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Add button cmd x12: alternative joystick mapping

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New command and feature also made some  general changes to control and button necessary

joystick.cpp:
  - add optional parameter to joystick_CommandsDriving function
    bool altStickMapping (default false)
    if true this currently swaps BOTTOM_LEFT with BOTTOM_RIGHT for experimental
    different joystick mapping

button.cpp:
  - fix/move variable declaration outside of switch
  - add 12x case: send count to control task

control.cpp:
  - create new section in handle loop for button events
  - move x1 commands from JOYSTICK and MASSAGE case to new button
    section
  - remove unnecessary variable buttonEvent (only using buttonCount now)
  - add functionality to 12x button event -> toggle alternative stick
    mapping

readme.md:
  - add new x12 button command
This commit is contained in:
jonny_ji7 2022-07-26 09:36:46 +02:00
parent 1c3576206a
commit bbe26a3823
6 changed files with 65 additions and 28 deletions
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2
README.md
View File

@ -110,6 +110,8 @@ A diagram which shows what components are connected to which terminals of the pc
| 6x | toggle mode | **MASSAGE** <=> JOYSTICK | switch to MASSAGE mode or back to JOYSTICK mode |
| 7x | | | |
| 8x | toggle option | **deceleration limit** | disable/enable deceleration limit (default on) => more responsive |
| | | | |
| 12x | toggle option | **alt stick mapping** | toggle between default and alternative stick mapping (reverse swapped) |
| >1s | system | **restart** | Restart the controller when pressing the button longer than 1 second |

13
main/button.cpp
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@ -36,6 +36,10 @@ buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, controlledArmcha
//----------------------------
//function that runs commands depending on a count value
void buttonCommands::action (uint8_t count){
//--- variable declarations ---
bool decelEnabled; //for different beeping when toggling
//--- actions based on count ---
switch (count){
//no such command
default:
@ -51,6 +55,7 @@ void buttonCommands::action (uint8_t count){
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
break;
@ -76,7 +81,7 @@ void buttonCommands::action (uint8_t count){
case 8:
//toggle deceleration fading between on and off
bool decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
motorRight->toggleFade(fadeType_t::DECEL);
ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
if (decelEnabled){
@ -84,7 +89,13 @@ void buttonCommands::action (uint8_t count){
} else {
buzzer->beep(1, 1000, 1);
}
break;
case 12:
ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
//-> toggle altStickMapping (executed in control task)
control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1)?
break;
}
}

57
main/control.cpp
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@ -78,17 +78,11 @@ void controlledArmchair::startHandleLoop() {
//additionaly scale coordinates (more detail in slower area)
joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config
//generate motor commands
commands = joystick_generateCommandsDriving(stickData);
commands = joystick_generateCommandsDriving(stickData, altStickMapping);
//apply motor commands
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
//TODO make motorctl.setTarget also accept motorcommand struct directly
//--- button event ---
if (buttonEvent){
joystick_l->defineCenter();
buzzer->beep(2, 200, 100);
}
break;
@ -99,7 +93,6 @@ void controlledArmchair::startHandleLoop() {
if (!freezeInput){
stickData = joystick_l->getData();
}
//--- generate motor commands ---
//pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
commands = joystick_generateCommandsShaking(stickData);
@ -107,12 +100,6 @@ void controlledArmchair::startHandleLoop() {
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
//--- button event ---
if (buttonEvent){
//toggle freeze of input (lock joystick at current values)
freezeInput = !freezeInput;
buzzer->beep(2, 200, 100);
}
break;
@ -126,7 +113,7 @@ void controlledArmchair::startHandleLoop() {
ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle);
//--- generate motor commands ---
//Note: timeout (no data received) is handled in getData method
commands = joystick_generateCommandsDriving(stickData);
commands = joystick_generateCommandsDriving(stickData, altStickMapping);
//--- apply commands to motors ---
//TODO make motorctl.setTarget also accept motorcommand struct directly
@ -134,16 +121,43 @@ void controlledArmchair::startHandleLoop() {
motorLeft->setTarget(commands.left.state, commands.left.duty);
break;
// //TODO: add other modes here
}
//--- reset button event --- (only one run of handle loop)
//TODO: what if variable gets set durin above code? -> mutex around entire handle loop
if (buttonEvent == true){
ESP_LOGI(TAG, "resetting button event");
buttonEvent = false;
//--- run actions based on received button button event ---
//TODO: what if variable gets set from other task during this code? -> mutex around this code
switch (buttonCount) {
case 1: //define joystick center or freeze input
if (mode == controlMode_t::JOYSTICK){
//joystick mode: calibrate joystick
joystick_l->defineCenter();
} else if (mode == controlMode_t::MASSAGE){
//massage mode: toggle freeze of input (lock joystick at current values)
freezeInput = !freezeInput;
if (freezeInput){
buzzer->beep(5, 40, 25);
} else {
buzzer->beep(1, 300, 100);
}
}
break;
case 12: //toggle alternative joystick mapping (reverse swapped)
altStickMapping = !altStickMapping;
if (altStickMapping){
buzzer->beep(6, 70, 50);
} else {
buzzer->beep(1, 500, 100);
}
break;
}
//--- reset button event --- (only one action per run)
if (buttonCount > 0){
ESP_LOGI(TAG, "resetting button event/count");
buttonCount = 0;
}
//-----------------------
@ -179,7 +193,6 @@ void controlledArmchair::resetTimeout(){
void controlledArmchair::sendButtonEvent(uint8_t count){
//TODO mutex - if not replaced with queue
ESP_LOGI(TAG, "setting button event");
buttonEvent = true;
buttonCount = count;
}

2
main/control.hpp
View File

@ -83,6 +83,7 @@ class controlledArmchair {
//store joystick data
joystickData_t stickData;
bool altStickMapping; //alternative joystick mapping (reverse mapped differently)
//variables for http mode
uint32_t http_timestamp_lastData = 0;
@ -91,7 +92,6 @@ class controlledArmchair {
bool freezeInput = false;
//variable to store button event
bool buttonEvent = false;
uint8_t buttonCount = 0;
//definition of mode enum

17
main/joystick.cpp
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@ -278,7 +278,7 @@ joystickPos_t joystick_evaluatePosition(float x, float y){
//========= joystick_CommandsDriving =========
//============================================
//function that generates commands for both motors from the joystick data
motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping){
//struct with current data of the joystick
@ -292,12 +292,23 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
motorCommands_t commands;
float dutyMax = 94; //TODO add this to config, make changeable during runtime
float dutyMax = 95; //TODO add this to config, make changeable during runtime
float dutyOffset = 10; //immedeately starts with this duty, TODO add this to config
float dutyOffset = 10; //immediately starts with this duty, TODO add this to config
float dutyRange = dutyMax - dutyOffset;
float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
//experimental alternative control mode
if (altStickMapping == true){
//swap BOTTOM_LEFT and BOTTOM_RIGHT
if (data.position == joystickPos_t::BOTTOM_LEFT){
data.position = joystickPos_t::BOTTOM_RIGHT;
}
else if (data.position == joystickPos_t::BOTTOM_RIGHT){
data.position = joystickPos_t::BOTTOM_LEFT;
}
}
switch (data.position){
case joystickPos_t::CENTER:

2
main/joystick.hpp
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@ -107,7 +107,7 @@ class evaluatedJoystick {
//============================================
//function that generates commands for both motors from the joystick data
//motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick);
motorCommands_t joystick_generateCommandsDriving(joystickData_t data );
motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping = false);