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Fix position tracking, stick mode - test success

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jonny_l480
2024-09-04 20:08:28 +02:00
parent 2a2678b734
commit 43cc3ce3e0
3 changed files with 28 additions and 15 deletions
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36
common/chairAdjust.cpp
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@@ -67,13 +67,14 @@ void cControlledRest::updatePosition(){
switch (state)
{
case REST_UP:
positionNow += timeRan / travelDuration * 100;
positionNow += (float)timeRan / travelDuration * 100;
break;
case REST_DOWN:
positionNow -= timeRan / travelDuration * 100;
positionNow -= (float)timeRan / travelDuration * 100;
break;
case REST_OFF:
//no change
ESP_LOGW(TAG, "updatePosition() unknown direction - cant update position when state is REST_OFF");
break;
}
@@ -97,7 +98,7 @@ void cControlledRest::setState(restState_t targetState)
{
//check if actually changed
if (targetState == state){
ESP_LOGD(TAG, "[%s] state already at '%s', nothing to do", name, restStateStr[state]);
ESP_LOGV(TAG, "[%s] state already at '%s', nothing to do", name, restStateStr[state]);
return;
}
@@ -107,8 +108,7 @@ void cControlledRest::setState(restState_t targetState)
//apply new state
ESP_LOGI(TAG, "[%s] switching from state '%s' to '%s'", name, restStateStr[state], restStateStr[targetState]);
state = targetState;
switch (state)
switch (targetState)
{
case REST_UP:
gpio_set_level(gpio_down, 0);
@@ -124,8 +124,10 @@ void cControlledRest::setState(restState_t targetState)
gpio_set_level(gpio_down, 0);
gpio_set_level(gpio_up, 0);
updatePosition();
positionTarget = positionNow; //disable resuming - no unexpected pos when incrementing
break;
}
state = targetState;
}
@@ -134,7 +136,17 @@ void cControlledRest::setState(restState_t targetState)
//==== setTargetPercent ====
//==========================
void cControlledRest::setTargetPercent(float targetPercent){
float positionTargetPrev = positionTarget;
positionTarget = targetPercent;
// limit to 0-100
if (positionTarget > 100)
positionTarget = 100;
else if (positionTarget < 0)
positionTarget = 0;
ESP_LOGI(TAG, "[%s] changed Target position from %.2f%% to %.2f%%", name, positionTargetPrev, positionTarget);
// 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)
@@ -152,7 +164,7 @@ void cControlledRest::setTargetPercent(float targetPercent){
//======= 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
#define TRAVEL_TIME_LIMIT_ADDITION_MS 2000 // traveling longer into limit compensates inaccuracies in time based position tracking
void cControlledRest::handle(){
// nothing to do when not running atm
@@ -170,7 +182,7 @@ void cControlledRest::handle(){
// target reached
if (timeRan >= timeTarget){
ESP_LOGI(TAG, "[%s] reached target run-time (%dms/%dms) for position %.2f%% -> stopping", name, timeRan, timeTarget, positionTarget);
ESP_LOGW(TAG, "[%s] reached target run-time (%dms/%dms) for position %.2f%% -> stopping", name, timeRan, timeTarget, positionTarget);
setState(REST_OFF);
}
}
@@ -180,7 +192,7 @@ void cControlledRest::handle(){
//============================
//===== chairAdjust_task =====
//============================
#define CHAIR_ADJUST_HANDLE_TASK_DELAY 500
#define CHAIR_ADJUST_HANDLE_TASK_DELAY 300
void chairAdjust_task( void * pvParameters )
{
ESP_LOGW(TAG, "Starting chairAdjust task...");
@@ -217,12 +229,12 @@ void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cCon
//--- control rest motors ---
//leg rest (x-axis)
if (data.x > stickThreshold) legRest->setState(REST_UP);
else if (data.x < -stickThreshold) legRest->setState(REST_DOWN);
if (data.x > stickThreshold) legRest->setTargetPercent(100);
else if (data.x < -stickThreshold) legRest->setTargetPercent(0);
else legRest->setState(REST_OFF);
//back rest (y-axis)
if (data.y > stickThreshold) backRest->setState(REST_UP);
else if (data.y < -stickThreshold) backRest->setState(REST_DOWN);
if (data.y > stickThreshold) backRest->setTargetPercent(100);
else if (data.y < -stickThreshold) backRest->setTargetPercent(0);
else backRest->setState(REST_OFF);
}