j/armchair_fw
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Optimize control: use reference to joystick object

Browse Source 
Use reference to joystick object in control class instead of accessing
the global evaluatedJoystick object

control.hpp:
  - add joystick reference to constructor
  - add local joystick pointer variable

control.cpp:
  - constructor: copy pointer to joystick object
  - use methods of joystick reference instead of global object
  - update log output of timeout check

config.cpp:
  - add joystick object to control object construction
This commit is contained in:
jonny_ji7 2022-07-08 18:49:17 +02:00
parent b460a52181
commit 77a32c15f7
3 changed files with 11 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
main/config.cpp
View File

@ -123,7 +123,7 @@ buzzer_t buzzer(GPIO_NUM_12, 100);
httpJoystick httpJoystickMain(configHttpJoystickMain);
//create global control object
controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &httpJoystickMain);
controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);

14
main/control.cpp
View File

@ -27,6 +27,7 @@ controlledArmchair::controlledArmchair (
buzzer_t * buzzer_f,
controlledMotor* motorLeft_f,
controlledMotor* motorRight_f,
evaluatedJoystick* joystick_f,
httpJoystick* httpJoystick_f
){
@ -36,6 +37,7 @@ controlledArmchair::controlledArmchair (
buzzer = buzzer_f;
motorLeft = motorLeft_f;
motorRight = motorRight_f;
joystick_l = joystick_f,
httpJoystickMain_l = httpJoystick_f;
//set default mode from config
modePrevious = config.defaultMode;
@ -69,12 +71,12 @@ void controlledArmchair::startHandleLoop() {
case controlMode_t::JOYSTICK:
//get current joystick data with getData method of evaluatedJoystick
stickData = joystick.getData();
stickData = joystick_l->getData();
//additionaly scale coordinates (more detail in slower area)
joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config
//generate motor commands
commands = joystick_generateCommandsDriving(stickData);
//TODO: pass pointer to joystick object to control class instead of accessing it directly globally
//apply motor commands
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
//TODO make motorctl.setTarget also accept motorcommand struct directly
@ -84,7 +86,7 @@ void controlledArmchair::startHandleLoop() {
case controlMode_t::MASSAGE:
//generate motor commands
//pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
commands = joystick_generateCommandsShaking(joystick.getData());
commands = joystick_generateCommandsShaking(joystick_l->getData());
//apply motor commands
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
@ -167,11 +169,11 @@ void controlledArmchair::handleTimeout(){
if (validateActivity(dutyLeft_lastActivity, dutyLeftNow, inactivityTolerance)
|| validateActivity(dutyRight_lastActivity, dutyRightNow, inactivityTolerance)
){
ESP_LOGD(TAG, "timeout check: detected [activity] since last check -> reset");
ESP_LOGD(TAG, "timeout check: [activity] detected since last check -> reset");
//reset last duty and timestamp
timestamp_lastActivity = esp_log_timestamp();
dutyLeft_lastActivity = dutyLeftNow;
dutyRight_lastActivity = dutyRightNow;
resetTimeout();
}
//no activity on any motor and msTimeout exceeded
else if (esp_log_timestamp() - timestamp_lastActivity > config.timeoutMs){
@ -180,7 +182,7 @@ void controlledArmchair::handleTimeout(){
toggleIdle();
}
else {
ESP_LOGD(TAG, "timeout check: [inactive], last activity %.1f seconds ago", (float)(esp_log_timestamp() - timestamp_lastActivity)/1000);
ESP_LOGD(TAG, "timeout check: [inactive], last activity %.1f s ago, timeout after %d s", (float)(esp_log_timestamp() - timestamp_lastActivity)/1000, config.timeoutMs/1000);
}
}
}

2
main/control.hpp
View File

@ -38,6 +38,7 @@ class controlledArmchair {
buzzer_t* buzzer_f,
controlledMotor* motorLeft_f,
controlledMotor* motorRight_f,
evaluatedJoystick* joystick_f,
httpJoystick* httpJoystick_f
);
@ -68,6 +69,7 @@ class controlledArmchair {
controlledMotor* motorLeft;
controlledMotor* motorRight;
httpJoystick* httpJoystickMain_l;
evaluatedJoystick* joystick_l;
//---variables ---
//struct for motor commands returned by generate functions of each mode