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Fix MASSAGE-mode messing up acceleration config

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- do not update nvs with low accel when changing to massage
- store and restore previous value when changing from/to massage mode
This commit is contained in:
jonny_l480 2024-05-30 09:33:53 +02:00
parent b1c010bf15
commit c738ac96b1
3 changed files with 16 additions and 10 deletions
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16
board_single/main/control.cpp
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@ -431,6 +431,8 @@ void controlledArmchair::handleTimeout()
//function to change to a specified control mode //function to change to a specified control mode
void controlledArmchair::changeMode(controlMode_t modeNew) void controlledArmchair::changeMode(controlMode_t modeNew)
{ {
// variable to store configured accel limit before entering massage mode, to restore it later
static uint32_t massagePreviousAccel = motorLeft->getFade(fadeType_t::ACCEL);
// exit if target mode is already active // exit if target mode is already active
if (mode == modeNew) if (mode == modeNew)
@ -478,9 +480,9 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
// enable downfading (set to default value) // enable downfading (set to default value)
motorLeft->setFade(fadeType_t::DECEL, true); motorLeft->setFade(fadeType_t::DECEL, true);
motorRight->setFade(fadeType_t::DECEL, true); motorRight->setFade(fadeType_t::DECEL, true);
// set upfading to default value // restore previously set acceleration limit
motorLeft->setFade(fadeType_t::ACCEL, true); motorLeft->setFade(fadeType_t::ACCEL, massagePreviousAccel);
motorRight->setFade(fadeType_t::ACCEL, true); motorRight->setFade(fadeType_t::ACCEL, massagePreviousAccel);
// reset frozen input state // reset frozen input state
freezeInput = false; freezeInput = false;
break; break;
@ -537,12 +539,14 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading"); ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading");
uint32_t shake_msFadeAccel = 200; // TODO: move this to config uint32_t shake_msFadeAccel = 200; // TODO: move this to config
// save currently set normal acceleration config (for restore when leavinge MASSAGE again)
massagePreviousAccel = motorLeft->getFade(fadeType_t::ACCEL);
// disable downfading (max. deceleration) // disable downfading (max. deceleration)
motorLeft->setFade(fadeType_t::DECEL, false); motorLeft->setFade(fadeType_t::DECEL, false);
motorRight->setFade(fadeType_t::DECEL, false); motorRight->setFade(fadeType_t::DECEL, false);
// reduce upfading (increase acceleration) // reduce upfading (increase acceleration) but do not update nvs
motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel); motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel, false);
motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel); motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel, false);
break; break;
} }

8
common/motorctl.cpp
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@ -620,17 +620,19 @@ uint32_t controlledMotor::getFadeDefault(fadeType_t fadeType){
//function for editing or enabling the fading/ramp of the motor control //function for editing or enabling the fading/ramp of the motor control
//set/update fading duration/amount //set/update fading duration/amount
void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew){ void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew, bool writeToNvs){
//TODO: mutex for msFade variable also used in handle function //TODO: mutex for msFade variable also used in handle function
switch(fadeType){ switch(fadeType){
case fadeType_t::ACCEL: case fadeType_t::ACCEL:
ESP_LOGW(TAG, "[%s] changed fade-up time from %d to %d", config.name, config.msFadeAccel, msFadeNew); ESP_LOGW(TAG, "[%s] changed fade-up time from %d to %d", config.name, config.msFadeAccel, msFadeNew);
writeAccelDuration(msFadeNew); if (writeToNvs)
writeAccelDuration(msFadeNew);
break; break;
case fadeType_t::DECEL: case fadeType_t::DECEL:
ESP_LOGW(TAG, "[%s] changed fade-down time from %d to %d",config.name, config.msFadeDecel, msFadeNew); ESP_LOGW(TAG, "[%s] changed fade-down time from %d to %d",config.name, config.msFadeDecel, msFadeNew);
// write new value to nvs and update the variable // write new value to nvs and update the variable
writeDecelDuration(msFadeNew); if (writeToNvs)
writeDecelDuration(msFadeNew);
break; break;
} }
} }

2
common/motorctl.hpp
View File

@ -54,7 +54,7 @@ class controlledMotor {
uint32_t getFade(fadeType_t fadeType); //get currently set acceleration or deceleration fading time uint32_t getFade(fadeType_t fadeType); //get currently set acceleration or deceleration fading time
uint32_t getFadeDefault(fadeType_t fadeType); //get acceleration or deceleration fading time from config uint32_t getFadeDefault(fadeType_t fadeType); //get acceleration or deceleration fading time from config
void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading
void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time void setFade(fadeType_t fadeType, uint32_t msFadeNew, bool writeToNvs = true); //set acceleration or deceleration fade time and write it to nvs by default
bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
float getCurrentA() {return cSensor.read();}; //read current-sensor of this motor (Ampere) float getCurrentA() {return cSensor.read();}; //read current-sensor of this motor (Ampere)