Add control mode 'ADJUST_CHAIR' (btn 1 short, 1 long)

Add functional mode to control chair position via joystick
Switch to that mode using button 1x short 1x long (prev eject support)

board_single/main/auto.hpp

@@ -85,3 +85,50 @@ class automatedArmchair {
 };
 
 
+//=========== EXAMPLE USAGE ============
+//the following was once used in button.cpp to make move that ejects the leg support of armchair v1
+/**
+if (trigger){
+    //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;
+}
+*/

board_single/main/button.cpp

@@ -72,47 +72,8 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
         case 2:
             //run automatic commands to lift leg support when pressed 1x short 1x long
             if (lastPressLong){
-                //define commands
+            ESP_LOGW(TAG, "cmd %d: toggle ADJUST_CHAIR", count);
-                cmds[0] =
+            control->toggleMode(controlMode_t::ADJUST_CHAIR);
-                {
-                    .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
@@ -120,7 +81,6 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
             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

board_single/main/control.cpp

@@ -11,6 +11,7 @@ extern "C"
 
 #include "config.hpp"
 #include "control.hpp"
+#include "chairAdjust.hpp"
 
 
 //used definitions moved from config.hpp:
@@ -19,7 +20,7 @@ extern "C"
 
 //tag for logging
 static const char * TAG = "control";
-const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO"};
+const char* controlModeStr[8] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO", "ADJUST_CHAIR"};
 
 
 //-----------------------------
@@ -169,6 +170,19 @@ void controlledArmchair::startHandleLoop() {
                break;
 
 
+            case controlMode_t::ADJUST_CHAIR:
+                vTaskDelay(100 / portTICK_PERIOD_MS);
+                //--- read joystick ---
+                stickData = joystick_l->getData();
+                //--- idle motors ---
+                commands = cmds_bothMotorsIdle;
+                motorRight->setTarget(commands.right.state, commands.right.duty); 
+                motorLeft->setTarget(commands.left.state, commands.left.duty); 
+                //--- control armchair position with joystick input ---
+                joystick_ControlChairAdjustment(stickData, 0);
+                break;
+
+
               //TODO: add other modes here
         }
 
@@ -322,12 +336,13 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
 			ESP_LOGI(TAG, "noting to execute when changing FROM this mode");
 			break;
 
-#ifdef JOYSTICK_LOG_IN_IDLE
 		case controlMode_t::IDLE:
+#ifdef JOYSTICK_LOG_IN_IDLE
 			ESP_LOGI(TAG, "disabling debug output for 'evaluatedJoystick'");
 			esp_log_level_set("evaluatedJoystick", ESP_LOG_WARN); //FIXME: loglevel from config
-			break;
 #endif
+            buzzer->beep(1,200,100);
+			break;
 
 		case controlMode_t::HTTP:
 			ESP_LOGW(TAG, "switching from http mode -> disabling http and wifi");
@@ -367,6 +382,14 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
             motorLeft->setFade(fadeType_t::ACCEL, true);
             motorRight->setFade(fadeType_t::ACCEL, true);
             break;
+
+        case controlMode_t::ADJUST_CHAIR:
+            ESP_LOGW(TAG, "switching from ADJUST_CHAIR mode => turning off adjustment motors...");
+            //prevent motors from being always on in case of mode switch while joystick is not in center thus motors currently moving
+            setLegrestOff();
+            setBackrestOff();
+            break;
+
     }
 
 
@@ -384,6 +407,11 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
 #endif
 			break;
 
+        case controlMode_t::ADJUST_CHAIR:
+            ESP_LOGW(TAG, "switching to ADJUST_CHAIR mode -> beep");
+            buzzer->beep(4,200,100);
+            break;
+
         case controlMode_t::HTTP:
             ESP_LOGW(TAG, "switching to http mode -> enabling http and wifi");
             //start wifi
@@ -445,13 +473,13 @@ void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t mo
     //switch to secondary mode when primary is already active
     if (mode == modePrimary){
         ESP_LOGW(TAG, "toggleModes: switching from primaryMode %s to secondarMode %s", controlModeStr[(int)mode], controlModeStr[(int)modeSecondary]);
-        buzzer->beep(2,200,100);
+        //buzzer->beep(2,200,100);
         changeMode(modeSecondary); //switch to secondary mode
     } 
     //switch to primary mode when any other mode is active
     else {
         ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
-        buzzer->beep(4,200,100);
+        //buzzer->beep(4,200,100);
         changeMode(modePrimary);
     }
 }

board_single/main/control.hpp

@@ -11,9 +11,9 @@
 //---- struct, enum, variable declarations ---
 //--------------------------------------------
 //enum that decides how the motors get controlled
-enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
+enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO, ADJUST_CHAIR};
 //string array representing the mode enum (for printing the state as string)
-extern const char* controlModeStr[7];
+extern const char* controlModeStr[8];
 
 //--- control_config_t ---
 //struct with config parameters