Merge branch 'fade-down' into dev

New fade-down feature (aka deceleration limit) works reliably and as
expected.
Continuing on dev branch.

main/button.cpp

@@ -19,11 +19,13 @@ static const char * TAG = "button";
 //-----------------------------
 //-------- constructor --------
 //-----------------------------
-buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, controlledArmchair * control_f, buzzer_t * buzzer_f ){
+buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, controlledArmchair * control_f, buzzer_t * buzzer_f, controlledMotor * motorLeft_f, controlledMotor * motorRight_f){
     //copy object pointers
     button = button_f;
     control = control_f;
     buzzer = buzzer_f;
+    motorLeft = motorLeft_f;
+    motorRight = motorRight_f;
     //TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
 }
 
@@ -63,6 +65,19 @@ void buttonCommands::action (uint8_t count){
             ESP_LOGW(TAG, "cmd %d: toggle between MASSAGE and JOYSTICK", count);
             control->toggleModes(controlMode_t::MASSAGE, controlMode_t::JOYSTICK); //toggle between MASSAGE and JOYSTICK mode
             break;
+
+        case 8:
+            //toggle deceleration fading between on and off
+            bool 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){
+                buzzer->beep(3, 60, 50);
+            } else {
+                buzzer->beep(1, 1000, 1);
+            }
+
+
     }
 }
 

main/button.hpp

@@ -3,6 +3,7 @@
 #include "gpio_evaluateSwitch.hpp"
 #include "buzzer.hpp"
 #include "control.hpp"
+#include "motorctl.hpp"
 
 
 
@@ -16,7 +17,9 @@ class buttonCommands {
         buttonCommands (
                 gpio_evaluatedSwitch * button_f,
                 controlledArmchair * control_f,
-                buzzer_t * buzzer_f
+                buzzer_t * buzzer_f,
+                controlledMotor * motorLeft_f, 
+                controlledMotor * motorRight_f
                 ); 
 
         //--- functions ---
@@ -32,6 +35,8 @@ class buttonCommands {
         gpio_evaluatedSwitch* button;
         controlledArmchair * control;
         buzzer_t* buzzer;
+        controlledMotor * motorLeft;
+        controlledMotor * motorRight;
 
         //--- variables ---
         uint8_t count = 0;

main/config.cpp

@@ -29,7 +29,8 @@ single100a_config_t configDriverRight = {
 
 //--- configure motor contol ---
 motorctl_config_t configMotorControl = {
-    .msFade = 900,
+    .msFadeAccel = 1300, //acceleration of the motor (ms it takes from 0% to 100%)
+    .msFadeDecel = 800, //deceleration of the motor (ms it takes from 100% to 0%)
     .currentMax = 10
 };
 

main/main.cpp

@@ -75,7 +75,7 @@ void task_control( void * pvParameters ){
 void task_button( void * pvParameters ){
     ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
     //create button instance
-    buttonCommands commandButton(&buttonJoystick, &control, &buzzer);
+    buttonCommands commandButton(&buttonJoystick, &control, &buzzer, &motorLeft, &motorRight);
     //start handle loop
     commandButton.startHandleLoop();
 }

main/motorctl.cpp

@@ -11,6 +11,9 @@ static const char * TAG = "motor-control";
 controlledMotor::controlledMotor(single100a_config_t config_driver,  motorctl_config_t config_control): motor(config_driver) {
     //copy parameters for controlling the motor
     config = config_control;
+    //copy configured default fading durations to actually used variables
+    msFadeAccel = config.msFadeAccel;
+    msFadeDecel = config.msFadeDecel;
 
     init();
     //TODO: add currentsensor object here
@@ -27,6 +30,26 @@ void controlledMotor::init(){
 
 
 
+//----------------
+//----- fade -----
+//----------------
+//local function that fades a variable
+//- increments a variable (pointer) by given value
+//- sets to target if already closer than increment
+//TODO this needs testing
+void fade(float * dutyNow, float dutyTarget, float dutyIncrement){
+    float dutyDelta = dutyTarget - *dutyNow; 
+    if ( fabs(dutyDelta) > fabs(dutyIncrement) ) { //check if already close to target
+        *dutyNow = *dutyNow + dutyIncrement;
+    }
+    //already closer to target than increment
+    else {
+        *dutyNow = dutyTarget;
+    }
+}
+
+
+
 //==============================
 //=========== handle ===========
 //==============================
@@ -43,33 +66,129 @@ void controlledMotor::handle(){
         ESP_LOGD(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
         state = commandReceive.state;
         dutyTarget = commandReceive.duty;
+
+        //--- convert duty ---
+        //define target duty (-100 to 100) from provided duty and motorstate
+        //this value is more suitable for the fading algorithm
+        switch(commandReceive.state){
+            case motorstate_t::BRAKE:
+                //update state
+                state = motorstate_t::BRAKE;
+                dutyTarget = 0;
+                break;
+            case motorstate_t::IDLE:
+                dutyTarget = 0;
+                break;
+            case motorstate_t::FWD:
+                dutyTarget = fabs(commandReceive.duty);
+                break;
+            case motorstate_t::REV:
+                dutyTarget = - fabs(commandReceive.duty);
+                break;
+        }
     }
 
+
     //--- calculate increment ---
-    //calculate increment with passed time since last run and configured fade time
+    //calculate increment for fading UP with passed time since last run and configured fade time
     int64_t usPassed = esp_timer_get_time() - timestampLastRunUs;
-    dutyIncrement = ( usPassed / ((float)config.msFade * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
+    if (msFadeAccel > 0){
+    dutyIncrementAccel = ( usPassed / ((float)msFadeAccel * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
+    } else {
+        dutyIncrementAccel = 100;
+    }
+
+    //calculate increment for fading DOWN with passed time since last run and configured fade time
+    if (msFadeDecel > 0){
+        dutyIncrementDecel = ( usPassed / ((float)msFadeDecel * 1000) ) * 100; 
+    } else {
+        dutyIncrementDecel = 100;
+    }
+
+    
+    //--- BRAKE ---
+    //brake immediately, update state, duty and exit this cycle of handle function
+    if (state == motorstate_t::BRAKE){
+                motor.set(motorstate_t::BRAKE, 0);
+                dutyNow = 0;
+                return; //no need to run the fade algorithm
+    }
+
+
 
     //--- calculate difference ---
     dutyDelta = dutyTarget - dutyNow;
     //positive: need to increase by that value
     //negative: need to decrease
 
-    //--- fade up ---
-    if(dutyDelta > dutyIncrement){ //target duty his higher than current duty -> fade up
-        ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrement, (int)usPassed);
-        dutyNow += dutyIncrement; //increase duty by increment
 
-    //--- set lower ---
+
-    } else { //target duty is lower than current duty -> immediately set to target
+    //--- fade duty to target (up and down) ---
-        ESP_LOGV(TAG, "*setting to target*: target=%.2f%% - previous=%.2f%% ", dutyTarget, dutyNow);
+    //TODO: this needs optimization (can be more clear and/or simpler)
-        dutyNow = dutyTarget; //set target duty
+    if (dutyDelta > 0) { //difference positive -> increasing duty (-100 -> 100)
+        if (dutyNow < 0) { //reverse, decelerating
+            fade(&dutyNow, dutyTarget, dutyIncrementDecel);
+        }
+        else if (dutyNow >= 0) { //forward, accelerating
+            fade(&dutyNow, dutyTarget, dutyIncrementAccel);
+        }
+    }
+    else if (dutyDelta < 0) { //difference negative -> decreasing duty (100 -> -100)
+        if (dutyNow <= 0) { //reverse, accelerating
+            fade(&dutyNow, dutyTarget, - dutyIncrementAccel);
+        }
+        else if (dutyNow > 0) { //forward, decelerating
+            fade(&dutyNow, dutyTarget, - dutyIncrementDecel);
+        }
+    }
+
+
+
+    //previous approach: (resulted in bug where accel/decel fade is swaped in reverse)
+//    //--- fade up ---
+//    //dutyDelta is higher than IncrementUp -> fade up
+//    if(dutyDelta > dutyIncrementUp){
+//        ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementUp, (int)usPassed);
+//        dutyNow += dutyIncrementUp; //increase duty by increment
+//    }
+//
+//    //--- fade down ---
+//    //dutyDelta is more negative than -IncrementDown -> fade down
+//    else if (dutyDelta < -dutyIncrementDown){
+//        ESP_LOGV(TAG, "*fading down*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementDown, (int)usPassed);
+//
+//        dutyNow -= dutyIncrementDown; //decrease duty by increment
+//    }
+//
+//    //--- set to target ---
+//    //duty is already very close to target (closer than IncrementUp or IncrementDown)
+//    else{ 
+//        //immediately set to target duty
+//        dutyNow = dutyTarget;
+//    }
+    
+
+
+    //define motorstate from converted duty -100 to 100
+    //apply target duty and state to motor driver
+    //forward
+    if(dutyNow > 0){
+        state = motorstate_t::FWD;
+    }
+    //reverse
+    else if (dutyNow < 0){
+        state = motorstate_t::REV;
+    }
+    //idle
+    else {
+        state = motorstate_t::IDLE;
     }
 
     //--- apply to motor ---
-    //apply target duty and state to motor driver
+    motor.set(state, fabs(dutyNow));
-    motor.set(state, dutyNow);
+    //note: BRAKE state is handled earlier
-
+    
+    
     //--- update timestamp ---
     timestampLastRunUs = esp_timer_get_time(); //update timestamp last run with current timestamp in microseconds
 
@@ -110,3 +229,76 @@ motorCommand_t controlledMotor::getStatus(){
     return status;
 };
 
+
+
+//===============================
+//=========== setFade ===========
+//===============================
+//function for editing or enabling the fading/ramp of the motor control
+
+//set/update fading duration/amount
+void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew){
+    //TODO: mutex for msFade variable also used in handle function
+    switch(fadeType){
+        case fadeType_t::ACCEL:
+            msFadeAccel = msFadeNew; 
+            break;
+        case fadeType_t::DECEL:
+            msFadeDecel = msFadeNew;
+            break;
+    }
+}
+
+
+//enable (set to default value) or disable fading
+void controlledMotor::setFade(fadeType_t fadeType, bool enabled){
+    uint32_t msFadeNew = 0; //define new fade time as default disabled
+    if(enabled){ //enable
+        //set to default/configured value
+        switch(fadeType){
+            case fadeType_t::ACCEL:
+                msFadeNew = config.msFadeAccel;
+                break;
+            case fadeType_t::DECEL:
+                msFadeNew = config.msFadeDecel;
+                break;
+        }
+    }
+    //apply new Fade value
+    setFade(fadeType, msFadeNew); 
+}
+
+
+
+//==================================
+//=========== toggleFade ===========
+//==================================
+//toggle fading between OFF and default value
+bool controlledMotor::toggleFade(fadeType_t fadeType){
+    uint32_t msFadeNew = 0;
+    bool enabled = false;
+    switch(fadeType){
+        case fadeType_t::ACCEL:
+            if (msFadeAccel == 0){
+                msFadeNew = config.msFadeAccel;
+                enabled = true;
+            } else {
+                msFadeNew = 0;
+            }
+            break;
+        case fadeType_t::DECEL:
+            if (msFadeDecel == 0){
+                msFadeNew = config.msFadeAccel;
+                enabled = true;
+            } else {
+                msFadeNew = 0;
+            }
+            break;
+    }
+    //apply new Fade value
+    setFade(fadeType, msFadeNew); 
+
+    //return new state (fading enabled/disabled)
+    return enabled;
+}
+

main/motorctl.hpp

@@ -13,7 +13,7 @@ extern "C"
 
 
 //-------------------------------------
-//-------- struct  declarations -------
+//-------- struct/type  declarations -------
 //-------------------------------------
 
 //struct for sending command for one motor in the queue
@@ -30,10 +30,15 @@ typedef struct motorCommands_t {
 
 //struct with all config parameters for a motor regarding ramp and current limit
 typedef struct motorctl_config_t {
-    uint32_t msFade; //acceleration of the motor (ms it should take from 0 to 100%)
+    uint32_t msFadeAccel; //acceleration of the motor (ms it takes from 0% to 100%)
+    uint32_t msFadeDecel; //deceleration of the motor (ms it takes from 100% to 0%)
     float currentMax;
 } motorctl_config_t;
 
+//enum fade type (acceleration, deceleration)
+//e.g. used for specifying which fading should be modified with setFade, togleFade functions
+enum class fadeType_t {ACCEL, DECEL};
+
 
 
 class controlledMotor {
@@ -44,6 +49,10 @@ class controlledMotor {
         void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
         motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
 
+        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
+        bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
+
 
     private:
         //--- functions ---
@@ -59,7 +68,7 @@ class controlledMotor {
         //--- variables ---
         //struct for storing control specific parameters
         motorctl_config_t config;
-
+        
         motorstate_t state = motorstate_t::IDLE;
 
         float currentMax;
@@ -67,15 +76,17 @@ class controlledMotor {
 
         float dutyTarget;
         float dutyNow;
-        float dutyIncrement;
+        float dutyIncrementAccel;
+        float dutyIncrementDecel;
         float dutyDelta;
 
+        uint32_t msFadeAccel;
+        uint32_t msFadeDecel;
+
         uint32_t ramp;
         int64_t timestampLastRunUs;
 
         struct motorCommand_t commandReceive = {};
         struct motorCommand_t commandSend = {};
 
-
-
 };