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

Merge branch 'dev'

Browse Source
This commit is contained in:
jonny_ji7 2022-08-10 08:50:20 +02:00
commit 78f14ca499
7 changed files with 263 additions and 75 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
README.md
View File

@ -92,21 +92,28 @@ A diagram which shows what components are connected to which terminals of the pc
- Anti slip regulation - Anti slip regulation
- Self driving algorithm - Self driving algorithm
- Lights - Lights
- drinks holder
# Usage # Usage
## Switch functions ## Switch functions
**Currently implemented** **Currently implemented**
| Count | Action | | Count | Type | Action | Description |
| --- | ---| | --- | --- | --- | --- |
| 1 | | | 1x | configure | [JOYSTICK] **calibrate stick** | when in joystick mode: set joystick center to current joystick pos |
| 2 | toggle IDLE mode | | 1x | control | [MASSAGE] **freeze** input | when in massage mode: lock or unlock joystick input at current position |
| 3 | | | 2x | toggle mode | **IDLE** <=> previous | enable/disable chair armchair e.g. enable after startup or timeout |
| 4 | toggle between HTTP and JOYSTICK mode| | 3x | switch mode | **JOYSTICK** | switch to default mode JOYSTICK |
| 5 | | | 4x | toggle mode | **HTTP** <=> JOYSTICK | switch to '**remote control** via web-app' or back to JOYSTICK mode |
| 6 | toggle between MASSAGE and JOYSTICK mode | | 5x | | | |
| 7 | | | 6x | toggle mode | **MASSAGE** <=> JOYSTICK | switch to MASSAGE mode or back to JOYSTICK mode |
| 7x | | | |
| 8x | toggle option | **deceleration limit** | disable/enable deceleration limit (default on) => more responsive |
| | | | |
| 12x | toggle option | **alt stick mapping** | toggle between default and alternative stick mapping (reverse swapped) |
| >1s | system | **restart** | Restart the controller when pressing the button longer than 1 second |
**previous functions - not implemented** **previous functions - not implemented**

34
main/button.cpp
View File

@ -36,6 +36,10 @@ buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, controlledArmcha
//---------------------------- //----------------------------
//function that runs commands depending on a count value //function that runs commands depending on a count value
void buttonCommands::action (uint8_t count){ void buttonCommands::action (uint8_t count){
//--- variable declarations ---
bool decelEnabled; //for different beeping when toggling
//--- actions based on count ---
switch (count){ switch (count){
//no such command //no such command
default: default:
@ -43,12 +47,21 @@ void buttonCommands::action (uint8_t count){
buzzer->beep(3, 400, 100); buzzer->beep(3, 400, 100);
break; break;
case 1: case 0: //special case when last button press is longer than timeout (>1s)
ESP_LOGW(TAG, "RESTART"); ESP_LOGW(TAG, "RESTART");
buzzer->beep(1,1000,1); buzzer->beep(1,1000,1);
vTaskDelay(1000 / portTICK_PERIOD_MS); vTaskDelay(1000 / portTICK_PERIOD_MS);
esp_restart(); esp_restart();
case 1:
ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
//-> define joystick center or toggle freeze input (executed in control task)
control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
break;
case 3:
ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
break; break;
case 2: case 2:
@ -68,7 +81,7 @@ void buttonCommands::action (uint8_t count){
case 8: case 8:
//toggle deceleration fading between on and off //toggle deceleration fading between on and off
bool decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL); decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
motorRight->toggleFade(fadeType_t::DECEL); motorRight->toggleFade(fadeType_t::DECEL);
ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled); ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
if (decelEnabled){ if (decelEnabled){
@ -76,7 +89,13 @@ void buttonCommands::action (uint8_t count){
} else { } else {
buzzer->beep(1, 1000, 1); buzzer->beep(1, 1000, 1);
} }
break;
case 12:
ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
//-> toggle altStickMapping (executed in control task)
control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1)?
break;
} }
} }
@ -121,9 +140,16 @@ void buttonCommands::startHandleLoop() {
state = inputState_t::IDLE; state = inputState_t::IDLE;
buzzer->beep(count, 50, 50); buzzer->beep(count, 50, 50);
//TODO: add optional "bool wait" parameter to beep function to delay until finished beeping //TODO: add optional "bool wait" parameter to beep function to delay until finished beeping
//run action function with current count of button presses
ESP_LOGI(TAG, "timeout - running action function for count=%d", count); ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
action(count); //--- run action function ---
//check if still pressed
if (button->state == true){
//run special case when last press was longer than timeout
action(0);
} else {
//run action function with current count of button presses
action(count);
}
} }
break; break;
} }

99
main/control.cpp
View File

@ -61,6 +61,7 @@ void controlledArmchair::startHandleLoop() {
mode = controlMode_t::IDLE; mode = controlMode_t::IDLE;
break; break;
case controlMode_t::IDLE: case controlMode_t::IDLE:
//copy preset commands for idling both motors //copy preset commands for idling both motors
commands = cmds_bothMotorsIdle; commands = cmds_bothMotorsIdle;
@ -69,30 +70,39 @@ void controlledArmchair::startHandleLoop() {
vTaskDelay(200 / portTICK_PERIOD_MS); vTaskDelay(200 / portTICK_PERIOD_MS);
break; break;
case controlMode_t::JOYSTICK: case controlMode_t::JOYSTICK:
vTaskDelay(20 / portTICK_PERIOD_MS);
//get current joystick data with getData method of evaluatedJoystick //get current joystick data with getData method of evaluatedJoystick
stickData = joystick_l->getData(); stickData = joystick_l->getData();
//additionaly scale coordinates (more detail in slower area) //additionaly scale coordinates (more detail in slower area)
joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config
//generate motor commands //generate motor commands
commands = joystick_generateCommandsDriving(stickData); commands = joystick_generateCommandsDriving(stickData, altStickMapping);
//apply motor commands //apply motor commands
motorRight->setTarget(commands.right.state, commands.right.duty); motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty); motorLeft->setTarget(commands.left.state, commands.left.duty);
//TODO make motorctl.setTarget also accept motorcommand struct directly //TODO make motorctl.setTarget also accept motorcommand struct directly
vTaskDelay(20 / portTICK_PERIOD_MS);
break; break;
case controlMode_t::MASSAGE: case controlMode_t::MASSAGE:
//generate motor commands vTaskDelay(10 / portTICK_PERIOD_MS);
//--- read joystick ---
//only update joystick data when input not frozen
if (!freezeInput){
stickData = joystick_l->getData();
}
//--- generate motor commands ---
//pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function //pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
commands = joystick_generateCommandsShaking(joystick_l->getData()); commands = joystick_generateCommandsShaking(stickData);
//apply motor commands //apply motor commands
motorRight->setTarget(commands.right.state, commands.right.duty); motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty); motorLeft->setTarget(commands.left.state, commands.left.duty);
vTaskDelay(20 / portTICK_PERIOD_MS);
break; break;
case controlMode_t::HTTP: case controlMode_t::HTTP:
//--- get joystick data from queue --- //--- get joystick data from queue ---
//Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned //Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned
@ -103,7 +113,7 @@ void controlledArmchair::startHandleLoop() {
ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle); ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle);
//--- generate motor commands --- //--- generate motor commands ---
//Note: timeout (no data received) is handled in getData method //Note: timeout (no data received) is handled in getData method
commands = joystick_generateCommandsDriving(stickData); commands = joystick_generateCommandsDriving(stickData, altStickMapping);
//--- apply commands to motors --- //--- apply commands to motors ---
//TODO make motorctl.setTarget also accept motorcommand struct directly //TODO make motorctl.setTarget also accept motorcommand struct directly
@ -115,6 +125,41 @@ void controlledArmchair::startHandleLoop() {
} }
//--- run actions based on received button button event ---
//TODO: what if variable gets set from other task during this code? -> mutex around this code
switch (buttonCount) {
case 1: //define joystick center or freeze input
if (mode == controlMode_t::JOYSTICK){
//joystick mode: calibrate joystick
joystick_l->defineCenter();
} else if (mode == controlMode_t::MASSAGE){
//massage mode: toggle freeze of input (lock joystick at current values)
freezeInput = !freezeInput;
if (freezeInput){
buzzer->beep(5, 40, 25);
} else {
buzzer->beep(1, 300, 100);
}
}
break;
case 12: //toggle alternative joystick mapping (reverse swapped)
altStickMapping = !altStickMapping;
if (altStickMapping){
buzzer->beep(6, 70, 50);
} else {
buzzer->beep(1, 500, 100);
}
break;
}
//--- reset button event --- (only one action per run)
if (buttonCount > 0){
ESP_LOGI(TAG, "resetting button event/count");
buttonCount = 0;
}
//----------------------- //-----------------------
//------ slow loop ------ //------ slow loop ------
//----------------------- //-----------------------
@ -142,10 +187,23 @@ void controlledArmchair::resetTimeout(){
//------------------------------------
//--------- sendButtonEvent ----------
//------------------------------------
void controlledArmchair::sendButtonEvent(uint8_t count){
//TODO mutex - if not replaced with queue
ESP_LOGI(TAG, "setting button event");
buttonCount = count;
}
//------------------------------------ //------------------------------------
//---------- handleTimeout ----------- //---------- handleTimeout -----------
//------------------------------------ //------------------------------------
float inactivityTolerance = 10; //percentage the duty can vary since last timeout check and still counts as incative //percentage the duty can vary since last timeout check and still counts as incative
//TODO: add this to config
float inactivityTolerance = 10;
//local function that checks whether two values differ more than a given tolerance //local function that checks whether two values differ more than a given tolerance
bool validateActivity(float dutyOld, float dutyNow, float tolerance){ bool validateActivity(float dutyOld, float dutyNow, float tolerance){
@ -214,7 +272,6 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
ESP_LOGI(TAG, "disabling http server..."); ESP_LOGI(TAG, "disabling http server...");
http_stop_server(); http_stop_server();
//FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp) //FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp)
//stop wifi //stop wifi
//TODO: decide whether ap or client is currently used - which has to be disabled? //TODO: decide whether ap or client is currently used - which has to be disabled?
@ -223,6 +280,19 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
//wifi_deinit_ap(); //wifi_deinit_ap();
ESP_LOGI(TAG, "done stopping http mode"); ESP_LOGI(TAG, "done stopping http mode");
break; break;
case controlMode_t::MASSAGE:
ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input");
//TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here...
//enable downfading (set to default value)
motorLeft->setFade(fadeType_t::DECEL, true);
motorRight->setFade(fadeType_t::DECEL, true);
//set upfading to default value
motorLeft->setFade(fadeType_t::ACCEL, true);
motorRight->setFade(fadeType_t::ACCEL, true);
//reset frozen input state
freezeInput = false;
break;
} }
@ -255,6 +325,19 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
http_init_server(); http_init_server();
ESP_LOGI(TAG, "done initializing http mode"); ESP_LOGI(TAG, "done initializing http mode");
break; break;
case controlMode_t::MASSAGE:
ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading");
uint32_t shake_msFadeAccel = 500; //TODO: move this to config
//disable downfading (max. deceleration)
motorLeft->setFade(fadeType_t::DECEL, false);
motorRight->setFade(fadeType_t::DECEL, false);
//reduce upfading (increase acceleration)
motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
break;
} }
//--- update mode to new mode --- //--- update mode to new mode ---

11
main/control.hpp
View File

@ -58,6 +58,10 @@ class controlledArmchair {
//function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity //function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
void resetTimeout(); void resetTimeout();
//function for sending a button event (e.g. from button task at event) to control task
//TODO: use queue instead?
void sendButtonEvent(uint8_t count);
private: private:
//--- functions --- //--- functions ---
@ -79,10 +83,17 @@ class controlledArmchair {
//store joystick data //store joystick data
joystickData_t stickData; joystickData_t stickData;
bool altStickMapping; //alternative joystick mapping (reverse mapped differently)
//variables for http mode //variables for http mode
uint32_t http_timestamp_lastData = 0; uint32_t http_timestamp_lastData = 0;
//variables for MASSAGE mode
bool freezeInput = false;
//variable to store button event
uint8_t buttonCount = 0;
//definition of mode enum //definition of mode enum
controlMode_t mode = controlMode_t::IDLE; controlMode_t mode = controlMode_t::IDLE;

155
main/joystick.cpp
View File

@ -278,7 +278,7 @@ joystickPos_t joystick_evaluatePosition(float x, float y){
//========= joystick_CommandsDriving ========= //========= joystick_CommandsDriving =========
//============================================ //============================================
//function that generates commands for both motors from the joystick data //function that generates commands for both motors from the joystick data
motorCommands_t joystick_generateCommandsDriving(joystickData_t data){ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping){
//struct with current data of the joystick //struct with current data of the joystick
@ -292,12 +292,23 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
motorCommands_t commands; motorCommands_t commands;
float dutyMax = 94; //TODO add this to config, make changeable during runtime float dutyMax = 95; //TODO add this to config, make changeable during runtime
float dutyOffset = 10; //immedeately starts with this duty, TODO add this to config float dutyOffset = 10; //immediately starts with this duty, TODO add this to config
float dutyRange = dutyMax - dutyOffset; float dutyRange = dutyMax - dutyOffset;
float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0 float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
//experimental alternative control mode
if (altStickMapping == true){
//swap BOTTOM_LEFT and BOTTOM_RIGHT
if (data.position == joystickPos_t::BOTTOM_LEFT){
data.position = joystickPos_t::BOTTOM_RIGHT;
}
else if (data.position == joystickPos_t::BOTTOM_RIGHT){
data.position = joystickPos_t::BOTTOM_LEFT;
}
}
switch (data.position){ switch (data.position){
case joystickPos_t::CENTER: case joystickPos_t::CENTER:
@ -376,34 +387,29 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
uint32_t shake_timestamp_turnedOn = 0; uint32_t shake_timestamp_turnedOn = 0;
uint32_t shake_timestamp_turnedOff = 0; uint32_t shake_timestamp_turnedOff = 0;
bool shake_state = false; bool shake_state = false;
joystickPos_t lastStickPos = joystickPos_t::CENTER;
//stick position quadrant only with "X_AXIS and Y_AXIS" as hysteresis
joystickPos_t stickQuadrant = joystickPos_t::CENTER;
//--- configure shake mode --- TODO: move this to config //--- configure shake mode --- TODO: move this to config
uint32_t shake_msOffMax = 90; uint32_t shake_msOffMax = 80;
uint32_t shake_msOnMax = 180; uint32_t shake_msOnMax = 120;
float dutyShake = 60; float dutyShake = 60;
//function that generates commands for both motors from the joystick data //function that generates commands for both motors from the joystick data
motorCommands_t joystick_generateCommandsShaking(joystickData_t data){ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
//--- handle pulsing shake variable ---
//struct with current data of the joystick //TODO remove this, make individual per mode?
//typedef struct joystickData_t { //TODO only run this when not CENTER anyways?
// joystickPos_t position;
// float x;
// float y;
// float radius;
// float angle;
//} joystickData_t;
motorCommands_t commands; motorCommands_t commands;
float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0 float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
//--- calculate on/off duration --- //calculate on/off duration
uint32_t msOn = shake_msOnMax * data.radius; uint32_t msOn = shake_msOnMax * data.radius;
uint32_t msOff = shake_msOffMax * data.radius; uint32_t msOff = shake_msOffMax * data.radius;
//--- evaluate state (on/off) --- //evaluate state (on/off)
if (data.radius > 0 ){ if (data.radius > 0 ){
//currently off //currently off
if (shake_state == false){ if (shake_state == false){
@ -433,44 +439,98 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
//struct with current data of the joystick
//typedef struct joystickData_t {
// joystickPos_t position;
// float x;
// float y;
// float radius;
// float angle;
//} joystickData_t;
if (shake_state){
switch (data.position){
default: //--- evaluate stick position ---
commands.left.state = motorstate_t::IDLE; //4 quadrants and center only - with X and Y axis as hysteresis
commands.right.state = motorstate_t::IDLE; switch (data.position){
commands.left.duty = 0;
commands.right.duty = 0;
break;
case joystickPos_t::Y_AXIS: case joystickPos_t::CENTER:
//immediately set to center at center
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){ if (data.y > 0){
commands.left.state = motorstate_t::FWD; stickQuadrant = joystickPos_t::TOP_RIGHT;
commands.right.state = motorstate_t::FWD;
} else { } else {
commands.left.state = motorstate_t::REV; stickQuadrant = joystickPos_t::BOTTOM_RIGHT;
commands.right.state = motorstate_t::REV;
} }
//set duty to shake }
commands.left.duty = dutyShake; break;
commands.right.duty = dutyShake;
break;
case joystickPos_t::X_AXIS: case joystickPos_t::X_AXIS:
if (data.x > 0) { //when moving from center to axis initially start in a certain quadrant
commands.left.state = motorstate_t::FWD; if (stickQuadrant == joystickPos_t::CENTER) {
commands.right.state = motorstate_t::REV; if (data.x > 0){
stickQuadrant = joystickPos_t::TOP_RIGHT;
} else { } else {
commands.left.state = motorstate_t::REV; stickQuadrant = joystickPos_t::TOP_LEFT;
commands.right.state = motorstate_t::FWD;
} }
//set duty to shake }
commands.left.duty = dutyShake; break;
commands.right.duty = dutyShake;
break; case joystickPos_t::TOP_RIGHT:
} case joystickPos_t::TOP_LEFT:
} else { //shake state off 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.left.state = motorstate_t::IDLE;
commands.right.state = motorstate_t::IDLE; commands.right.state = motorstate_t::IDLE;
commands.left.duty = 0; 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); 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 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); ESP_LOGI(TAG_CMD, "motor right: state=%s, duty=%.3f", motorstateStr[(int)commands.right.state], commands.right.duty);
return commands; return commands;
} }

2
main/joystick.hpp
View File

@ -107,7 +107,7 @@ class evaluatedJoystick {
//============================================ //============================================
//function that generates commands for both motors from the joystick data //function that generates commands for both motors from the joystick data
//motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick); //motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick);
motorCommands_t joystick_generateCommandsDriving(joystickData_t data ); motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping = false);

12
main/main.cpp
View File

@ -38,7 +38,7 @@ void task_motorctl( void * pvParameters ){
motorRight.handle(); motorRight.handle();
motorLeft.handle(); motorLeft.handle();
//10khz -> T=100us //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("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG); //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
esp_log_level_set("button", ESP_LOG_INFO); 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("fan-control", ESP_LOG_INFO);
esp_log_level_set("wifi", ESP_LOG_INFO); esp_log_level_set("wifi", ESP_LOG_INFO);
esp_log_level_set("http", 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 --- //--- create task for controlling the motors ---
//---------------------------------------------- //----------------------------------------------
//task that receives commands, handles ramp and current limit and executes commands using the motordriver function //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 --- //--- 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 --- //--- create task for control ---
@ -175,13 +175,13 @@ extern "C" void app_main(void) {
//--- create task for button --- //--- create task for button ---
//------------------------------ //------------------------------
//task that evaluates and processes the button input and runs the configured commands //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 --- //--- create task for fan control ---
//----------------------------------- //-----------------------------------
//task that evaluates and processes the button input and runs the configured commands //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 //beep at startup