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Fix bug in scaling, Fix http cmd gen, Fix overflow

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Fix several bugs noticed while testing the preceding commits in dev
branch:

- Fix bug in function scaleCoordinate
  - scaling was wrong resulting in negative/inverted values at start of axis

- Adjust timeout value from 30s to 5min

- Fix http joystick behaivor
  - calculate angle, radius and evaluate position AFTER the coordinates
    have been scaled in control.cpp (bug introduced when switching applying tolerance
    on controller instead of in the app)

- Add independent toleranceZero for X and Y axis -> unnecessary to have
  large tolerance for x axis... makes turning more sensitive

- Fix stack overflow in control task
  - controller crashed repeatedly when logging output was enabled in
    control task
  - -> doubled stack size at task creation in main.cpp

currently works, position hast to be evaluated AFTER coordinate scaling
This commit is contained in:
jonny_l480 2022-06-21 12:15:01 +02:00 committed by jonny_ji7
parent f38940b7bf
commit 73325e08ce
6 changed files with 17 additions and 11 deletions
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5
main/config.cpp
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@ -45,10 +45,11 @@ controlledMotor motorRight(configDriverRight, configMotorControl);
control_config_t configControl = {
.defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
//--- timeout ---
.timeoutMs = 30*1000, //time of inactivity after which the mode gets switched to IDLE
.timeoutMs = 5*60*1000, //time of inactivity after which the mode gets switched to IDLE
.timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
.http_toleranceZeroPer = 5, //percentage around joystick axis the coordinate snaps to 0
.http_toleranceZeroX_Per = 3, //percentage around joystick axis the coordinate snaps to 0
.http_toleranceZeroY_Per = 10,
.http_toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1
.http_timeoutMs = 3000 //time no new data was received before the motors get turned off

10
main/control.cpp
View File

@ -100,15 +100,19 @@ void controlledArmchair::startHandleLoop() {
//--- scale coordinates ---
//note: scaleCoordinate function currently can not handle negative input -> added offset to input
// scaleCoordinate(input, min, max, center, tolerance_zero_per, tolerance_end_per)
dataRead.x = scaleCoordinate(dataRead.x+1, 0, 2, 1, config.http_toleranceZeroPer, config.http_toleranceEndPer);
dataRead.y = scaleCoordinate(dataRead.y+1, 0, 2, 1, config.http_toleranceZeroPer, config.http_toleranceEndPer);
//--- calculate radius with new coordinates ---
dataRead.x = scaleCoordinate(dataRead.x+1, 0, 2, 1, config.http_toleranceZeroX_Per, config.http_toleranceEndPer);
dataRead.y = scaleCoordinate(dataRead.y+1, 0, 2, 1, config.http_toleranceZeroY_Per, config.http_toleranceEndPer);
//--- re-calculate radius, angle and position with new/scaled coordinates ---
dataRead.radius = sqrt(pow(dataRead.x,2) + pow(dataRead.y,2));
dataRead.angle = (atan(dataRead.y/dataRead.x) * 180) / 3.141;
dataRead.position = joystick_evaluatePosition(dataRead.x, dataRead.y);
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...");
ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
commands = joystick_generateCommandsDriving(dataRead);
//--- apply commands to motors ---

3
main/control.hpp
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@ -20,7 +20,8 @@ typedef struct control_config_t {
uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
float http_toleranceZeroPer;//percentage around joystick axis the coordinate snaps to 0
float http_toleranceZeroX_Per;//percentage around joystick axis the coordinate snaps to 0
float http_toleranceZeroY_Per;
float http_toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1
uint32_t http_timeoutMs; //time no new data was received before the motors get turned off
} control_config_t;

2
main/http.cpp
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@ -136,7 +136,7 @@ esp_err_t on_joystick_url(httpd_req_t *req)
data.angle = static_cast<float>(angle_json->valuedouble);
//--- evaluate joystick position enum ---
data.position = joystick_evaluatePosition(data.x, data.y);
//data.position = joystick_evaluatePosition(data.x, data.y);
//log received and parsed values

6
main/joystick.cpp
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@ -146,15 +146,15 @@ float scaleCoordinate(float input, float min, float max, float center, float tol
//--- positive area ---
else if (input > center) {
float range = max - center - tolerance_zero - tolerance_end;
coordinate = (input - center - tolerance_zero - tolerance_end) / range;
coordinate = (input - center - tolerance_zero) / range;
}
//--- negative area ---
else if (input < center) {
float range = (center - min - tolerance_zero - tolerance_end);
coordinate = -(center-input - tolerance_zero - tolerance_end) / range;
coordinate = -(center-input - tolerance_zero) / range;
}
ESP_LOGD(TAG, "scaled coordinate from %.3f to %.3f", input, coordinate);
ESP_LOGD(TAG, "scaled coordinate from %.3f to %.3f, tolZero=%.3f, tolEnd=%.3f", input, coordinate, tolerance_zero, tolerance_end);
//return coordinate (-1 to 1)
return coordinate;

2
main/main.cpp
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@ -169,7 +169,7 @@ extern "C" void app_main(void) {
//--- create task for control ---
//-------------------------------
//task that generates motor commands depending on the current mode and sends those to motorctl task
xTaskCreate(&task_control, "task_control", 2048, NULL, 5, NULL);
xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
//------------------------------
//--- create task for button ---