Add chairAdjust driver, Add joystick control

- Add functions that control the relays for adjusting the armchair
  position
- Add function that controls the chair using joystick input

common/CMakeLists.txt

@@ -10,6 +10,7 @@ idf_component_register(
 		"joystick.cpp"
 		"http.cpp"
 		"speedsensor.cpp"
+        "chairAdjust.cpp"
     INCLUDE_DIRS 
         "."
 		PRIV_REQUIRES nvs_flash mdns json spiffs esp_http_server

common/chairAdjust.cpp

@@ -0,0 +1,147 @@
+extern "C"
+{
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+}
+
+#include "chairAdjust.hpp"
+
+
+
+
+//--- config ---
+//relays that control the motor for electric chair adjustment
+//TODO: add this to config?
+//relays connected to 4x stepper mosfets:
+#define GPIO_LEGREST_UP     GPIO_NUM_4
+#define GPIO_LEGREST_DOWN   GPIO_NUM_16
+#define GPIO_BACKREST_UP    GPIO_NUM_2
+#define GPIO_BACKREST_DOWN  GPIO_NUM_15
+
+//--- variables ---
+//tag for logging
+static const char * TAG = "chair-adjustment";
+//current motor states
+static restState_t stateLegRest = REST_OFF;
+static restState_t stateBackRest = REST_OFF;
+
+
+//TODO Add timestamps or even a task to keep track of current position (estimate)
+
+
+
+
+//=============================
+//======= set direction =======
+//=============================
+//functions for each rest that set the motors to desired direction / state
+//TODO evaluate if separate functions needed, can be merged with run..Rest(state) function?
+//--- leg-rest ---
+void setLegrestUp(){
+        gpio_set_level(GPIO_LEGREST_DOWN, 0);
+        gpio_set_level(GPIO_LEGREST_UP, 1);
+        stateLegRest = REST_UP;
+        ESP_LOGD(TAG, "switched relays to move leg-rest UP");
+}
+void setLegrestDown(){
+        gpio_set_level(GPIO_LEGREST_DOWN, 1);
+        gpio_set_level(GPIO_LEGREST_UP, 0);
+        stateLegRest = REST_DOWN;
+        ESP_LOGD(TAG, "switched relays to move leg-rest DOWN");
+}
+void setLegrestOff(){
+        gpio_set_level(GPIO_LEGREST_DOWN, 0);
+        gpio_set_level(GPIO_LEGREST_UP, 0);
+        stateLegRest = REST_OFF;
+        ESP_LOGD(TAG, "switched relays for leg-rest OFF");
+}
+
+//--- back-rest ---
+void setBackrestUp(){
+        gpio_set_level(GPIO_BACKREST_DOWN, 0);
+        gpio_set_level(GPIO_BACKREST_UP, 1);
+        stateBackRest = REST_UP;
+        ESP_LOGD(TAG, "switched relays to move back-rest UP");
+}
+void setBackrestDown(){
+        gpio_set_level(GPIO_BACKREST_DOWN, 1);
+        gpio_set_level(GPIO_BACKREST_UP, 0);
+        stateBackRest = REST_DOWN;
+        ESP_LOGD(TAG, "switched relays to move back-rest DOWN");
+}
+void setBackrestOff(){
+        gpio_set_level(GPIO_BACKREST_DOWN, 0);
+        gpio_set_level(GPIO_BACKREST_UP, 0);
+        stateBackRest = REST_OFF;
+        ESP_LOGD(TAG, "switched relays for back-rest OFF");
+}
+
+
+
+
+//==============================
+//========= runLegrest =========
+//==============================
+//abstract functions that can be used to set the state of leg rest
+// 0 = OFF;  <0 = DOWN;  >0 = UP
+void runLegrest(float targetDirection){
+    if (targetDirection > 0) {
+        setLegrestUp();
+        ESP_LOGD(TAG, "Leg-rest: coordinate = %.1f => run UP", targetDirection);
+    } else if (targetDirection < 0) {
+        setLegrestDown();
+        ESP_LOGD(TAG, "Leg-rest: coordinate = %.1f => run DOWN", targetDirection);
+    } else {
+        setLegrestOff();
+        ESP_LOGD(TAG, "Leg-rest: coordinate = %.1f => OFF", targetDirection);
+    }
+}
+//set to certain state
+void runLegrest(restState_t targetState){
+    switch (targetState){
+        case REST_UP:
+            setLegrestUp();
+            break;
+        case REST_DOWN:
+            setLegrestDown();
+            break;
+        case REST_OFF:
+            setLegrestOff();
+            break;
+    }
+}
+
+
+//==============================
+//========= runBackrest =========
+//==============================
+//abstract functions that can be used to set the state of back rest
+// 0 = OFF;  <0 = DOWN;  >0 = UP
+void runBackrest(float targetDirection){
+    if (targetDirection > 0) {
+        setBackrestUp();
+        ESP_LOGD(TAG, "Back-rest: coordinate = %.1f => run UP", targetDirection);
+    } else if (targetDirection < 0) {
+        setBackrestDown();
+        ESP_LOGD(TAG, "Back-rest: coordinate = %.1f => run DOWN", targetDirection);
+    } else {
+        setBackrestOff();
+        ESP_LOGD(TAG, "back-rest: coordinate = %.1f => off", targetDirection);
+    }
+}
+//set to certain state
+void runBackrest(restState_t targetState){
+    switch (targetState){
+        case REST_UP:
+            setBackrestUp();
+            break;
+        case REST_DOWN:
+            setBackrestDown();
+            break;
+        case REST_OFF:
+            setBackrestOff();
+            break;
+    }
+}

common/chairAdjust.hpp

@@ -0,0 +1,28 @@
+#pragma once
+
+typedef enum {
+    REST_OFF = 0,
+    REST_DOWN = -1,
+    REST_UP = 1
+} restState_t;
+
+//Set direction functions for leg-rest
+void setLegrestUp();
+void setLegrestDown();
+void setLegrestOff();
+
+//Set direction functions for back-rest
+void setBackrestUp();
+void setBackrestDown();
+void setBackrestOff();
+
+
+//Run leg-rest with target direction/state
+// 0 = OFF;  <0 = DOWN;  >0 = UP
+void runLegrest(float targetDirection);
+void runLegrest(restState_t targetState);
+
+//Run back-rest with target direction/state
+// 0 = OFF;  <0 = DOWN;  >0 = UP
+void runBackrest(float targetDirection);
+void runBackrest(restState_t targetState);

common/joystick.cpp

@@ -570,3 +570,35 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
 
     return commands;
 }
+
+
+
+
+
+//=============================================
+//====== joystick_ControlChairAdjustment ======
+//=============================================
+//function that controls the motors for adjusting the chair position using joystick input
+//FIXME: turn off after timeout / function not called anymore? => separate task
+//TODO: store current position
+//FIXME: control with webinterface too -> conflict? => separate task
+void joystick_ControlChairAdjustment(joystickData_t data, bool disable){
+	//--- variables ---
+    float radiusThreshold = 0.5; //min radius where movement starts
+    //TODO: Add additional tolerance range where coordinates snaps to axis (move 1 motor only) -> run scaleCoordinate and evaluagePosition again:
+    //float axisThreshold = 0.2; //axis tolerance (snap to 1 motor only)
+    //float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
+
+    //--- off threshold ---
+    //do not run when threshold not reached
+    if (data.radius < radiusThreshold){
+        data.x = 0;
+        data.y = 0;
+    }
+
+    //--- run rest motors ---
+    //state/direction depends on coodrdinate sign
+    runLegrest(data.x);
+    runBackrest(data.y);
+
+}

common/joystick.hpp

@@ -12,6 +12,7 @@ extern "C"
 
 #include <cmath>
 #include "types.hpp"
+#include "chairAdjust.hpp"
 
 
 //======================================
@@ -116,6 +117,14 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data );
 
 
 
+//=============================================
+//====== joystick_ControlChairAdjustment ======
+//=============================================
+//function that controls the motors for adjusting the chair position using joystick input
+void joystick_ControlChairAdjustment(joystickData_t data, bool disable);
+
+
+
 //==============================
 //====== scaleCoordinate =======
 //==============================