSAGE mode
break;
case 7:
legRest->setTargetPercent(100);
backRest->setTargetPercent(0);
ESP_LOGW(TAG, "7x TESTING: set leg/back rest to 100/0");
break;
case 8:
// ## toggle "sport-mode" ##
//toggle deceleration fading between on and off
@ -212,18 +222,25 @@ void buttonCommands::startHandleLoop()
isPressed = false; // rest stored state
break;
case RE_ET_CHANGED: // scroll through status pages when simply rotating encoder
rotateCount++;
if (rotateCount >= 2) // at least two rotate-clicks necessary for one page switch
{
if (event.diff > 0)
display_rotateStatusPage(true, true); // select NEXT status screen, stay at last element (dont rotate to first)
else
display_rotateStatusPage(false, true); // select PREVIOUS status screen, stay at first element (dont rotate to last)
rotateCount = 0;
buzzer->beep(1, 90, 0);
}
if (event.diff > 0)
legRest->setTargetPercent(legRest->getTargetPercent() + 10);
else
buzzer->beep(1, 65, 0);
legRest->setTargetPercent(legRest->getTargetPercent() - 10);
//## switch status page with rotate - disabled
///rotateCount++;
///if (rotateCount >= 2) // at least two rotate-clicks necessary for one page switch
///{
/// if (event.diff > 0)
/// display_rotateStatusPage(true, true); // select NEXT status screen, stay at last element (dont rotate to first)
/// else
/// display_rotateStatusPage(false, true); // select PREVIOUS status screen, stay at first element (dont rotate to last)
/// rotateCount = 0;
/// buzzer->beep(1, 90, 0);
///}
///else
/// buzzer->beep(1, 65, 0);
break;
case RE_ET_BTN_LONG_PRESSED:
case RE_ET_BTN_CLICKED:
@ -233,14 +250,15 @@ void buttonCommands::startHandleLoop()
}
else // timeout (no event received within TIMEOUT)
{
//## switch status page with rotate - disabled
// switch back to default status screen in case less than 2 rotate-clicks received
if (rotateCount != 0)
{
rotateCount = 0;
display_selectStatusPage(STATUS_SCREEN_OVERVIEW);
//TODO only change/beep if not already at STATUS_SCREEN_OVERVIEW
//buzzer->beep(1, 100, 0);
}
///if (rotateCount != 0)
///{
/// rotateCount = 0;
/// display_selectStatusPage(STATUS_SCREEN_OVERVIEW);
/// //TODO only change/beep if not already at STATUS_SCREEN_OVERVIEW
/// //buzzer->beep(1, 100, 0);
///}
// encoder was pressed
if (count > 0)

7
board_single/main/button.hpp
View File

@ -6,6 +6,7 @@
#include "motorctl.hpp"
#include "auto.hpp"
#include "joystick.hpp"
#include "chairAdjust.hpp"
@ -22,6 +23,8 @@ class buttonCommands {
QueueHandle_t encoderQueue_f,
controlledMotor * motorLeft_f,
controlledMotor *motorRight_f,
cControlledRest *legRest_f,
cControlledRest *backRest_f,
buzzer_t *buzzer_f);
//--- functions ---
@ -40,6 +43,8 @@ class buttonCommands {
controlledMotor * motorRight;
buzzer_t* buzzer;
QueueHandle_t encoderQueue;
cControlledRest *legRest;
cControlledRest *backRest;
//--- variables ---
uint8_t count = 0;
@ -62,6 +67,8 @@ typedef struct task_button_parameters_t
QueueHandle_t encoderQueue;
controlledMotor *motorLeft;
controlledMotor *motorRight;
cControlledRest *legRest;
cControlledRest *backRest;
buzzer_t *buzzer;
} task_button_parameters_t;

13
board_single/main/main.cpp
View File

@ -162,8 +162,8 @@ void createObjects()
// create objects for controlling the chair position
// gpio_up, gpio_down, name
legRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "legRest");
backRest = new cControlledRest(GPIO_NUM_16, GPIO_NUM_4, "backRest");
legRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, 14000, "legRest");
backRest = new cControlledRest(GPIO_NUM_16, GPIO_NUM_4, 12000, "backRest");
// create control object (control.hpp)
// with configuration from config.cpp
@ -266,7 +266,7 @@ extern "C" void app_main(void) {
//--- create task for button ---
//------------------------------
//task that handles button/encoder events in any mode except 'MENU_SETTINGS' and 'MENU_MODE_SELECT' (e.g. switch modes by pressing certain count)
task_button_parameters_t button_param = {control, joystick, encoderQueue, motorLeft, motorRight, buzzer};
task_button_parameters_t button_param = {control, joystick, encoderQueue, motorLeft, motorRight, legRest, backRest, buzzer};
xTaskCreate(&task_button, "task_button", 4096, &button_param, 3, NULL);
//-----------------------------------
@ -283,6 +283,13 @@ extern "C" void app_main(void) {
display_task_parameters_t display_param = {display_config, control, joystick, encoderQueue, motorLeft, motorRight, speedLeft, speedRight, buzzer, &nvsHandle};
xTaskCreate(&display_task, "display_task", 3*2048, &display_param, 3, NULL);
//-------------------------------------
//-- create task for chairAdjustment --
//-------------------------------------
//task that stops chair-rest motors when they reach target
chairAdjust_task_parameters_t chairAdjust_param = {legRest, backRest};
xTaskCreate(&chairAdjust_task, "chairAdjust_task", 2048, &chairAdjust_param, 1, NULL);
vTaskDelay(200 / portTICK_PERIOD_MS); //wait for all tasks to finish initializing
printf("\n");

117
common/chairAdjust.cpp
View File

@ -24,7 +24,7 @@ static const char * TAG = "chair-adjustment";
//=============================
//======== constructor ========
//=============================
cControlledRest::cControlledRest(gpio_num_t gpio_up_f, gpio_num_t gpio_down_f, const char * name_f){
cControlledRest::cControlledRest(gpio_num_t gpio_up_f, gpio_num_t gpio_down_f, uint32_t travelDurationMs, const char * name_f):travelDuration(travelDurationMs){
strcpy(name, name_f);
gpio_up = gpio_up_f;
gpio_down = gpio_down_f;
@ -53,6 +53,43 @@ void cControlledRest::init()
//==========================
//===== updatePosition =====
//==========================
// calculate and update position in percent based of time running in current direction
void cControlledRest::updatePosition(){
uint32_t now = esp_log_timestamp();
uint32_t timeRan = now - timestamp_lastPosUpdate;
timestamp_lastPosUpdate = now;
float positionOld = positionNow;
// calculate new percentage
switch (state)
{
case REST_UP:
positionNow += timeRan / travelDuration * 100;
break;
case REST_DOWN:
positionNow -= timeRan / travelDuration * 100;
break;
case REST_OFF:
//no change
break;
}
// clip to 0-100 (because cant actually happen due to limit switches)
if (positionNow < 0)
positionNow = 0;
else if (positionNow > 100)
positionNow = 100;
ESP_LOGD(TAG, "[%s] state='%s' - update pos from %.2f%% to %.2f%% (time ran %dms)", name, restStateStr[state], positionOld, positionNow, timeRan);
}
//============================
//========= setState =========
//============================
@ -64,31 +101,103 @@ void cControlledRest::setState(restState_t targetState)
return;
}
// when switching direction without stop: update position first
if (state != REST_OFF)
updatePosition();
//apply new state
ESP_LOGI(TAG, "[%s] switching from state '%s' to '%s'", name, restStateStr[state], restStateStr[targetState]);
state = targetState;
timestamp_lastChange = esp_log_timestamp(); //TODO use this to estimate position
switch (state)
{
case REST_UP:
gpio_set_level(gpio_down, 0);
gpio_set_level(gpio_up, 1);
timestamp_lastPosUpdate = esp_log_timestamp();
break;
case REST_DOWN:
gpio_set_level(gpio_down, 1);
gpio_set_level(gpio_up, 0);
timestamp_lastPosUpdate = esp_log_timestamp();
break;
case REST_OFF:
gpio_set_level(gpio_down, 0);
gpio_set_level(gpio_up, 0);
updatePosition();
break;
}
}
void setTargetPercent(float targetPercent);
void handle(){
//==========================
//==== setTargetPercent ====
//==========================
void cControlledRest::setTargetPercent(float targetPercent){
positionTarget = targetPercent;
// start rest in required direction
// TODO always run this check in handle()?
// note: when already at 0/100 start anyways (runs for certain threshold in case tracked position out of sync)
if (positionTarget > positionNow || positionTarget >= 100)
setState(REST_UP);
else if (positionTarget < positionNow || positionTarget <= 0)
setState(REST_DOWN);
else // already at exact position
setState(REST_OFF);
}
//======================
//======= handle =======
//======================
// handle automatic stop when target position is reached, should be run repeatedly in a task
#define TRAVEL_TIME_LIMIT_ADDITION_MS 3000 // traveling longer into limit compensates inaccuracies in time based position tracking
void cControlledRest::handle(){
// nothing to do when not running atm
// TODO: turn on automatically when position != target?
if (state == REST_OFF)
return;
// calculate time already running and needed time to reach target
uint32_t timeRan = esp_log_timestamp() - timestamp_lastPosUpdate;
uint32_t timeTarget = travelDuration * fabs(positionTarget - positionNow) / 100;
// intentionally travel longer into limit - compensates inaccuracies in time based position tracking
if (positionTarget == 0 || positionTarget == 100)
timeTarget += TRAVEL_TIME_LIMIT_ADDITION_MS;
// target reached
if (timeRan >= timeTarget){
ESP_LOGI(TAG, "[%s] reached target run-time (%dms/%dms) for position %.2f%% -> stopping", name, timeRan, timeTarget, positionTarget);
setState(REST_OFF);
}
}
//============================
//===== chairAdjust_task =====
//============================
#define CHAIR_ADJUST_HANDLE_TASK_DELAY 500
void chairAdjust_task( void * pvParameters )
{
ESP_LOGW(TAG, "Starting chairAdjust task...");
//get struct with pointers to all needed global objects from task parameter
chairAdjust_task_parameters_t *objects = (chairAdjust_task_parameters_t *)pvParameters;
// repeatedly update display with content depending on current mode
while (1)
{
//TODO mutex
//TODO add queue so task only runs when at least one rest is actually moving
objects->legRest->handle();
objects->backRest->handle();
vTaskDelay(CHAIR_ADJUST_HANDLE_TASK_DELAY / portTICK_PERIOD_MS);
}
}
//====================================

31
common/chairAdjust.hpp
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@ -18,25 +18,44 @@ extern const char* restStateStr[];
//2 instances will be created one for back and one for leg rest
class cControlledRest {
public:
cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, const char *name);
cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, uint32_t travelDurationMs, const char *name);
void setState(restState_t targetState);
float getPercent();
float getPercent(); //TODO update position first
void setTargetPercent(float targetPercent);
float getTargetPercent() const {return positionTarget;};
void handle();
void stop();
private:
void init();
void updatePosition();
char name[32];
gpio_num_t gpio_up;
gpio_num_t gpio_down;
restState_t state;
const uint32_t travelDuration = 5000;
uint32_t timestamp_lastChange;
float currentPosition = 0;
const uint32_t travelDuration = 12000;
uint32_t timestamp_lastPosUpdate = 0;
float positionTarget = 0;
float positionNow = 0;
};
// struct with variables passed to task from main()
typedef struct chairAdjust_task_parameters_t {
cControlledRest * legRest;
cControlledRest * backRest;
//buzzer_t *buzzer;
} chairAdjust_task_parameters_t;
//===========================
//==== chairAdjust_task =====
//===========================
void chairAdjust_task( void * chairAdjust_task_parameters_t );
//====================================
//====== controlChairAdjustment ======
//====================================