Merge branch 'chairAdjust' into dev - chairAdjust implemented

Now you can switch to mode ADJUST_CHAIR via 1x short, 1x long button
press and control the armchair rests with the joystick.

Untested, due to hardware (relays) not installed yet

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

@@ -72,55 +72,17 @@ 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
+            else {
             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

board_single/main/config.cpp

@@ -195,5 +195,9 @@ controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joy
 //create global automatedArmchair object (for auto-mode) (auto.hpp)
 automatedArmchair armchair;
 
+//create global objects for controlling the chair position
+//                      gpio_up, gpio_down, name
+cControlledRest legRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
+cControlledRest backRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
 
 

board_single/main/config.hpp

@@ -11,11 +11,12 @@
 #include "http.hpp"
 #include "auto.hpp"
 #include "speedsensor.hpp"
+#include "chairAdjust.hpp"
 
 
 //in IDLE mode: set loglevel for evaluatedJoystick to DEBUG 
 //and repeatedly read joystick e.g. for manually calibrating / testing joystick
-#define JOYSTICK_LOG_IN_IDLE
+//#define JOYSTICK_LOG_IN_IDLE
 
 
 //TODO outsource global variables to e.g. global.cpp and only config options here?
@@ -49,3 +50,7 @@ extern fan_config_t configCooling;
 extern speedSensor speedLeft;
 extern speedSensor speedRight;
 
+//create global objects for controlling the chair position
+extern cControlledRest legRest;
+extern cControlledRest backRest;
+

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 ---
+                controlChairAdjustment(joystick_l->getData(), &legRest, &backRest);
+                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
+            legRest.setState(REST_OFF);
+            backRest.setState(REST_OFF);
+            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

board_single/main/main.cpp

@@ -154,6 +154,7 @@ void setLoglevels(void){
     esp_log_level_set("display", ESP_LOG_INFO);
     //esp_log_level_set("current-sensors", ESP_LOG_INFO);
     //esp_log_level_set("speedSensor", ESP_LOG_INFO);
+    esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
 }
 
 

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 +1,111 @@
+extern "C"
+{
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include <string.h>
+}
+
+#include "chairAdjust.hpp"
+
+
+
+//--- gloabl variables ---
+// strings for logging the rest state
+const char* restStateStr[] = {"REST_OFF", "REST_DOWN", "REST_UP"};
+
+//--- local variables ---
+//tag for logging
+static const char * TAG = "chair-adjustment";
+
+
+
+//=============================
+//======== constructor ========
+//=============================
+cControlledRest::cControlledRest(gpio_num_t gpio_up_f, gpio_num_t gpio_down_f, const char * name_f){
+    strcpy(name, name_f);
+    gpio_up = gpio_up_f;
+    gpio_down = gpio_down_f;
+    init();
+}
+
+
+
+//====================
+//======= init =======
+//====================
+// init gpio pins for relays
+void cControlledRest::init()
+{
+    ESP_LOGW(TAG, "[%s] initializing gpio pins %d, %d for relays...", name, gpio_up, gpio_down);
+    // configure 2 gpio pins
+    gpio_pad_select_gpio(gpio_up);
+    gpio_set_direction(gpio_up, GPIO_MODE_OUTPUT);
+    gpio_pad_select_gpio(gpio_down);
+    gpio_set_direction(gpio_down, GPIO_MODE_OUTPUT);
+    // both relays off initially
+    gpio_set_level(gpio_down, 0);
+    gpio_set_level(gpio_up, 0);
+}
+
+
+
+//============================
+//========= setState =========
+//============================
+void cControlledRest::setState(restState_t targetState)
+{
+    //check if actually changed
+    if (targetState == state){
+        ESP_LOGD(TAG, "[%s] state already at '%s', nothing to do", name, restStateStr[state]);
+        return;
+    }
+
+    //apply new state
+    ESP_LOGI(TAG, "[%s] switching from state '%s' to '%s'", name, restStateStr[state], restStateStr[targetState]);
+    state = targetState;
+    timestamp_lastChange = esp_log_timestamp(); //TODO use this to estimate position
+    switch (state)
+    {
+    case REST_UP:
+        gpio_set_level(gpio_down, 0);
+        gpio_set_level(gpio_up, 1);
+        break;
+    case REST_DOWN:
+        gpio_set_level(gpio_down, 1);
+        gpio_set_level(gpio_up, 0);
+        break;
+    case REST_OFF:
+        gpio_set_level(gpio_down, 1);
+        gpio_set_level(gpio_up, 0);
+        break;
+    }
+}
+
+
+
+//====================================
+//====== controlChairAdjustment ======
+//====================================
+//function that controls the two rests according to joystick data (applies threshold, defines direction)
+//TODO:
+// - add separate task that controls chair adjustment
+//    - timeout
+//    - track position
+//    - auto-adjust: move to position while driving
+//    - control via app
+// - add delay betweem direction change
+void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest){
+	//--- variables ---
+    float stickThreshold = 0.3; //min coordinate for motor to start
+
+    //--- control rest motors ---
+    //leg rest (x-axis)
+    if (data.x > stickThreshold) legRest->setState(REST_UP);
+    else if (data.x < -stickThreshold) legRest->setState(REST_DOWN);
+    //back rest (y-axis)
+    if (data.y > stickThreshold) backRest->setState(REST_UP);
+    else if (data.y < -stickThreshold) backRest->setState(REST_DOWN);
+}

common/chairAdjust.hpp

@@ -0,0 +1,41 @@
+#pragma once
+
+#include "joystick.hpp"
+
+typedef enum {
+    REST_OFF = 0,
+    REST_DOWN,
+    REST_UP
+} restState_t;
+
+extern const char* restStateStr[];
+
+
+//=====================================
+//======= cControlledRest class =======
+//=====================================
+//class that controls 2 relays powering a motor that moves a rest of the armchair up or down
+//2 instances will be created one for back and one for leg rest
+class cControlledRest {
+    public:
+    cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, const char * name);
+    void setState(restState_t targetState);
+    void stop();
+
+    private:
+    void init();
+
+    char name[32];
+    gpio_num_t gpio_up;
+    gpio_num_t gpio_down;
+    restState_t state;
+    const uint32_t travelDuration = 5000;
+    uint32_t timestamp_lastChange;
+    float currentPosition = 0;
+};
+
+//====================================
+//====== controlChairAdjustment ======
+//====================================
+//function that controls the two rests according to joystick data (applies threshold, defines direction)
+void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest);

common/joystick.cpp

@@ -569,4 +569,4 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
     ESP_LOGI(TAG_CMD, "motor right: state=%s, duty=%.3f", motorstateStr[(int)commands.right.state], commands.right.duty);
 
     return commands;
-}
+}