Add menu item Set Max Duty
Add nvs to control.cpp
This commit is contained in:
jonny_jr9
parent
0672d08cb8
commit
cef2a841c8
@ -220,4 +220,15 @@ rotary_encoder_t encoder_config = {
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.index = 0,
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.btn_pressed_time_us = 20000,
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.btn_state = RE_BTN_RELEASED //default state
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};
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//-----------------------------------
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//--- joystick command generation ---
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//-----------------------------------
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//configure parameters for motor command generation from joystick data
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joystickGenerateCommands_config_t joystickGenerateCommands_config{
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.maxDuty = 100,
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.dutyOffset = 5, // duty at which motors start immediately
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.altStickMapping = false,
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};
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@ -32,14 +32,17 @@ controlledArmchair::controlledArmchair(
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controlledMotor *motorLeft_f,
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controlledMotor *motorRight_f,
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evaluatedJoystick *joystick_f,
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joystickGenerateCommands_config_t *joystickGenerateCommands_config_f,
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httpJoystick *httpJoystick_f,
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automatedArmchair_c *automatedArmchair_f,
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cControlledRest *legRest_f,
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cControlledRest *backRest_f)
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cControlledRest *backRest_f,
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nvs_handle_t * nvsHandle_f)
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{
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//copy configuration
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config = config_f;
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joystickGenerateCommands_config = *joystickGenerateCommands_config_f;
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//copy object pointers
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buzzer = buzzer_f;
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motorLeft = motorLeft_f;
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@ -49,9 +52,13 @@ controlledArmchair::controlledArmchair(
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automatedArmchair = automatedArmchair_f;
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legRest = legRest_f;
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backRest = backRest_f;
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nvsHandle = nvsHandle_f;
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//set default mode from config
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modePrevious = config.defaultMode;
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// override default config value if maxDuty is found in nvs
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loadMaxDuty();
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//TODO declare / configure controlled motors here instead of config (unnecessary that button object is globally available - only used here)?
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}
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@ -104,7 +111,7 @@ void controlledArmchair::startHandleLoop() {
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//additionaly scale coordinates (more detail in slower area)
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joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config
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//generate motor commands
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commands = joystick_generateCommandsDriving(stickData, altStickMapping);
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commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
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//apply motor commands
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motorRight->setTarget(commands.right.state, commands.right.duty);
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motorLeft->setTarget(commands.left.state, commands.left.duty);
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@ -138,7 +145,7 @@ void controlledArmchair::startHandleLoop() {
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ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle);
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//--- generate motor commands ---
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//Note: timeout (no data received) is handled in getData method
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commands = joystick_generateCommandsDriving(stickData, altStickMapping);
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commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
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//--- apply commands to motors ---
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//TODO make motorctl.setTarget also accept motorcommand struct directly
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@ -268,8 +275,8 @@ bool controlledArmchair::toggleFreezeInputMassage()
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// toggle between normal and alternative stick mapping (joystick reverse position inverted)
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bool controlledArmchair::toggleAltStickMapping()
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{
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altStickMapping = !altStickMapping;
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if (altStickMapping)
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joystickGenerateCommands_config.altStickMapping = !joystickGenerateCommands_config.altStickMapping;
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if (joystickGenerateCommands_config.altStickMapping)
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{
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buzzer->beep(6, 70, 50);
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ESP_LOGW(TAG, "changed to alternative stick mapping");
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@ -279,7 +286,7 @@ bool controlledArmchair::toggleAltStickMapping()
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buzzer->beep(1, 500, 100);
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ESP_LOGW(TAG, "changed to default stick mapping");
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}
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return altStickMapping;
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return joystickGenerateCommands_config.altStickMapping;
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}
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@ -503,3 +510,56 @@ void controlledArmchair::toggleMode(controlMode_t modePrimary){
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changeMode(modePrimary);
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}
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}
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//-------------------------------
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//------ loadDecelDuration ------
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//-------------------------------
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// update local config value when maxDuty is stored in nvs
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void controlledArmchair::loadMaxDuty(void)
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{
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// default value is already loaded (constructor)
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// read from nvs
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uint16_t valueRead;
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esp_err_t err = nvs_get_u16(*nvsHandle, "c-maxDuty", &valueRead);
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switch (err)
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{
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case ESP_OK:
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ESP_LOGW(TAG, "Successfully read value '%s' from nvs. Overriding default value %.2f with %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty, valueRead/100.0);
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joystickGenerateCommands_config.maxDuty = (float)(valueRead/100.0);
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break;
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case ESP_ERR_NVS_NOT_FOUND:
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ESP_LOGW(TAG, "nvs: the value '%s' is not initialized yet, keeping default value %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty);
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break;
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default:
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ESP_LOGE(TAG, "Error (%s) reading nvs!", esp_err_to_name(err));
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}
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}
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//-----------------------------------
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//---------- writeMaxDuty -----------
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//-----------------------------------
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// write provided value to nvs to be persistent and update local variable in joystickGenerateCommmands_config struct
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// note: duty percentage gets stored as uint with factor 100 (to get more precision)
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void controlledArmchair::writeMaxDuty(float newValue){
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// check if unchanged
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if(joystickGenerateCommands_config.maxDuty == newValue){
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ESP_LOGW(TAG, "value unchanged at %.2f, not writing to nvs", newValue);
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return;
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}
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// update nvs value
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ESP_LOGW(TAG, "updating nvs value '%s' from %.2f to %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty, newValue) ;
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esp_err_t err = nvs_set_u16(*nvsHandle, "c-maxDuty", (uint16_t)(newValue*100));
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if (err != ESP_OK)
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ESP_LOGE(TAG, "nvs: failed writing");
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err = nvs_commit(*nvsHandle);
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if (err != ESP_OK)
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ESP_LOGE(TAG, "nvs: failed committing updates");
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else
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ESP_LOGI(TAG, "nvs: successfully committed updates");
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// update variable
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joystickGenerateCommands_config.maxDuty = newValue;
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}
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@ -1,5 +1,10 @@
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#pragma once
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extern "C"
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{
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#include "nvs_flash.h"
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#include "nvs.h"
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}
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#include "motordrivers.hpp"
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#include "motorctl.hpp"
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#include "buzzer.hpp"
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@ -50,10 +55,12 @@ class controlledArmchair {
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controlledMotor* motorLeft_f,
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controlledMotor* motorRight_f,
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evaluatedJoystick* joystick_f,
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joystickGenerateCommands_config_t* joystickGenerateCommands_config_f,
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httpJoystick* httpJoystick_f,
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automatedArmchair_c* automatedArmchair,
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cControlledRest * legRest,
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cControlledRest * backRest
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cControlledRest * backRest,
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nvs_handle_t * nvsHandle_f
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);
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//--- functions ---
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@ -79,27 +86,37 @@ class controlledArmchair {
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controlMode_t getCurrentMode() const {return mode;};
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const char *getCurrentModeStr() const { return controlModeStr[(int)mode]; };
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//--- mode specific ---
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// releases or locks joystick in place when in massage mode, returns true when input is frozen
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bool toggleFreezeInputMassage();
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// toggle between normal and alternative stick mapping (joystick reverse position inverted), returns true when alt mapping is active
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bool toggleAltStickMapping();
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// configure max dutycycle (in joystick or http mode)
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void setMaxDuty(float maxDutyNew) { writeMaxDuty(maxDutyNew); };
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float getMaxDuty() const {return joystickGenerateCommands_config.maxDuty; };
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private:
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//--- functions ---
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//function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval
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void handleTimeout();
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void loadMaxDuty(); //load stored value for maxDuty from nvs
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void writeMaxDuty(float newMaxDuty); //write new value for maxDuty to nvs
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//--- objects ---
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buzzer_t* buzzer;
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controlledMotor* motorLeft;
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controlledMotor* motorRight;
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httpJoystick* httpJoystickMain_l;
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evaluatedJoystick* joystick_l;
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joystickGenerateCommands_config_t joystickGenerateCommands_config;
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automatedArmchair_c *automatedArmchair;
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cControlledRest * legRest;
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cControlledRest * backRest;
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//handle for using the nvs flash (persistent config variables)
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nvs_handle_t * nvsHandle;
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//---variables ---
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//struct for motor commands returned by generate functions of each mode
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@ -109,7 +126,6 @@ class controlledArmchair {
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//store joystick data
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joystickData_t stickData;
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bool altStickMapping; //alternative joystick mapping (reverse mapped differently)
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//variables for http mode
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uint32_t http_timestamp_lastData = 0;
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@ -169,7 +169,7 @@ void createObjects()
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// create control object (control.hpp)
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// with configuration from config.cpp
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control = new controlledArmchair(configControl, buzzer, motorLeft, motorRight, joystick, httpJoystickMain, automatedArmchair, legRest, backRest);
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control = new controlledArmchair(configControl, buzzer, motorLeft, motorRight, joystick, &joystickGenerateCommands_config, httpJoystickMain, automatedArmchair, legRest, backRest, &nvsHandle);
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// create automatedArmchair_c object (for auto-mode) (auto.hpp)
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automatedArmchair = new automatedArmchair_c(motorLeft, motorRight);
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@ -255,27 +255,25 @@ menuItem_t item_debugJoystick = {
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//########################
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void maxDuty_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
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{
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//TODO actually store the value
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ESP_LOGW(TAG, "set max duty to %d", value);
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objects->control->setMaxDuty(value);
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}
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int maxDuty_currentValue(display_task_parameters_t * objects)
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{
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//TODO get real current value
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return 84;
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return (int)objects->control->getMaxDuty();
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}
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menuItem_t item_maxDuty = {
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maxDuty_action, // function action
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maxDuty_currentValue, // function get initial value or NULL(show in line 2)
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NULL, // function get default value or NULL(dont set value, show msg)
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1, // valueMin
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99, // valueMax
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100, // valueMax
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1, // valueIncrement
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"max duty ", // title
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"Set max Duty ", // title
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"", // line1 (above value)
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" set max-duty: ", // line2 (above value)
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"", // line4 * (below value)
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"", // line5 *
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" 1-99 ", // line6
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" 1-100 ", // line6
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" percent ", // line7
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};
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@ -433,8 +431,8 @@ menuItem_t item_last = {
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//####################################################
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//### store all configured menu items in one array ###
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//####################################################
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const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_accelLimit, item_decelLimit, item_reset, item_example, item_last};
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const int itemCount = 8;
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const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_maxDuty, item_accelLimit, item_decelLimit, item_reset, item_example, item_last};
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const int itemCount = 9;
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@ -304,7 +304,7 @@ joystickPos_t joystick_evaluatePosition(float x, float y){
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//========= joystick_CommandsDriving =========
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//============================================
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//function that generates commands for both motors from the joystick data
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motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping){
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motorCommands_t joystick_generateCommandsDriving(joystickData_t data, joystickGenerateCommands_config_t * config){
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//struct with current data of the joystick
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//typedef struct joystickData_t {
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@ -317,10 +317,8 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
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//--- variables ---
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motorCommands_t commands;
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float dutyMax = 100; //TODO add this to config, make changeable during runtime
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float dutyOffset = 5; //immediately starts with this duty, TODO add this to config
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float dutyRange = dutyMax - dutyOffset;
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float dutyRange = config->maxDuty - config->dutyOffset;
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float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
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//--- snap ratio to max at angle threshold ---
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@ -334,7 +332,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
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*/
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//--- experimental alternative control mode ---
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if (altStickMapping == true){
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if (config->altStickMapping == true){
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//swap BOTTOM_LEFT and BOTTOM_RIGHT
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if (data.position == joystickPos_t::BOTTOM_LEFT){
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data.position = joystickPos_t::BOTTOM_RIGHT;
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@ -10,6 +10,7 @@ extern "C"
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#include "esp_err.h"
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#include "nvs_flash.h"
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#include "nvs.h"
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#include <stdbool.h>
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}
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#include <cmath>
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@ -69,6 +70,13 @@ typedef struct joystickData_t {
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} joystickData_t;
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// struct with parameters provided to joystick_GenerateCommandsDriving()
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typedef struct joystickGenerateCommands_config_t {
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float maxDuty;
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float dutyOffset;
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bool altStickMapping;
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} joystickGenerateCommands_config_t;
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//------------------------------------
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//----- evaluatedJoystick class -----
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@ -120,7 +128,7 @@ private:
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//============================================
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//function that generates commands for both motors from the joystick data
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//motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick);
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motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping = false);
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motorCommands_t joystick_generateCommandsDriving(joystickData_t data, joystickGenerateCommands_config_t * config);
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