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

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Add functional mode to control chair position via joystick
Switch to that mode using button 1x short 1x long (prev eject support)
This commit is contained in:
jonny_jr9 2023-10-08 14:54:22 +02:00
parent 9dfe1bddb2
commit 95f2403163
4 changed files with 84 additions and 49 deletions
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47
board_single/main/auto.hpp
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@ -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;
}
*/

44
board_single/main/button.cpp
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@ -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
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;
ESP_LOGW(TAG, "cmd %d: toggle ADJUST_CHAIR", count);
control->toggleMode(controlMode_t::ADJUST_CHAIR);
}
//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

38
board_single/main/control.cpp
View File

@ -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);
}
}

4
board_single/main/control.hpp
View File

@ -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