Create class 'evaluatedJoystick'
- Create class 'evaluatedJoystick' - evaluates a joystick with 2 analog signals - scales the adc input to coordinates with detailed tolerances - calculates angle and radius - defines an enum with position information - Add joystick configuration and class instance to config.cpp - Add code for testing the new class to main.cpp - Add joystick.cpp to cmakelists now function `joystick.getData` can be used globally to obtain a struct with current position data of the joystick
This commit is contained in:
jonny_ji7
parent
84bfe211ac
commit
4eb1c5d43a
@ -1,2 +1,2 @@
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idf_component_register(SRCS "main.cpp" "motordrivers.cpp" "motorctl.cpp" "config.cpp"
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idf_component_register(SRCS "main.cpp" "motordrivers.cpp" "motorctl.cpp" "config.cpp" "joystick.cpp"
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INCLUDE_DIRS ".")
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@ -1,6 +1,8 @@
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#include "config.hpp"
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//-----------------------------------
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//------- motor configuration -------
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//-----------------------------------
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//configure motor driver
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_14,
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@ -13,10 +15,40 @@ single100a_config_t configDriverLeft = {
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.pwmFreq = 10000
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};
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//configure motor contol
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motorctl_config_t configControlLeft = {
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.msFade = 5000,
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.msFade = 3000,
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.currentMax = 10
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};
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//create controlled motor
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controlledMotor motorLeft(configDriverLeft, configControlLeft);
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//--------------------------------------
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//------- joystick configuration -------
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//--------------------------------------
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joystick_config_t configJoystick = {
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.adc_x = ADC1_CHANNEL_3, //GPIO39
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.adc_y = ADC1_CHANNEL_0, //GPIO36
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//range around center-threshold of each axis the coordinates stays at 0 (adc value 0-4095)
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.tolerance_zero = 100,
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//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
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.tolerance_end = 80,
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//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
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.tolerance_radius = 0.05,
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//min and max adc values of each axis
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.x_min = 975,
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.x_max = 2520,
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.y_min = 1005,
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.y_max = 2550,
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//invert adc measurement
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.x_inverted = true,
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.y_inverted = true
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};
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//create global joystic instance
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evaluatedJoystick joystick(configJoystick);
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@ -2,6 +2,10 @@
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#include "motordrivers.hpp"
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#include "motorctl.hpp"
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#include "joystick.hpp"
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//create global controlledMotor instances for both motors
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extern controlledMotor motorLeft;
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//create global joystic instance
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extern evaluatedJoystick joystick;
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188
main/joystick.cpp
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188
main/joystick.cpp
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@ -0,0 +1,188 @@
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#include "joystick.hpp"
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//definition of string array to be able to convert state enum to readable string
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const char* joystickPosStr[7] = {"CENTER", "Y_AXIS", "X_AXIS", "TOP_RIGHT", "TOP_LEFT", "BOTTOM_LEFT", "BOTTOM_RIGHT"};
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//tag for logging
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static const char * TAG = "evaluatedJoystick";
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//-----------------------------
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//-------- constructor --------
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//-----------------------------
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//copy provided struct with all configuration and run init function
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evaluatedJoystick::evaluatedJoystick(joystick_config_t config_f){
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config = config_f;
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init();
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}
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//----------------------------
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//---------- init ------------
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//----------------------------
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void evaluatedJoystick::init(){
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ESP_LOGI(TAG, "initializing joystick");
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//initialize adc
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adc1_config_width(ADC_WIDTH_BIT_12); //=> max resolution 4096
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//FIXME: the following two commands each throw error
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//"ADC: adc1_lock_release(419): adc1 lock release called before acquire"
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//note: also happens for each get_raw for first call of readAdc function
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//when run in main function that does not happen
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adc1_config_channel_atten(config.adc_x, ADC_ATTEN_DB_11); //max voltage
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adc1_config_channel_atten(config.adc_y, ADC_ATTEN_DB_11); //max voltage
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//define joystick center from current position
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defineCenter(); //define joystick center from current position
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}
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//-----------------------------
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//--------- readAdc -----------
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//-----------------------------
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//function for multisampling an anlog input
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int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
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//make multiple measurements
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int adc_reading = 0;
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for (int i = 0; i < 16; i++) {
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adc_reading += adc1_get_raw(adc_channel);
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}
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adc_reading = adc_reading / 16;
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//return original or inverted result
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if (inverted) {
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return adc_reading;
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} else {
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return 4095 - adc_reading;
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}
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}
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//----------------------------
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//------ getCoordinate -------
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//----------------------------
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//function to read voltage at a gpio pin and scale it to a value from -1 to 1 using the given thresholds and tolerances
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float evaluatedJoystick::getCoordinate(adc1_channel_t adc_channel, bool inverted, int min, int max, int center, int tolerance_zero, int tolerance_end) {
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float coordinate = 0;
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//read voltage from adc
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int input = readAdc(adc_channel, inverted);
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//define coordinate value considering the different tolerances
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//--- center ---
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if ((input < center+tolerance_zero) && (input > center-tolerance_zero) ) { //adc value is inside tolerance around center threshold
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coordinate = 0;
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}
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//--- maximum ---
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else if (input > max-tolerance_end) {
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coordinate = 1;
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}
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//--- minimum ---
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else if (input < min+tolerance_end) {
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coordinate = -1;
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}
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//--- positive area ---
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else if (input > center) {
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float range = max - center - tolerance_zero - tolerance_end;
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coordinate = (input - center - tolerance_end) / range;
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}
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//--- negative area ---
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else if (input < center) {
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float range = (center - min - tolerance_zero - tolerance_end);
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coordinate = -(center-input - tolerance_end) / range;
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}
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ESP_LOGD(TAG, "coordinate=%.3f, input=%d/4095, isInverted=%d", coordinate, input, inverted);
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//return coordinate (-1 to 1)
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return coordinate;
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}
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//-------------------------------
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//---------- getData ------------
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//-------------------------------
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//function that reads the joystick, calculates values and returns a struct with current data
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joystickData_t evaluatedJoystick::getData() {
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//get coordinates
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//TODO individual tolerances for each axis? Otherwise some parameters can be removed
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ESP_LOGD(TAG, "getting X coodrinate...");
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float x = getCoordinate(config.adc_x, config.x_inverted, config.x_min, config.x_max, x_center, config.tolerance_zero, config.tolerance_end);
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data.x = x;
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ESP_LOGD(TAG, "getting Y coodrinate...");
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float y = getCoordinate(config.adc_y, config.y_inverted, config.y_min, config.y_max, y_center, config.tolerance_zero, config.tolerance_end);
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data.y = y;
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//calculate radius
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data.radius = sqrt(pow(data.x,2) + pow(data.y,2));
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if (data.radius > 1-config.tolerance_radius) {
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data.radius = 1;
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}
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//calculate angle
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data.angle = (atan(data.y/data.x) * 180) / 3.141;
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//define position
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//--- center ---
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if((fabs(x) == 0) && (fabs(y) == 0)){
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data.position = joystickPos_t::CENTER;
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}
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//--- x axis ---
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else if(fabs(y) == 0){
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data.position = joystickPos_t::X_AXIS;
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}
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//--- y axis ---
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else if(fabs(x) == 0){
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data.position = joystickPos_t::Y_AXIS;
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}
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//--- top right ---
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else if(x > 0 && y > 0){
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data.position = joystickPos_t::TOP_RIGHT;
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}
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//--- top left ---
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else if(x < 0 && y > 0){
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data.position = joystickPos_t::TOP_LEFT;
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}
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//--- bottom left ---
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else if(x < 0 && y < 0){
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data.position = joystickPos_t::BOTTOM_LEFT;
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}
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//--- bottom right ---
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else if(x > 0 && y < 0){
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data.position = joystickPos_t::BOTTOM_RIGHT;
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}
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return data;
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}
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//----------------------------
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//------ defineCenter --------
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//----------------------------
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//function that defines the current position of the joystick as center position
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void evaluatedJoystick::defineCenter(){
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//read voltage from adc
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x_center = readAdc(config.adc_x, config.x_inverted);
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y_center = readAdc(config.adc_y, config.y_inverted);
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ESP_LOGW(TAG, "defined center to x=%d, y=%d", x_center, y_center);
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}
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101
main/joystick.hpp
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101
main/joystick.hpp
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@ -0,0 +1,101 @@
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#pragma once
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extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/gpio.h"
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#include "driver/adc.h"
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#include "esp_log.h"
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#include "esp_err.h"
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}
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#include <cmath>
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//======================================
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//========= evaluated Joystick =========
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//======================================
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//class which evaluates a joystick with 2 analog signals
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// - scales the adc input to coordinates with detailed tolerances
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// - calculates angle and radius
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// - defines an enum with position information
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//--------------------------------------------
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//---- struct, enum, variable deklarations ---
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//--------------------------------------------
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//struct with all required configuration parameters
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typedef struct joystick_config_t {
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//analog inputs the axis are connected
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adc1_channel_t adc_x;
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adc1_channel_t adc_y;
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//range around center-threshold of each axis the coordinates stays at 0 (adc value 0-4095)
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int tolerance_zero;
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//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
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int tolerance_end;
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//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
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float tolerance_radius;
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//min and max adc values of each axis
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int x_min;
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int x_max;
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int y_min;
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int y_max;
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//invert adc measurement (e.g. when moving joystick up results in a decreasing voltage)
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bool x_inverted;
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bool y_inverted;
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} joystick_config_t;
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//enum for describing the position of the joystick
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enum class joystickPos_t {CENTER, Y_AXIS, X_AXIS, TOP_RIGHT, TOP_LEFT, BOTTOM_LEFT, BOTTOM_RIGHT};
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extern const char* joystickPosStr[7];
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//struct with current data of the joystick
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typedef struct joystickData_t {
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joystickPos_t position;
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float x;
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float y;
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float radius;
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float angle;
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} joystickData_t;
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//------------------------------------
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//----- evaluatedJoystick class -----
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//------------------------------------
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class evaluatedJoystick {
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public:
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//--- constructor ---
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evaluatedJoystick(joystick_config_t config_f);
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//--- functions ---
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joystickData_t getData(); //read joystick, calculate values and return the data in a struct
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void defineCenter(); //define joystick center from current position
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private:
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//--- functions ---
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//initialize adc inputs, define center
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void init();
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//read adc while making multiple samples with option to invert the result
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int readAdc(adc1_channel_t adc_channel, bool inverted = false);
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//read input voltage and scale to value from -1 to 1 using the given thresholds and tolerances
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float getCoordinate(adc1_channel_t adc_channel, bool inverted, int min, int max, int center, int tolerance_zero, int tolerance_end);
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//--- variables ---
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joystick_config_t config;
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int x_center;
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int y_center;
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joystickData_t data;
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float x;
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float y;
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};
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@ -51,7 +51,8 @@ extern "C" void app_main(void) {
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//set loglevel for individual tags:
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//esp_log_level_set("motordriver", ESP_LOG_DEBUG);
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esp_log_level_set("motor-control", ESP_LOG_DEBUG);
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//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
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esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
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@ -63,23 +64,31 @@ extern "C" void app_main(void) {
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while(1){
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vTaskDelay(100 / portTICK_PERIOD_MS);
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//--- testing joystick class ---
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joystickData_t data = joystick.getData();
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ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
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joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
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//--- testing the motor driver ---
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//fade up duty - forward
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// for (int duty=0; duty<=100; duty+=5) {
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// motorLeft.setTarget(motorstate_t::FWD, duty);
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// vTaskDelay(100 / portTICK_PERIOD_MS);
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// }
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//
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//--- testing controlledMotor --- (ramp)
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//brake for 1 s
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motorLeft.setTarget(motorstate_t::BRAKE);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//command 90% - reverse
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motorLeft.setTarget(motorstate_t::REV, 90);
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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//command 100% - forward
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motorLeft.setTarget(motorstate_t::FWD, 100);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//--- testing controlledMotor --- (ramp)
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// //brake for 1 s
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// motorLeft.setTarget(motorstate_t::BRAKE);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// //command 90% - reverse
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// motorLeft.setTarget(motorstate_t::REV, 90);
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// vTaskDelay(5000 / portTICK_PERIOD_MS);
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// //command 100% - forward
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// motorLeft.setTarget(motorstate_t::FWD, 100);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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}
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