diff --git a/README.md b/README.md
index d91fbe0..f2466e5 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,7 @@ Firmware for a homemade automated electric armchair.
More details about this project: https://pfusch.zone/electric-armchair
+
# Installation
### Install esp-idf
For this project **ESP-IDF v4.4.1** is required (with other versions it might not compile)
@@ -93,6 +94,16 @@ A diagram which shows what components are connected to which terminals of the pc
- Self driving algorithm
- Lights
- drinks holder
+- improved webinterface
+
+
+
+# Todo
+**Add switch functions**
+- set loglevel
+- define max-speed
+- calibrate joystick (min, max, center)
+- testing mode / dry-run
@@ -105,7 +116,7 @@ A diagram which shows what components are connected to which terminals of the pc
| 1x | control | [MASSAGE] **freeze** input | when in massage mode: lock or unlock joystick input at current position |
| 2x | toggle mode | **IDLE** <=> previous | enable/disable chair armchair e.g. enable after startup or timeout |
| 3x | switch mode | **JOYSTICK** | switch to default mode JOYSTICK |
-| 4x | toggle mode | **HTTP** <=> JOYSTICK | switch to '**remote control** via web-app' or back to JOYSTICK mode |
+| 4x | toggle mode | **HTTP** <=> JOYSTICK | switch to '**remote control** via web-app `http://191.168.4.1`' or back to JOYSTICK mode |
| 5x | | | |
| 6x | toggle mode | **MASSAGE** <=> JOYSTICK | switch to MASSAGE mode or back to JOYSTICK mode |
| 7x | | | |
@@ -113,16 +124,20 @@ A diagram which shows what components are connected to which terminals of the pc
| | | | |
| 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 |
+| 1x short, 1x long | auto command | **eject** foot support | automatically go forward and reverse for certain time with no acceleration limits, so foot support ejects |
+## HTTP mode
+Control armchair via virtual joystick on a webinterface.
-**previous functions - not implemented**
-| Count | Action |
-| --- | ---|
-| 1 | define joystick center |
-| 2 | toggle motors |
-| 3 | toggle log-level (WARN, DEBUG, INFO) |
-| 4 | define max duty |
-| 5 | toggle mode MQTT/JOYSTICK |
-| 6 | toggle mode SHAKE/JOYSTICK |
-| 7 | toggle testing-mode (dry-run) |
+**Usage**
+- Connect to wifi `armchar`, no password
+- Access http://192.168.4.1 (note: **http** NOT https, some browsers automatically add https!)
+
+**Current Features**
+- Control direction and speed with joystick
+
+**Todo**
+- Set parameters
+- Control other modes
+- Execute preset movement commands
diff --git a/components/gpio/gpio_evaluateSwitch.hpp b/components/gpio/gpio_evaluateSwitch.hpp
index 23caa14..c4a27e4 100644
--- a/components/gpio/gpio_evaluateSwitch.hpp
+++ b/components/gpio/gpio_evaluateSwitch.hpp
@@ -22,8 +22,8 @@ extern "C"
class gpio_evaluatedSwitch {
public:
//--- input ---
- uint32_t minOnMs = 50;
- uint32_t minOffMs = 50;
+ uint32_t minOnMs = 30;
+ uint32_t minOffMs = 30;
gpio_evaluatedSwitch( //constructor minimal (default parameters pullup=true, inverted=false)
gpio_num_t gpio_num_declare
);
diff --git a/connection-plan.drawio.pdf b/connection-plan.drawio.pdf
index 82ce990..4a430bc 100644
Binary files a/connection-plan.drawio.pdf and b/connection-plan.drawio.pdf differ
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 6ea40c3..34de854 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -11,6 +11,7 @@ idf_component_register(
"fan.cpp"
"wifi.c"
"http.cpp"
+ "auto.cpp"
INCLUDE_DIRS
"."
)
diff --git a/main/auto.cpp b/main/auto.cpp
new file mode 100644
index 0000000..4cf4a71
--- /dev/null
+++ b/main/auto.cpp
@@ -0,0 +1,88 @@
+#include "auto.hpp"
+#include "config.hpp"
+
+//tag for logging
+static const char * TAG = "automatedArmchair";
+
+
+//=============================
+//======== constructor ========
+//=============================
+automatedArmchair::automatedArmchair(void) {
+ //create command queue
+ commandQueue = xQueueCreate( 32, sizeof( commandSimple_t ) ); //TODO add max size to config?
+}
+
+
+
+//==============================
+//====== generateCommands ======
+//==============================
+motorCommands_t automatedArmchair::generateCommands(auto_instruction_t * instruction) {
+ //reset instruction
+ *instruction = auto_instruction_t::NONE;
+ //check if previous command is finished
+ if ( esp_log_timestamp() > timestampCmdFinished ) {
+ //get next command from queue
+ if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(500) ) ) {
+ ESP_LOGI(TAG, "running next command from queue...");
+ //copy instruction to be provided to control task
+ *instruction = cmdCurrent.instruction;
+ //set acceleration / fading parameters according to command
+ motorLeft.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
+ motorRight.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
+ motorLeft.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
+ motorRight.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
+ //calculate timestamp the command is finished
+ timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration;
+ //copy the new commands
+ motorCommands = cmdCurrent.motorCmds;
+ } else { //queue empty
+ ESP_LOGD(TAG, "no new command in queue -> set motors to IDLE");
+ motorCommands = motorCmds_bothMotorsIdle;
+ }
+ } else { //previous command still running
+ ESP_LOGD(TAG, "command still running -> no change");
+ }
+
+ //TODO also return instructions via call by reference
+ return motorCommands;
+}
+
+
+
+//============================
+//======== addCommand ========
+//============================
+//function that adds a basic command to the queue
+void automatedArmchair::addCommand(commandSimple_t command) {
+ //add command to queue
+ if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){
+ ESP_LOGI(TAG, "Successfully inserted command to queue");
+ } else {
+ ESP_LOGE(TAG, "Failed to insert new command to queue");
+ }
+}
+
+void automatedArmchair::addCommands(commandSimple_t commands[], size_t count) {
+ for (int i = 0; i < count; i++) {
+ ESP_LOGI(TAG, "Reading command no. %d from provided array", i);
+ addCommand(commands[i]);
+ }
+}
+
+
+//===============================
+//======== clearCommands ========
+//===============================
+//function that deletes all pending/queued commands
+//e.g. when switching modes
+motorCommands_t automatedArmchair::clearCommands() {
+ //clear command queue
+ xQueueReset( commandQueue );
+ ESP_LOGW(TAG, "command queue was successfully emptied");
+ //return commands for idling both motors
+ motorCommands = motorCmds_bothMotorsIdle;
+ return motorCmds_bothMotorsIdle;
+}
+
diff --git a/main/auto.hpp b/main/auto.hpp
new file mode 100644
index 0000000..8b799fb
--- /dev/null
+++ b/main/auto.hpp
@@ -0,0 +1,87 @@
+#pragma once
+
+extern "C"
+{
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "esp_err.h"
+}
+
+#include "freertos/queue.h"
+#include <cmath>
+#include "motorctl.hpp"
+
+
+
+//--------------------------------------------
+//---- struct, enum, variable declarations ---
+//--------------------------------------------
+//enum for special instructions / commands to be run in control task
+enum class auto_instruction_t { NONE, SWITCH_PREV_MODE, SWITCH_JOYSTICK_MODE, RESET_ACCEL_DECEL, RESET_ACCEL, RESET_DECEL };
+
+//struct for a simple command
+//e.g. put motors in a certain state for certain time
+typedef struct commandSimple_t{
+ motorCommands_t motorCmds;
+ uint32_t msDuration;
+ uint32_t fadeDecel;
+ uint32_t fadeAccel;
+ auto_instruction_t instruction;
+} commandSimple_t;
+
+
+
+//------------------------------------
+//----- automatedArmchair class -----
+//------------------------------------
+class automatedArmchair {
+ public:
+ //--- methods ---
+ //constructor
+ automatedArmchair(void);
+ //function to generate motor commands
+ //can be also seen as handle function
+ //TODO: go with other approach: separate task for handling auto mode
+ // - receive commands with queue anyways
+ // - => use delay function
+ // - have a queue that outputs current motor state/commands -> repeatedly check the queue in control task
+ //function that handles automatic driving and returns motor commands
+ //also provides instructions to be executed in control task via pointer
+ motorCommands_t generateCommands(auto_instruction_t * instruction);
+
+ //function that adds a basic command to the queue
+ void addCommand(commandSimple_t command);
+ //function that adds an array of basic commands to queue
+ void addCommands(commandSimple_t commands[], size_t count);
+
+ //function that deletes all pending/queued commands
+ motorCommands_t clearCommands();
+
+
+ private:
+ //--- methods ---
+ //--- objects ---
+ //TODO: add buzzer here
+ //--- variables ---
+ //queue for storing pending commands
+ QueueHandle_t commandQueue = NULL;
+ //current running command
+ commandSimple_t cmdCurrent;
+ //timestamp current command is finished
+ uint32_t timestampCmdFinished = 0;
+
+ motorCommands_t motorCommands;
+
+ //command preset for idling motors
+ const motorCommand_t motorCmd_motorIdle = {
+ .state = motorstate_t::IDLE,
+ .duty = 0
+ };
+ const motorCommands_t motorCmds_bothMotorsIdle = {
+ .left = motorCmd_motorIdle,
+ .right = motorCmd_motorIdle
+ };
+};
+
+
diff --git a/main/button.cpp b/main/button.cpp
index b717328..1762e6e 100644
--- a/main/button.cpp
+++ b/main/button.cpp
@@ -19,9 +19,10 @@ static const char * TAG = "button";
//-----------------------------
//-------- constructor --------
//-----------------------------
-buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, controlledArmchair * control_f, buzzer_t * buzzer_f, controlledMotor * motorLeft_f, controlledMotor * motorRight_f){
+buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystick * joystick_f, controlledArmchair * control_f, buzzer_t * buzzer_f, controlledMotor * motorLeft_f, controlledMotor * motorRight_f){
//copy object pointers
button = button_f;
+ joystick = joystick_f;
control = control_f;
buzzer = buzzer_f;
motorLeft = motorLeft_f;
@@ -35,9 +36,13 @@ buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, controlledArmcha
//--------- action -----------
//----------------------------
//function that runs commands depending on a count value
-void buttonCommands::action (uint8_t count){
+void buttonCommands::action (uint8_t count, bool lastPressLong){
//--- variable declarations ---
bool decelEnabled; //for different beeping when toggling
+ commandSimple_t cmds[8]; //array for commands for automatedArmchair
+
+ //--- get joystick position ---
+ //joystickData_t stickData = joystick->getData();
//--- actions based on count ---
switch (count){
@@ -47,28 +52,77 @@ void buttonCommands::action (uint8_t count){
buzzer->beep(3, 400, 100);
break;
- case 0: //special case when last button press is longer than timeout (>1s)
- ESP_LOGW(TAG, "RESTART");
- buzzer->beep(1,1000,1);
- vTaskDelay(1000 / portTICK_PERIOD_MS);
- esp_restart();
-
case 1:
+ //restart contoller when 1x long pressed
+ if (lastPressLong){
+ ESP_LOGW(TAG, "RESTART");
+ buzzer->beep(1,1000,1);
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ esp_restart();
+ return;
+ }
+
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;
+ case 2:
+ //run automatic commands to lift leg support when pressed 1x short 1x long
+ if (lastPressLong){
+ //define commands
+ cmds[0] =
+ {
+ .motorCmds = {
+ .left = {motorstate_t::REV, 90},
+ .right = {motorstate_t::REV, 90}
+ },
+ .msDuration = 1200,
+ .fadeDecel = 800,
+ .fadeAccel = 1300,
+ .instruction = auto_instruction_t::NONE
+ };
+ cmds[1] =
+ {
+ .motorCmds = {
+ .left = {motorstate_t::FWD, 70},
+ .right = {motorstate_t::FWD, 70}
+ },
+ .msDuration = 70,
+ .fadeDecel = 0,
+ .fadeAccel = 300,
+ .instruction = auto_instruction_t::NONE
+ };
+ cmds[2] =
+ {
+ .motorCmds = {
+ .left = {motorstate_t::IDLE, 0},
+ .right = {motorstate_t::IDLE, 0}
+ },
+ .msDuration = 10,
+ .fadeDecel = 800,
+ .fadeAccel = 1300,
+ .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
+ };
+
+ //send commands to automatedArmchair command queue
+ armchair.addCommands(cmds, 3);
+
+ //change mode to AUTO
+ control->changeMode(controlMode_t::AUTO);
+ return;
+ }
+
+ //toggle idle when 2x pressed
+ ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
+ control->toggleIdle(); //toggle between idle and previous/default mode
+ break;
+
case 3:
ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
break;
- case 2:
- ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
- control->toggleIdle(); //toggle between idle and previous/default mode
- break;
-
case 4:
ESP_LOGW(TAG, "cmd %d: toggle between HTTP and JOYSTICK", count);
control->toggleModes(controlMode_t::HTTP, controlMode_t::JOYSTICK); //toggle between HTTP and JOYSTICK mode
@@ -120,7 +174,7 @@ void buttonCommands::startHandleLoop() {
case inputState_t::IDLE: //wait for initial button press
if (button->risingEdge) {
count = 1;
- buzzer->beep(1, 60, 0);
+ buzzer->beep(1, 65, 0);
timestamp_lastAction = esp_log_timestamp();
state = inputState_t::WAIT_FOR_INPUT;
ESP_LOGI(TAG, "first button press detected -> waiting for further events");
@@ -131,7 +185,7 @@ void buttonCommands::startHandleLoop() {
//button pressed again
if (button->risingEdge){
count++;
- buzzer->beep(1, 60, 0);
+ buzzer->beep(1, 65, 0);
timestamp_lastAction = esp_log_timestamp();
ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count);
}
@@ -143,14 +197,14 @@ void buttonCommands::startHandleLoop() {
ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
//--- run action function ---
//check if still pressed
+ bool lastPressLong = false;
if (button->state == true){
//run special case when last press was longer than timeout
- action(0);
- } else {
- //run action function with current count of button presses
- action(count);
+ lastPressLong = true;
+ }
+ //run action function with current count of button presses
+ action(count, lastPressLong);
}
- }
break;
}
}
diff --git a/main/button.hpp b/main/button.hpp
index b5d5900..09de729 100644
--- a/main/button.hpp
+++ b/main/button.hpp
@@ -4,6 +4,9 @@
#include "buzzer.hpp"
#include "control.hpp"
#include "motorctl.hpp"
+#include "auto.hpp"
+#include "config.hpp"
+#include "joystick.hpp"
@@ -16,6 +19,7 @@ class buttonCommands {
//--- constructor ---
buttonCommands (
gpio_evaluatedSwitch * button_f,
+ evaluatedJoystick * joystick_f,
controlledArmchair * control_f,
buzzer_t * buzzer_f,
controlledMotor * motorLeft_f,
@@ -29,10 +33,11 @@ class buttonCommands {
private:
//--- functions ---
- void action(uint8_t count);
+ void action(uint8_t count, bool lastPressLong);
//--- objects ---
gpio_evaluatedSwitch* button;
+ evaluatedJoystick* joystick;
controlledArmchair * control;
buzzer_t* buzzer;
controlledMotor * motorLeft;
diff --git a/main/config.cpp b/main/config.cpp
index 784047e..3214948 100644
--- a/main/config.cpp
+++ b/main/config.cpp
@@ -30,7 +30,7 @@ single100a_config_t configDriverRight = {
//--- configure motor contol ---
motorctl_config_t configMotorControl = {
.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%)
+ .msFadeDecel = 700, //deceleration of the motor (ms it takes from 100% to 0%)
.currentMax = 10
};
@@ -126,5 +126,7 @@ httpJoystick httpJoystickMain(configHttpJoystickMain);
//create global control object
controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);
+//create global automatedArmchair object (for auto-mode)
+automatedArmchair armchair;
diff --git a/main/config.hpp b/main/config.hpp
index 20db9bc..93193b9 100644
--- a/main/config.hpp
+++ b/main/config.hpp
@@ -9,6 +9,7 @@
#include "control.hpp"
#include "fan.hpp"
#include "http.hpp"
+#include "auto.hpp"
//create global controlledMotor instances for both motors
@@ -27,6 +28,9 @@ extern buzzer_t buzzer;
//create global control object
extern controlledArmchair control;
+//create global automatedArmchair object (for auto-mode)
+extern automatedArmchair armchair;
+
//create global httpJoystick object
extern httpJoystick httpJoystickMain;
diff --git a/main/control.cpp b/main/control.cpp
index 7bc9faf..80b5393 100644
--- a/main/control.cpp
+++ b/main/control.cpp
@@ -121,6 +121,48 @@ void controlledArmchair::startHandleLoop() {
motorLeft->setTarget(commands.left.state, commands.left.duty);
break;
+
+ case controlMode_t::AUTO:
+ vTaskDelay(20 / portTICK_PERIOD_MS);
+ //generate commands
+ commands = armchair.generateCommands(&instruction);
+ //--- apply commands to motors ---
+ //TODO make motorctl.setTarget also accept motorcommand struct directly
+ motorRight->setTarget(commands.right.state, commands.right.duty);
+ motorLeft->setTarget(commands.left.state, commands.left.duty);
+
+ //process received instruction
+ switch (instruction) {
+ case auto_instruction_t::NONE:
+ break;
+ case auto_instruction_t::SWITCH_PREV_MODE:
+ toggleMode(controlMode_t::AUTO);
+ break;
+ case auto_instruction_t::SWITCH_JOYSTICK_MODE:
+ changeMode(controlMode_t::JOYSTICK);
+ break;
+ case auto_instruction_t::RESET_ACCEL_DECEL:
+ //enable downfading (set to default value)
+ motorLeft->setFade(fadeType_t::DECEL, true);
+ motorRight->setFade(fadeType_t::DECEL, true);
+ //set upfading to default value
+ motorLeft->setFade(fadeType_t::ACCEL, true);
+ motorRight->setFade(fadeType_t::ACCEL, true);
+ break;
+ case auto_instruction_t::RESET_ACCEL:
+ //set upfading to default value
+ motorLeft->setFade(fadeType_t::ACCEL, true);
+ motorRight->setFade(fadeType_t::ACCEL, true);
+ break;
+ case auto_instruction_t::RESET_DECEL:
+ //enable downfading (set to default value)
+ motorLeft->setFade(fadeType_t::DECEL, true);
+ motorRight->setFade(fadeType_t::DECEL, true);
+ break;
+ }
+ break;
+
+
// //TODO: add other modes here
}
@@ -255,12 +297,19 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
//reset timeout timer
resetTimeout();
+ //exit if target mode is already active
+ if (mode == modeNew) {
+ ESP_LOGE(TAG, "changeMode: Already in target mode '%s' -> nothing to change", controlModeStr[(int)mode]);
+ return;
+ }
+
//copy previous mode
- controlMode_t modePrevious = mode;
+ modePrevious = mode;
ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]);
- //--- run functions when changing FROM certain mode ---
+ //========== commands change FROM mode ==========
+ //run functions when changing FROM certain mode
switch(modePrevious){
default:
ESP_LOGI(TAG, "noting to execute when changing FROM this mode");
@@ -293,10 +342,22 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
//reset frozen input state
freezeInput = false;
break;
+
+ case controlMode_t::AUTO:
+ ESP_LOGW(TAG, "switching from AUTO mode -> restoring fading to default");
+ //TODO: fix issue when downfading was disabled before switching to auto mode - currently it gets enabled again here...
+ //enable downfading (set to default value)
+ motorLeft->setFade(fadeType_t::DECEL, true);
+ motorRight->setFade(fadeType_t::DECEL, true);
+ //set upfading to default value
+ motorLeft->setFade(fadeType_t::ACCEL, true);
+ motorRight->setFade(fadeType_t::ACCEL, true);
+ break;
}
- //--- run functions when changing TO certain mode ---
+ //========== commands change TO mode ==========
+ //run functions when changing TO certain mode
switch(modeNew){
default:
ESP_LOGI(TAG, "noting to execute when changing TO this mode");
@@ -352,15 +413,8 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
//-----------------------------------
//function to toggle between IDLE and previous active mode
void controlledArmchair::toggleIdle() {
- if (mode == controlMode_t::IDLE){
- changeMode(modePrevious); //restore previous mode, or default if not switched yet
- buzzer->beep(2, 200, 100);
- ESP_LOGW(TAG, "toggle idle: switched mode from IDLE to %s", controlModeStr[(int)mode]);
- } else {
- modePrevious = mode; //store current mode
- changeMode(controlMode_t::IDLE); //set mode to IDLE
- ESP_LOGW(TAG, "toggle idle: switched mode from %s to IDLE", controlModeStr[(int)mode]);
- }
+ //toggle between IDLE and previous mode
+ toggleMode(controlMode_t::IDLE);
}
@@ -384,3 +438,25 @@ void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t mo
changeMode(modePrimary);
}
}
+
+
+
+//-----------------------------------
+//----------- toggleMode ------------
+//-----------------------------------
+//function that toggles between certain mode and previous mode
+void controlledArmchair::toggleMode(controlMode_t modePrimary){
+
+ //switch to previous mode when primary is already active
+ if (mode == modePrimary){
+ ESP_LOGW(TAG, "toggleMode: switching from primaryMode %s to previousMode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrevious]);
+ //buzzer->beep(2,200,100);
+ changeMode(modePrevious); //switch to previous mode
+ }
+ //switch to primary mode when any other mode is active
+ else {
+ ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
+ //buzzer->beep(4,200,100);
+ changeMode(modePrimary);
+ }
+}
diff --git a/main/control.hpp b/main/control.hpp
index 69d492a..9715a33 100644
--- a/main/control.hpp
+++ b/main/control.hpp
@@ -4,6 +4,7 @@
#include "motorctl.hpp"
#include "buzzer.hpp"
#include "http.hpp"
+#include "auto.hpp"
//--------------------------------------------
@@ -54,6 +55,8 @@ class controlledArmchair {
//function that toggles between two modes, but prefers first argument if entirely different mode is currently active
void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary);
+ //toggle between certain mode and previous mode
+ void toggleMode(controlMode_t modePrimary);
//function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
void resetTimeout();
@@ -90,6 +93,9 @@ class controlledArmchair {
//variables for MASSAGE mode
bool freezeInput = false;
+
+ //variables for AUTO mode
+ auto_instruction_t instruction = auto_instruction_t::NONE; //variable to receive instructions from automatedArmchair
//variable to store button event
uint8_t buttonCount = 0;
diff --git a/main/main.cpp b/main/main.cpp
index 49ec363..a9c8e4d 100644
--- a/main/main.cpp
+++ b/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, &motorLeft, &motorRight);
+ buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight);
//start handle loop
commandButton.startHandleLoop();
}
@@ -152,6 +152,7 @@ extern "C" void app_main(void) {
esp_log_level_set("fan-control", ESP_LOG_INFO);
esp_log_level_set("wifi", ESP_LOG_INFO);
esp_log_level_set("http", ESP_LOG_INFO);
+ esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
//----------------------------------------------
@@ -175,7 +176,7 @@ extern "C" void app_main(void) {
//--- create task for button ---
//------------------------------
//task that evaluates and processes the button input and runs the configured commands
- xTaskCreate(&task_button, "task_button", 2048, NULL, 4, NULL);
+ xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
//-----------------------------------
//--- create task for fan control ---