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Fix position tracking, stick mode - test success

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This commit is contained in:
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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5
board_single/main/button.cpp
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@ -224,9 +224,10 @@ void buttonCommands::startHandleLoop()
case RE_ET_CHANGED: // scroll through status pages when simply rotating encoder case RE_ET_CHANGED: // scroll through status pages when simply rotating encoder
if (event.diff > 0) if (event.diff > 0)
legRest->setTargetPercent(legRest->getTargetPercent() + 10); legRest->setTargetPercent(legRest->getTargetPercent() - 5);
//TODO display notification
else else
legRest->setTargetPercent(legRest->getTargetPercent() - 10); legRest->setTargetPercent(legRest->getTargetPercent() + 5);
//## switch status page with rotate - disabled //## switch status page with rotate - disabled
///rotateCount++; ///rotateCount++;

2
board_single/main/main.cpp
View File

@ -162,7 +162,7 @@ void createObjects()
// create objects for controlling the chair position // create objects for controlling the chair position
// gpio_up, gpio_down, name // gpio_up, gpio_down, name
legRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, 14000, "legRest"); legRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, 12000, "legRest");
backRest = new cControlledRest(GPIO_NUM_16, GPIO_NUM_4, 12000, "backRest"); backRest = new cControlledRest(GPIO_NUM_16, GPIO_NUM_4, 12000, "backRest");
// create control object (control.hpp) // create control object (control.hpp)

36
common/chairAdjust.cpp
View File

@ -67,13 +67,14 @@ void cControlledRest::updatePosition(){
switch (state) switch (state)
{ {
case REST_UP: case REST_UP:
positionNow += timeRan / travelDuration * 100; positionNow += (float)timeRan / travelDuration * 100;
break; break;
case REST_DOWN: case REST_DOWN:
positionNow -= timeRan / travelDuration * 100; positionNow -= (float)timeRan / travelDuration * 100;
break; break;
case REST_OFF: case REST_OFF:
//no change //no change
ESP_LOGW(TAG, "updatePosition() unknown direction - cant update position when state is REST_OFF");
break; break;
} }
@ -97,7 +98,7 @@ void cControlledRest::setState(restState_t targetState)
{ {
//check if actually changed //check if actually changed
if (targetState == state){ 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; return;
} }
@ -107,8 +108,7 @@ void cControlledRest::setState(restState_t targetState)
//apply new state //apply new state
ESP_LOGI(TAG, "[%s] switching from state '%s' to '%s'", name, restStateStr[state], restStateStr[targetState]); ESP_LOGI(TAG, "[%s] switching from state '%s' to '%s'", name, restStateStr[state], restStateStr[targetState]);
state = targetState; switch (targetState)
switch (state)
{ {
case REST_UP: case REST_UP:
gpio_set_level(gpio_down, 0); 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_down, 0);
gpio_set_level(gpio_up, 0); gpio_set_level(gpio_up, 0);
updatePosition(); updatePosition();
positionTarget = positionNow; //disable resuming - no unexpected pos when incrementing
break; break;
} }
state = targetState;
} }
@ -134,7 +136,17 @@ void cControlledRest::setState(restState_t targetState)
//==== setTargetPercent ==== //==== setTargetPercent ====
//========================== //==========================
void cControlledRest::setTargetPercent(float targetPercent){ void cControlledRest::setTargetPercent(float targetPercent){
float positionTargetPrev = positionTarget;
positionTarget = targetPercent; 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 // start rest in required direction
// TODO always run this check in handle()? // 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) // 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 =======
//====================== //======================
// handle automatic stop when target position is reached, should be run repeatedly in a task // 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(){ void cControlledRest::handle(){
// nothing to do when not running atm // nothing to do when not running atm
@ -170,7 +182,7 @@ void cControlledRest::handle(){
// target reached // target reached
if (timeRan >= timeTarget){ 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); setState(REST_OFF);
} }
} }
@ -180,7 +192,7 @@ void cControlledRest::handle(){
//============================ //============================
//===== chairAdjust_task ===== //===== chairAdjust_task =====
//============================ //============================
#define CHAIR_ADJUST_HANDLE_TASK_DELAY 500 #define CHAIR_ADJUST_HANDLE_TASK_DELAY 300
void chairAdjust_task( void * pvParameters ) void chairAdjust_task( void * pvParameters )
{ {
ESP_LOGW(TAG, "Starting chairAdjust task..."); ESP_LOGW(TAG, "Starting chairAdjust task...");
@ -217,12 +229,12 @@ void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cCon
//--- control rest motors --- //--- control rest motors ---
//leg rest (x-axis) //leg rest (x-axis)
if (data.x > stickThreshold) legRest->setState(REST_UP); if (data.x > stickThreshold) legRest->setTargetPercent(100);
else if (data.x < -stickThreshold) legRest->setState(REST_DOWN); else if (data.x < -stickThreshold) legRest->setTargetPercent(0);
else legRest->setState(REST_OFF); else legRest->setState(REST_OFF);
//back rest (y-axis) //back rest (y-axis)
if (data.y > stickThreshold) backRest->setState(REST_UP); if (data.y > stickThreshold) backRest->setTargetPercent(100);
else if (data.y < -stickThreshold) backRest->setState(REST_DOWN); else if (data.y < -stickThreshold) backRest->setTargetPercent(0);
else backRest->setState(REST_OFF); else backRest->setState(REST_OFF);
} }