From 7b1b985a15e3ca3f124f27fa7dfae55854912921 Mon Sep 17 00:00:00 2001
From: jonny_ji7 <jonny@wwad.de>
Date: Thu, 11 Aug 2022 15:15:55 +0200
Subject: [PATCH] Add longPressed case to button class, rework cmds
- slightly decrease msFadeDecel by 100ms
- different approach in button.cpp for case last button press was long
e.g. reworked commands:
- 1x long press = restart
- 1x short press = center stick, freeze
- 1x short 1x long = run new auto commands
- 2x short = toggle idle
- change default minOnMs / minOffMs for evaulated switch class -> fix
button presses sometimes not recognized
---
components/gpio/gpio_evaluateSwitch.hpp | 4 +-
main/button.cpp | 132 +++++++++++++-----------
main/button.hpp | 2 +-
main/config.cpp | 2 +-
4 files changed, 74 insertions(+), 66 deletions(-)
diff --git a/components/gpio/gpio_evaluateSwitch.hpp b/components/gpio/gpio_evaluateSwitch.hpp
index 23caa14..c4a27e4 100644
--- a/components/gpio/gpio_evaluateSwitch.hpp
+++ b/components/gpio/gpio_evaluateSwitch.hpp
@@ -22,8 +22,8 @@ extern "C"
class gpio_evaluatedSwitch {
public:
//--- input ---
- uint32_t minOnMs = 50;
- uint32_t minOffMs = 50;
+ uint32_t minOnMs = 30;
+ uint32_t minOffMs = 30;
gpio_evaluatedSwitch( //constructor minimal (default parameters pullup=true, inverted=false)
gpio_num_t gpio_num_declare
);
diff --git a/main/button.cpp b/main/button.cpp
index 145ac7b..1762e6e 100644
--- a/main/button.cpp
+++ b/main/button.cpp
@@ -36,7 +36,7 @@ buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystic
//--------- action -----------
//----------------------------
//function that runs commands depending on a count value
-void buttonCommands::action (uint8_t count){
+void buttonCommands::action (uint8_t count, bool lastPressLong){
//--- variable declarations ---
bool decelEnabled; //for different beeping when toggling
commandSimple_t cmds[8]; //array for commands for automatedArmchair
@@ -52,69 +52,77 @@ void buttonCommands::action (uint8_t count){
buzzer->beep(3, 400, 100);
break;
- case 0: //special case when last button press is longer than timeout (>1s)
- ESP_LOGW(TAG, "RESTART");
- buzzer->beep(1,1000,1);
- vTaskDelay(1000 / portTICK_PERIOD_MS);
- 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
- //====== TESTING: send cmd to auto mode =====
- //define commands
- cmds[0] =
- {
- .motorCmds = {
- .left = {motorstate_t::REV, 90},
- .right = {motorstate_t::REV, 90}
- },
- .msDuration = 1200,
- .fadeDecel = 800,
- .fadeAccel = 1300,
- .instruction = auto_instruction_t::NONE
- };
- cmds[1] =
- {
- .motorCmds = {
- .left = {motorstate_t::FWD, 70},
- .right = {motorstate_t::FWD, 70}
- },
- .msDuration = 70,
- .fadeDecel = 0,
- .fadeAccel = 300,
- .instruction = auto_instruction_t::NONE
- };
- cmds[2] =
- {
- .motorCmds = {
- .left = {motorstate_t::IDLE, 0},
- .right = {motorstate_t::IDLE, 0}
- },
- .msDuration = 10,
- .fadeDecel = 800,
- .fadeAccel = 1300,
- .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
- };
+ //restart contoller when 1x long pressed
+ if (lastPressLong){
+ ESP_LOGW(TAG, "RESTART");
+ buzzer->beep(1,1000,1);
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ esp_restart();
+ return;
+ }
- //send commands to automatedArmchair command queue
- armchair.addCommands(cmds, 3);
-
- //change mode to AUTO
- control->changeMode(controlMode_t::AUTO);
+ 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 2:
+ //run automatic commands to lift leg support when pressed 1x short 1x long
+ if (lastPressLong){
+ //define commands
+ cmds[0] =
+ {
+ .motorCmds = {
+ .left = {motorstate_t::REV, 90},
+ .right = {motorstate_t::REV, 90}
+ },
+ .msDuration = 1200,
+ .fadeDecel = 800,
+ .fadeAccel = 1300,
+ .instruction = auto_instruction_t::NONE
+ };
+ cmds[1] =
+ {
+ .motorCmds = {
+ .left = {motorstate_t::FWD, 70},
+ .right = {motorstate_t::FWD, 70}
+ },
+ .msDuration = 70,
+ .fadeDecel = 0,
+ .fadeAccel = 300,
+ .instruction = auto_instruction_t::NONE
+ };
+ cmds[2] =
+ {
+ .motorCmds = {
+ .left = {motorstate_t::IDLE, 0},
+ .right = {motorstate_t::IDLE, 0}
+ },
+ .msDuration = 10,
+ .fadeDecel = 800,
+ .fadeAccel = 1300,
+ .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
+ };
+
+ //send commands to automatedArmchair command queue
+ armchair.addCommands(cmds, 3);
+
+ //change mode to AUTO
+ control->changeMode(controlMode_t::AUTO);
+ return;
+ }
+
+ //toggle idle when 2x pressed
+ ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
+ control->toggleIdle(); //toggle between idle and previous/default mode
+ break;
+
case 3:
ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
break;
- case 2:
- ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
- control->toggleIdle(); //toggle between idle and previous/default mode
- break;
-
case 4:
ESP_LOGW(TAG, "cmd %d: toggle between HTTP and JOYSTICK", count);
control->toggleModes(controlMode_t::HTTP, controlMode_t::JOYSTICK); //toggle between HTTP and JOYSTICK mode
@@ -166,7 +174,7 @@ void buttonCommands::startHandleLoop() {
case inputState_t::IDLE: //wait for initial button press
if (button->risingEdge) {
count = 1;
- buzzer->beep(1, 60, 0);
+ buzzer->beep(1, 65, 0);
timestamp_lastAction = esp_log_timestamp();
state = inputState_t::WAIT_FOR_INPUT;
ESP_LOGI(TAG, "first button press detected -> waiting for further events");
@@ -177,7 +185,7 @@ void buttonCommands::startHandleLoop() {
//button pressed again
if (button->risingEdge){
count++;
- buzzer->beep(1, 60, 0);
+ buzzer->beep(1, 65, 0);
timestamp_lastAction = esp_log_timestamp();
ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count);
}
@@ -189,14 +197,14 @@ void buttonCommands::startHandleLoop() {
ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
//--- run action function ---
//check if still pressed
+ bool lastPressLong = false;
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);
+ lastPressLong = true;
+ }
+ //run action function with current count of button presses
+ action(count, lastPressLong);
}
- }
break;
}
}
diff --git a/main/button.hpp b/main/button.hpp
index a62cd1a..09de729 100644
--- a/main/button.hpp
+++ b/main/button.hpp
@@ -33,7 +33,7 @@ class buttonCommands {
private:
//--- functions ---
- void action(uint8_t count);
+ void action(uint8_t count, bool lastPressLong);
//--- objects ---
gpio_evaluatedSwitch* button;
diff --git a/main/config.cpp b/main/config.cpp
index aecf079..3214948 100644
--- a/main/config.cpp
+++ b/main/config.cpp
@@ -30,7 +30,7 @@ single100a_config_t configDriverRight = {
//--- configure motor contol ---
motorctl_config_t configMotorControl = {
.msFadeAccel = 1300, //acceleration of the motor (ms it takes from 0% to 100%)
- .msFadeDecel = 800, //deceleration of the motor (ms it takes from 100% to 0%)
+ .msFadeDecel = 700, //deceleration of the motor (ms it takes from 100% to 0%)
.currentMax = 10
};