From cc5226647b04848e151a348b2123d7812864c396 Mon Sep 17 00:00:00 2001
From: jonny_ji7 <jonny@wwad.de>
Date: Fri, 17 Jun 2022 10:43:00 +0200
Subject: [PATCH] Move joystick pos-definition to separate function

Move section that defines joystick position enum to a separate function
(outside of joystick class), this makes it usable for other inputs as
well
- create new function joystick_evaluatePosition
- call the new function in joystickgetData (where code was initially)
- change function joystick_generateCommandsDriving to accept joystick
  data struct instead of joystick object as parameter -> makes the
  function usable with other input than hardware joystick too
---
 main/control.cpp  |  5 +++-
 main/joystick.cpp | 76 +++++++++++++++++++++++++++--------------------
 main/joystick.hpp | 11 ++++++-
 3 files changed, 58 insertions(+), 34 deletions(-)

diff --git a/main/control.cpp b/main/control.cpp
index 8d6d0c5..5302df6 100644
--- a/main/control.cpp
+++ b/main/control.cpp
@@ -53,7 +53,10 @@ void controlledArmchair::startHandleLoop() {
                 break;
 
             case controlMode_t::JOYSTICK:
-                commands = joystick_generateCommandsDriving(joystick);
+                //generate motor commands
+                //pass joystick data from getData method of evaluatedJoystick to generateCommandsDriving function
+                commands = joystick_generateCommandsDriving(joystick.getData());
+                //TODO: pass pointer to joystick object to control class instead of accessing it directly globally
                 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
diff --git a/main/joystick.cpp b/main/joystick.cpp
index 5415833..706134f 100644
--- a/main/joystick.cpp
+++ b/main/joystick.cpp
@@ -135,37 +135,8 @@ joystickData_t evaluatedJoystick::getData() {
     //calculate angle
     data.angle = (atan(data.y/data.x) * 180) / 3.141;
 
-
     //define position
-    //--- center ---
-    if((fabs(x) == 0) && (fabs(y) == 0)){ 
-        data.position = joystickPos_t::CENTER;
-    }
-    //--- x axis ---
-    else if(fabs(y) == 0){
-        data.position = joystickPos_t::X_AXIS;
-    }
-    //--- y axis ---
-    else if(fabs(x) == 0){
-        data.position = joystickPos_t::Y_AXIS;
-    }
-    //--- top right ---
-    else if(x > 0 && y > 0){
-        data.position = joystickPos_t::TOP_RIGHT;
-    }
-    //--- top left ---
-    else if(x < 0 && y > 0){
-        data.position = joystickPos_t::TOP_LEFT;
-    }
-    //--- bottom left ---
-    else if(x < 0 && y < 0){
-        data.position = joystickPos_t::BOTTOM_LEFT;
-    }
-    //--- bottom right ---
-    else if(x > 0 && y < 0){
-        data.position = joystickPos_t::BOTTOM_RIGHT;
-    }
-
+    data.position = joystick_evaluatePosition(x, y);
 
     return data;
 }
@@ -188,13 +159,55 @@ void evaluatedJoystick::defineCenter(){
 
 
 
+//=============================================
+//========= joystick_evaluatePosition =========
+//=============================================
+//function that defines and returns enum joystickPos from x and y coordinates
+joystickPos_t joystick_evaluatePosition(float x, float y){
+    //define position
+    //--- center ---
+    if((fabs(x) == 0) && (fabs(y) == 0)){ 
+        return joystickPos_t::CENTER;
+    }
+    //--- x axis ---
+    else if(fabs(y) == 0){
+        return joystickPos_t::X_AXIS;
+    }
+    //--- y axis ---
+    else if(fabs(x) == 0){
+        return joystickPos_t::Y_AXIS;
+    }
+    //--- top right ---
+    else if(x > 0 && y > 0){
+        return joystickPos_t::TOP_RIGHT;
+    }
+    //--- top left ---
+    else if(x < 0 && y > 0){
+        return joystickPos_t::TOP_LEFT;
+    }
+    //--- bottom left ---
+    else if(x < 0 && y < 0){
+        return joystickPos_t::BOTTOM_LEFT;
+    }
+    //--- bottom right ---
+    else if(x > 0 && y < 0){
+        return joystickPos_t::BOTTOM_RIGHT;
+    }
+    //--- other ---
+    else {
+        return joystickPos_t::CENTER;
+    }
+
+}
+
+
 
 
 //============================================
 //========= joystick_CommandsDriving =========
 //============================================
 //function that generates commands for both motors from the joystick data
-motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick){
+motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
 
 
     //struct with current data of the joystick
@@ -207,7 +220,6 @@ motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick){
     //} joystickData_t;
 
 
-    joystickData_t data = joystick.getData();
     motorCommands_t commands;
     float dutyMax = 60; //TODO add this to config, make changeable during runtime
 
diff --git a/main/joystick.hpp b/main/joystick.hpp
index ea865e0..f7f3a87 100644
--- a/main/joystick.hpp
+++ b/main/joystick.hpp
@@ -107,4 +107,13 @@ class evaluatedJoystick {
 //========= joystick_CommandsDriving =========
 //============================================
 //function that generates commands for both motors from the joystick data
-motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick);
+//motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick);
+motorCommands_t joystick_generateCommandsDriving(joystickData_t data );
+
+
+
+//============================================
+//========= joystick_CommandsDriving =========
+//============================================
+//function that defines and returns enum joystickPos from x and y coordinates
+joystickPos_t joystick_evaluatePosition(float x, float y);