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

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

main/config.cpp

@@ -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
 

main/control.cpp

@@ -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.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_toleranceZeroPer, config.http_toleranceEndPer);
+                    dataRead.y = scaleCoordinate(dataRead.y+1, 0, 2, 1, config.http_toleranceZeroY_Per, config.http_toleranceEndPer);
-                    //--- calculate radius with new coordinates ---
+                    //--- 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 ---

main/control.hpp

@@ -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;

main/http.cpp

@@ -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

main/joystick.cpp

@@ -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;
 

main/main.cpp

@@ -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 ---