Merge branch 'dev'
This commit is contained in:
jonny_ji7
commit
78f14ca499
25
README.md
25
README.md
@ -92,21 +92,28 @@ A diagram which shows what components are connected to which terminals of the pc
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- Anti slip regulation
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- Self driving algorithm
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- Lights
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- drinks holder
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# Usage
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## Switch functions
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**Currently implemented**
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| Count | Action |
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| --- | ---|
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| 1 | |
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| 2 | toggle IDLE mode |
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| 3 | |
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| 4 | toggle between HTTP and JOYSTICK mode|
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| 5 | |
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| 6 | toggle between MASSAGE and JOYSTICK mode |
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| 7 | |
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| Count | Type | Action | Description |
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| --- | --- | --- | --- |
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| 1x | configure | [JOYSTICK] **calibrate stick** | when in joystick mode: set joystick center to current joystick pos |
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| 1x | control | [MASSAGE] **freeze** input | when in massage mode: lock or unlock joystick input at current position |
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| 2x | toggle mode | **IDLE** <=> previous | enable/disable chair armchair e.g. enable after startup or timeout |
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| 3x | switch mode | **JOYSTICK** | switch to default mode JOYSTICK |
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| 4x | toggle mode | **HTTP** <=> JOYSTICK | switch to '**remote control** via web-app' or back to JOYSTICK mode |
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| 5x | | | |
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| 6x | toggle mode | **MASSAGE** <=> JOYSTICK | switch to MASSAGE mode or back to JOYSTICK mode |
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| 7x | | | |
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| 8x | toggle option | **deceleration limit** | disable/enable deceleration limit (default on) => more responsive |
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| | | | |
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| 12x | toggle option | **alt stick mapping** | toggle between default and alternative stick mapping (reverse swapped) |
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| >1s | system | **restart** | Restart the controller when pressing the button longer than 1 second |
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**previous functions - not implemented**
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@ -36,6 +36,10 @@ buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, controlledArmcha
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//----------------------------
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//function that runs commands depending on a count value
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void buttonCommands::action (uint8_t count){
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//--- variable declarations ---
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bool decelEnabled; //for different beeping when toggling
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//--- actions based on count ---
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switch (count){
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//no such command
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default:
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@ -43,12 +47,21 @@ void buttonCommands::action (uint8_t count){
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buzzer->beep(3, 400, 100);
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break;
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case 1:
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case 0: //special case when last button press is longer than timeout (>1s)
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ESP_LOGW(TAG, "RESTART");
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buzzer->beep(1,1000,1);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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esp_restart();
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case 1:
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ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
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//-> define joystick center or toggle freeze input (executed in control task)
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control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
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break;
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case 3:
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ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
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control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
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break;
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case 2:
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@ -68,7 +81,7 @@ void buttonCommands::action (uint8_t count){
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case 8:
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//toggle deceleration fading between on and off
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bool decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
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decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
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motorRight->toggleFade(fadeType_t::DECEL);
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ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
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if (decelEnabled){
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@ -76,7 +89,13 @@ void buttonCommands::action (uint8_t count){
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} else {
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buzzer->beep(1, 1000, 1);
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}
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break;
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case 12:
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ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
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//-> toggle altStickMapping (executed in control task)
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control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1)?
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break;
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}
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}
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@ -121,9 +140,16 @@ void buttonCommands::startHandleLoop() {
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state = inputState_t::IDLE;
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buzzer->beep(count, 50, 50);
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//TODO: add optional "bool wait" parameter to beep function to delay until finished beeping
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//run action function with current count of button presses
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ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
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action(count);
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//--- run action function ---
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//check if still pressed
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if (button->state == true){
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//run special case when last press was longer than timeout
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action(0);
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} else {
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//run action function with current count of button presses
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action(count);
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}
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}
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break;
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}
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@ -61,6 +61,7 @@ void controlledArmchair::startHandleLoop() {
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mode = controlMode_t::IDLE;
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break;
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case controlMode_t::IDLE:
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//copy preset commands for idling both motors
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commands = cmds_bothMotorsIdle;
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@ -69,30 +70,39 @@ void controlledArmchair::startHandleLoop() {
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vTaskDelay(200 / portTICK_PERIOD_MS);
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break;
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case controlMode_t::JOYSTICK:
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vTaskDelay(20 / portTICK_PERIOD_MS);
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//get current joystick data with getData method of evaluatedJoystick
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stickData = joystick_l->getData();
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//additionaly scale coordinates (more detail in slower area)
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joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config
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//generate motor commands
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commands = joystick_generateCommandsDriving(stickData);
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commands = joystick_generateCommandsDriving(stickData, altStickMapping);
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//apply motor commands
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motorRight->setTarget(commands.right.state, commands.right.duty);
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motorLeft->setTarget(commands.left.state, commands.left.duty);
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//TODO make motorctl.setTarget also accept motorcommand struct directly
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vTaskDelay(20 / portTICK_PERIOD_MS);
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break;
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case controlMode_t::MASSAGE:
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//generate motor commands
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vTaskDelay(10 / portTICK_PERIOD_MS);
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//--- read joystick ---
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//only update joystick data when input not frozen
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if (!freezeInput){
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stickData = joystick_l->getData();
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}
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//--- generate motor commands ---
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//pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
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commands = joystick_generateCommandsShaking(joystick_l->getData());
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commands = joystick_generateCommandsShaking(stickData);
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//apply motor commands
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motorRight->setTarget(commands.right.state, commands.right.duty);
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motorLeft->setTarget(commands.left.state, commands.left.duty);
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vTaskDelay(20 / portTICK_PERIOD_MS);
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break;
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case controlMode_t::HTTP:
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//--- get joystick data from queue ---
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//Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned
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@ -103,7 +113,7 @@ void controlledArmchair::startHandleLoop() {
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ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle);
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//--- generate motor commands ---
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//Note: timeout (no data received) is handled in getData method
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commands = joystick_generateCommandsDriving(stickData);
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commands = joystick_generateCommandsDriving(stickData, altStickMapping);
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//--- apply commands to motors ---
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//TODO make motorctl.setTarget also accept motorcommand struct directly
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@ -115,6 +125,41 @@ void controlledArmchair::startHandleLoop() {
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}
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//--- run actions based on received button button event ---
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//TODO: what if variable gets set from other task during this code? -> mutex around this code
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switch (buttonCount) {
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case 1: //define joystick center or freeze input
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if (mode == controlMode_t::JOYSTICK){
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//joystick mode: calibrate joystick
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joystick_l->defineCenter();
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} else if (mode == controlMode_t::MASSAGE){
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//massage mode: toggle freeze of input (lock joystick at current values)
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freezeInput = !freezeInput;
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if (freezeInput){
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buzzer->beep(5, 40, 25);
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} else {
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buzzer->beep(1, 300, 100);
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}
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}
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break;
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case 12: //toggle alternative joystick mapping (reverse swapped)
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altStickMapping = !altStickMapping;
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if (altStickMapping){
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buzzer->beep(6, 70, 50);
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} else {
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buzzer->beep(1, 500, 100);
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}
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break;
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}
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//--- reset button event --- (only one action per run)
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if (buttonCount > 0){
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ESP_LOGI(TAG, "resetting button event/count");
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buttonCount = 0;
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}
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//-----------------------
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//------ slow loop ------
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//-----------------------
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@ -142,10 +187,23 @@ void controlledArmchair::resetTimeout(){
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//------------------------------------
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//--------- sendButtonEvent ----------
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//------------------------------------
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void controlledArmchair::sendButtonEvent(uint8_t count){
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//TODO mutex - if not replaced with queue
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ESP_LOGI(TAG, "setting button event");
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buttonCount = count;
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}
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//------------------------------------
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//---------- handleTimeout -----------
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//------------------------------------
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float inactivityTolerance = 10; //percentage the duty can vary since last timeout check and still counts as incative
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//percentage the duty can vary since last timeout check and still counts as incative
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//TODO: add this to config
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float inactivityTolerance = 10;
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//local function that checks whether two values differ more than a given tolerance
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bool validateActivity(float dutyOld, float dutyNow, float tolerance){
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@ -214,7 +272,6 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
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ESP_LOGI(TAG, "disabling http server...");
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http_stop_server();
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//FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp)
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//stop wifi
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//TODO: decide whether ap or client is currently used - which has to be disabled?
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@ -223,6 +280,19 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
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//wifi_deinit_ap();
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ESP_LOGI(TAG, "done stopping http mode");
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break;
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case controlMode_t::MASSAGE:
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ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input");
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//TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here...
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//enable downfading (set to default value)
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motorLeft->setFade(fadeType_t::DECEL, true);
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motorRight->setFade(fadeType_t::DECEL, true);
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//set upfading to default value
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motorLeft->setFade(fadeType_t::ACCEL, true);
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motorRight->setFade(fadeType_t::ACCEL, true);
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//reset frozen input state
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freezeInput = false;
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break;
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}
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@ -255,6 +325,19 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
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http_init_server();
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ESP_LOGI(TAG, "done initializing http mode");
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break;
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case controlMode_t::MASSAGE:
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ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading");
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uint32_t shake_msFadeAccel = 500; //TODO: move this to config
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//disable downfading (max. deceleration)
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motorLeft->setFade(fadeType_t::DECEL, false);
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motorRight->setFade(fadeType_t::DECEL, false);
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//reduce upfading (increase acceleration)
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motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
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motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
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break;
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}
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//--- update mode to new mode ---
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@ -58,6 +58,10 @@ class controlledArmchair {
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//function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
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void resetTimeout();
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//function for sending a button event (e.g. from button task at event) to control task
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//TODO: use queue instead?
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void sendButtonEvent(uint8_t count);
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private:
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//--- functions ---
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@ -79,10 +83,17 @@ class controlledArmchair {
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//store joystick data
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joystickData_t stickData;
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bool altStickMapping; //alternative joystick mapping (reverse mapped differently)
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//variables for http mode
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uint32_t http_timestamp_lastData = 0;
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//variables for MASSAGE mode
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bool freezeInput = false;
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//variable to store button event
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uint8_t buttonCount = 0;
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//definition of mode enum
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controlMode_t mode = controlMode_t::IDLE;
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@ -278,7 +278,7 @@ joystickPos_t joystick_evaluatePosition(float x, float y){
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//========= joystick_CommandsDriving =========
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//============================================
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//function that generates commands for both motors from the joystick data
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motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
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motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping){
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//struct with current data of the joystick
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@ -292,12 +292,23 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
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motorCommands_t commands;
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float dutyMax = 94; //TODO add this to config, make changeable during runtime
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float dutyMax = 95; //TODO add this to config, make changeable during runtime
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float dutyOffset = 10; //immedeately starts with this duty, TODO add this to config
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float dutyOffset = 10; //immediately starts with this duty, TODO add this to config
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float dutyRange = dutyMax - dutyOffset;
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float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
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//experimental alternative control mode
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if (altStickMapping == true){
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//swap BOTTOM_LEFT and BOTTOM_RIGHT
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if (data.position == joystickPos_t::BOTTOM_LEFT){
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data.position = joystickPos_t::BOTTOM_RIGHT;
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}
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else if (data.position == joystickPos_t::BOTTOM_RIGHT){
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data.position = joystickPos_t::BOTTOM_LEFT;
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}
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}
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switch (data.position){
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case joystickPos_t::CENTER:
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@ -376,34 +387,29 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
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uint32_t shake_timestamp_turnedOn = 0;
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uint32_t shake_timestamp_turnedOff = 0;
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bool shake_state = false;
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joystickPos_t lastStickPos = joystickPos_t::CENTER;
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//stick position quadrant only with "X_AXIS and Y_AXIS" as hysteresis
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joystickPos_t stickQuadrant = joystickPos_t::CENTER;
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//--- configure shake mode --- TODO: move this to config
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uint32_t shake_msOffMax = 90;
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uint32_t shake_msOnMax = 180;
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uint32_t shake_msOffMax = 80;
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uint32_t shake_msOnMax = 120;
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float dutyShake = 60;
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//function that generates commands for both motors from the joystick data
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motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
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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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||||
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//--- handle pulsing shake variable ---
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//TODO remove this, make individual per mode?
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//TODO only run this when not CENTER anyways?
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motorCommands_t commands;
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float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
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//--- calculate on/off duration ---
|
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//calculate on/off duration
|
||||
uint32_t msOn = shake_msOnMax * data.radius;
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uint32_t msOff = shake_msOffMax * data.radius;
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//--- evaluate state (on/off) ---
|
||||
//evaluate state (on/off)
|
||||
if (data.radius > 0 ){
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||||
//currently off
|
||||
if (shake_state == false){
|
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@ -433,44 +439,98 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
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||||
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||||
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||||
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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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||||
if (shake_state){
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switch (data.position){
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||||
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default:
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||||
commands.left.state = motorstate_t::IDLE;
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commands.right.state = motorstate_t::IDLE;
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commands.left.duty = 0;
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||||
commands.right.duty = 0;
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||||
break;
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//--- evaluate stick position ---
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||||
//4 quadrants and center only - with X and Y axis as hysteresis
|
||||
switch (data.position){
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||||
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||||
case joystickPos_t::Y_AXIS:
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||||
case joystickPos_t::CENTER:
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||||
//immediately set to center at center
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||||
stickQuadrant = joystickPos_t::CENTER;
|
||||
break;
|
||||
|
||||
case joystickPos_t::Y_AXIS:
|
||||
//when moving from center to axis initially start in a certain quadrant
|
||||
if (stickQuadrant == joystickPos_t::CENTER) {
|
||||
if (data.y > 0){
|
||||
commands.left.state = motorstate_t::FWD;
|
||||
commands.right.state = motorstate_t::FWD;
|
||||
stickQuadrant = joystickPos_t::TOP_RIGHT;
|
||||
} else {
|
||||
commands.left.state = motorstate_t::REV;
|
||||
commands.right.state = motorstate_t::REV;
|
||||
stickQuadrant = joystickPos_t::BOTTOM_RIGHT;
|
||||
}
|
||||
//set duty to shake
|
||||
commands.left.duty = dutyShake;
|
||||
commands.right.duty = dutyShake;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
case joystickPos_t::X_AXIS:
|
||||
if (data.x > 0) {
|
||||
commands.left.state = motorstate_t::FWD;
|
||||
commands.right.state = motorstate_t::REV;
|
||||
case joystickPos_t::X_AXIS:
|
||||
//when moving from center to axis initially start in a certain quadrant
|
||||
if (stickQuadrant == joystickPos_t::CENTER) {
|
||||
if (data.x > 0){
|
||||
stickQuadrant = joystickPos_t::TOP_RIGHT;
|
||||
} else {
|
||||
commands.left.state = motorstate_t::REV;
|
||||
commands.right.state = motorstate_t::FWD;
|
||||
stickQuadrant = joystickPos_t::TOP_LEFT;
|
||||
}
|
||||
//set duty to shake
|
||||
commands.left.duty = dutyShake;
|
||||
commands.right.duty = dutyShake;
|
||||
break;
|
||||
}
|
||||
} else { //shake state off
|
||||
}
|
||||
break;
|
||||
|
||||
case joystickPos_t::TOP_RIGHT:
|
||||
case joystickPos_t::TOP_LEFT:
|
||||
case joystickPos_t::BOTTOM_LEFT:
|
||||
case joystickPos_t::BOTTOM_RIGHT:
|
||||
//update/change evaluated pos when in one of the 4 quadrants
|
||||
stickQuadrant = data.position;
|
||||
//TODO: maybe beep when switching mode? (difficult because beep object has to be passed to function)
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//--- handle different modes (joystick in any of 4 quadrants) ---
|
||||
switch (stickQuadrant){
|
||||
case joystickPos_t::CENTER:
|
||||
case joystickPos_t::X_AXIS: //never true
|
||||
case joystickPos_t::Y_AXIS: //never true
|
||||
commands.left.state = motorstate_t::IDLE;
|
||||
commands.right.state = motorstate_t::IDLE;
|
||||
commands.left.duty = 0;
|
||||
commands.right.duty = 0;
|
||||
ESP_LOGI(TAG_CMD, "generate shake commands: CENTER -> idle");
|
||||
return commands;
|
||||
break;
|
||||
//4 different modes
|
||||
case joystickPos_t::TOP_RIGHT:
|
||||
commands.left.state = motorstate_t::FWD;
|
||||
commands.right.state = motorstate_t::FWD;
|
||||
break;
|
||||
case joystickPos_t::TOP_LEFT:
|
||||
commands.left.state = motorstate_t::REV;
|
||||
commands.right.state = motorstate_t::REV;
|
||||
break;
|
||||
case joystickPos_t::BOTTOM_LEFT:
|
||||
commands.left.state = motorstate_t::REV;
|
||||
commands.right.state = motorstate_t::FWD;
|
||||
break;
|
||||
case joystickPos_t::BOTTOM_RIGHT:
|
||||
commands.left.state = motorstate_t::FWD;
|
||||
commands.right.state = motorstate_t::REV;
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
//--- turn motors on/off depending on pulsing shake variable ---
|
||||
if (shake_state == true){
|
||||
//set duty to shake
|
||||
commands.left.duty = dutyShake;
|
||||
commands.right.duty = dutyShake;
|
||||
//directions are defined above depending on mode
|
||||
} else {
|
||||
commands.left.state = motorstate_t::IDLE;
|
||||
commands.right.state = motorstate_t::IDLE;
|
||||
commands.left.duty = 0;
|
||||
@ -482,5 +542,6 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
|
||||
joystickPosStr[(int)data.position], data.angle, ratio, (1-ratio), data.radius, data.x, data.y);
|
||||
ESP_LOGI(TAG_CMD, "motor left: state=%s, duty=%.3f", motorstateStr[(int)commands.left.state], commands.left.duty);
|
||||
ESP_LOGI(TAG_CMD, "motor right: state=%s, duty=%.3f", motorstateStr[(int)commands.right.state], commands.right.duty);
|
||||
|
||||
return commands;
|
||||
}
|
||||
|
||||
@ -107,7 +107,7 @@ class evaluatedJoystick {
|
||||
//============================================
|
||||
//function that generates commands for both motors from the joystick data
|
||||
//motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick);
|
||||
motorCommands_t joystick_generateCommandsDriving(joystickData_t data );
|
||||
motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping = false);
|
||||
|
||||
|
||||
|
||||
|
||||
@ -38,7 +38,7 @@ void task_motorctl( void * pvParameters ){
|
||||
motorRight.handle();
|
||||
motorLeft.handle();
|
||||
//10khz -> T=100us
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
vTaskDelay(10 / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
|
||||
@ -148,7 +148,7 @@ extern "C" void app_main(void) {
|
||||
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
|
||||
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
|
||||
esp_log_level_set("button", ESP_LOG_INFO);
|
||||
esp_log_level_set("control", ESP_LOG_DEBUG);
|
||||
esp_log_level_set("control", ESP_LOG_INFO);
|
||||
esp_log_level_set("fan-control", ESP_LOG_INFO);
|
||||
esp_log_level_set("wifi", ESP_LOG_INFO);
|
||||
esp_log_level_set("http", ESP_LOG_INFO);
|
||||
@ -158,12 +158,12 @@ extern "C" void app_main(void) {
|
||||
//--- create task for controlling the motors ---
|
||||
//----------------------------------------------
|
||||
//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
|
||||
xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 5, NULL);
|
||||
xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
|
||||
|
||||
//------------------------------
|
||||
//--- create task for buzzer ---
|
||||
//------------------------------
|
||||
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 5, NULL);
|
||||
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
|
||||
|
||||
//-------------------------------
|
||||
//--- create task for control ---
|
||||
@ -175,13 +175,13 @@ extern "C" void app_main(void) {
|
||||
//--- create task for button ---
|
||||
//------------------------------
|
||||
//task that evaluates and processes the button input and runs the configured commands
|
||||
xTaskCreate(&task_button, "task_button", 2048, NULL, 5, NULL);
|
||||
xTaskCreate(&task_button, "task_button", 2048, NULL, 4, NULL);
|
||||
|
||||
//-----------------------------------
|
||||
//--- create task for fan control ---
|
||||
//-----------------------------------
|
||||
//task that evaluates and processes the button input and runs the configured commands
|
||||
xTaskCreate(&task_fans, "task_fans", 2048, NULL, 5, NULL);
|
||||
xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
|
||||
|
||||
|
||||
//beep at startup
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user