Merge branch 'origin/dev'
This commit is contained in:
jonny_ji7
commit
fd90ca0bb2
@ -27,7 +27,7 @@ single100a_config_t configDriverRight = {
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.pwmFreq = 10000
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};
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//configure motor contol
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//--- configure motor contol ---
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motorctl_config_t configMotorControl = {
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.msFade = 900,
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.currentMax = 10
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@ -39,6 +39,31 @@ controlledMotor motorRight(configDriverRight, configMotorControl);
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//------------------------------
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//------- control config -------
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//------------------------------
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control_config_t configControl = {
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.defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
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//--- timeout ---
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.timeoutMs = 5*60*1000, //time of inactivity after which the mode gets switched to IDLE
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.timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive
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//--- http mode ---
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};
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//-------------------------------
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//----- httpJoystick config -----
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//-------------------------------
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httpJoystick_config_t configHttpJoystickMain{
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.toleranceZeroX_Per = 3, //percentage around joystick axis the coordinate snaps to 0
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.toleranceZeroY_Per = 10,
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.toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1
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.timeoutMs = 3000 //time no new data was received before the motors get turned off
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};
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//--------------------------------------
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//------- joystick configuration -------
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@ -46,10 +71,11 @@ controlledMotor motorRight(configDriverRight, configMotorControl);
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joystick_config_t configJoystick = {
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.adc_x = ADC1_CHANNEL_3, //GPIO39
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.adc_y = ADC1_CHANNEL_0, //GPIO36
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//range around center-threshold of each axis the coordinates stays at 0 (adc value 0-4095)
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.tolerance_zero = 100,
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//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
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.tolerance_end = 80,
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//percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
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.tolerance_zeroX_per = 7,
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.tolerance_zeroY_per = 3,
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//percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
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.tolerance_end_per = 5,
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//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
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.tolerance_radius = 0.05,
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@ -63,20 +89,11 @@ joystick_config_t configJoystick = {
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.y_inverted = true
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};
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//create global joystic instance
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evaluatedJoystick joystick(configJoystick);
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//create global evaluated switch instance for button next to joystick
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gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_33, true, false); //pullup true, not inverted (switch to GND use pullup of controller)
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//create buzzer object on pin 12 with gap between queued events of 100ms
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buzzer_t buzzer(GPIO_NUM_12, 100);
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//create global control object
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controlledArmchair control(&buzzer, &motorLeft, &motorRight);
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//configure fan contol
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//----------------------------
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//--- configure fan contol ---
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//----------------------------
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fan_config_t configFanLeft = {
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.gpio_fan = GPIO_NUM_2,
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.msRun = 5000,
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@ -88,3 +105,25 @@ fan_config_t configFanRight = {
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.dutyThreshold = 35
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};
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//=================================
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//===== create global objects =====
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//=================================
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//create global joystic instance
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evaluatedJoystick joystick(configJoystick);
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//create global evaluated switch instance for button next to joystick
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gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_33, true, false); //pullup true, not inverted (switch to GND use pullup of controller)
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//create buzzer object on pin 12 with gap between queued events of 100ms
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buzzer_t buzzer(GPIO_NUM_12, 100);
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//create global httpJoystick object
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httpJoystick httpJoystickMain(configHttpJoystickMain);
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//create global control object
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controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &httpJoystickMain);
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@ -8,6 +8,7 @@
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#include "buzzer.hpp"
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#include "control.hpp"
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#include "fan.hpp"
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#include "http.hpp"
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//create global controlledMotor instances for both motors
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@ -26,6 +27,9 @@ extern buzzer_t buzzer;
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//create global control object
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extern controlledArmchair control;
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//create global httpJoystick object
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extern httpJoystick httpJoystickMain;
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//configuration for fans
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extern fan_config_t configFanLeft;
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extern fan_config_t configFanRight;
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131
main/control.cpp
131
main/control.cpp
@ -12,7 +12,6 @@ extern "C"
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#include "config.hpp"
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#include "control.hpp"
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#include "http.hpp"
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//tag for logging
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@ -24,15 +23,23 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT",
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//-------- constructor --------
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//-----------------------------
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controlledArmchair::controlledArmchair (
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control_config_t config_f,
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buzzer_t * buzzer_f,
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controlledMotor* motorLeft_f,
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controlledMotor* motorRight_f
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controlledMotor* motorRight_f,
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httpJoystick* httpJoystick_f
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){
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//copy configuration
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config = 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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motorRight = motorRight_f;
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httpJoystickMain_l = httpJoystick_f;
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//set default mode from config
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modePrevious = config.defaultMode;
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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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@ -83,38 +90,92 @@ void controlledArmchair::startHandleLoop() {
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joystickData_t dataRead = { };
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//--- get joystick data from queue ---
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if( xQueueReceive( joystickDataQueue, &dataRead, pdMS_TO_TICKS(500) ) ) {
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//reset timestamp lastAction
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http_timestamp_lastData = esp_log_timestamp();
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//Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned
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//TODO: as described above, when changing modes it might delay a few seconds for the change to apply
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dataRead = httpJoystickMain_l->getData();
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//--- generate motor commands ---
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ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
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//Note: timeout (no data received) is handled in getData method
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commands = joystick_generateCommandsDriving(dataRead);
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ESP_LOGD(TAG, "received data from http queue -> generating commands\n x=%.3f y=%.3f radius=%.3f angle=%.3f",
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dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
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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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motorRight->setTarget(commands.right.state, commands.right.duty);
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motorLeft->setTarget(commands.left.state, commands.left.duty);
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break;
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//--- generate motor commands ---
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//pass received joystick data from http queue to generatecommands function from joystick.hpp
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commands = joystick_generateCommandsDriving(dataRead);
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// //TODO: add other modes here
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}
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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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motorRight->setTarget(commands.right.state, commands.right.duty);
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motorLeft->setTarget(commands.left.state, commands.left.duty);
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}
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//--- timeout ---
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//turn off motors when motor still on and no new data received for some time
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if (
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(esp_log_timestamp() - http_timestamp_lastData > 3000) //no data received for x seconds
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&& (commands.left.state != motorstate_t::IDLE || commands.right.state != motorstate_t::IDLE) //at least one motor is still running
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){
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ESP_LOGE(TAG, "TIMEOUT - no data received for 3s -> stopping motors");
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//copy preset commands for idling both motors
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commands = cmds_bothMotorsIdle;
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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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}
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//-----------------------
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//------ slow loop ------
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//-----------------------
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//this section is run about every 5s (+500ms)
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if (esp_log_timestamp() - timestamp_SlowLoopLastRun > 5000) {
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ESP_LOGV(TAG, "running slow loop... time since last run: %.1fs", (float)(esp_log_timestamp() - timestamp_SlowLoopLastRun)/1000);
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timestamp_SlowLoopLastRun = esp_log_timestamp();
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break;
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//TODO: add other modes here
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//run function which detects timeout (switch to idle)
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handleTimeout();
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}
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}//end while(1)
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}//end startHandleLoop
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//-----------------------------------
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//---------- resetTimeout -----------
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//-----------------------------------
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void controlledArmchair::resetTimeout(){
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//TODO mutex
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timestamp_lastActivity = esp_log_timestamp();
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}
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//------------------------------------
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//---------- handleTimeout -----------
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//------------------------------------
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float inactivityTolerance = 10; //percentage the duty can vary since last timeout check and still counts as incative
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//local function that checks whether two values differ more than a given tolerance
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bool validateActivity(float dutyOld, float dutyNow, float tolerance){
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float dutyDelta = dutyNow - dutyOld;
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if (fabs(dutyDelta) < tolerance) {
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return false; //no significant activity detected
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} else {
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return true; //there was activity
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}
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}
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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 controlledArmchair::handleTimeout(){
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//check for timeout only when not idling already
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if (mode != controlMode_t::IDLE) {
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//get current duty from controlled motor objects
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float dutyLeftNow = motorLeft->getStatus().duty;
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float dutyRightNow = motorRight->getStatus().duty;
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//activity detected on any of the two motors
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if (validateActivity(dutyLeft_lastActivity, dutyLeftNow, inactivityTolerance)
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|| validateActivity(dutyRight_lastActivity, dutyRightNow, inactivityTolerance)
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){
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ESP_LOGD(TAG, "timeout check: detected [activity] since last check -> reset");
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//reset last duty and timestamp
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timestamp_lastActivity = esp_log_timestamp();
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dutyLeft_lastActivity = dutyLeftNow;
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dutyRight_lastActivity = dutyRightNow;
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}
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//no activity on any motor and msTimeout exceeded
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else if (esp_log_timestamp() - timestamp_lastActivity > config.timeoutMs){
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ESP_LOGI(TAG, "timeout check: [TIMEOUT], no activity for more than %.ds -> switch to idle", config.timeoutMs/1000);
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//toggle to idle mode
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toggleIdle();
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}
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else {
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ESP_LOGD(TAG, "timeout check: [inactive], last activity %.1f seconds ago", (float)(esp_log_timestamp() - timestamp_lastActivity)/1000);
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}
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}
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}
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@ -126,6 +187,9 @@ void controlledArmchair::startHandleLoop() {
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//-----------------------------------
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//function to change to a specified control mode
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void controlledArmchair::changeMode(controlMode_t modeNew) {
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//reset timeout timer
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resetTimeout();
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//copy previous mode
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controlMode_t modePrevious = mode;
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@ -161,6 +225,10 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
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ESP_LOGI(TAG, "noting to execute when changing TO this mode");
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break;
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case controlMode_t::IDLE:
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buzzer->beep(1, 1500, 0);
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break;
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case controlMode_t::HTTP:
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ESP_LOGW(TAG, "switching to http mode -> enabling http and wifi");
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//start wifi
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@ -197,12 +265,11 @@ void controlledArmchair::toggleIdle() {
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if (mode == controlMode_t::IDLE){
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changeMode(modePrevious); //restore previous mode, or default if not switched yet
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buzzer->beep(2, 200, 100);
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ESP_LOGW(TAG, "switched mode from IDLE to %s", controlModeStr[(int)mode]);
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ESP_LOGW(TAG, "toggle idle: switched mode from IDLE to %s", controlModeStr[(int)mode]);
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} else {
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modePrevious = mode; //store current mode
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changeMode(controlMode_t::IDLE); //set mode to IDLE
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buzzer->beep(1, 1000, 0);
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ESP_LOGW(TAG, "switched mode from IDLE to %s", controlModeStr[(int)mode]);
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ESP_LOGW(TAG, "toggle idle: switched mode from %s to IDLE", controlModeStr[(int)mode]);
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}
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}
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@ -3,13 +3,26 @@
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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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#include "http.hpp"
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//--------------------------------------------
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//---- struct, enum, variable declarations ---
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//--------------------------------------------
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//enum that decides how the motors get controlled
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enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
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//extern controlMode_t mode;
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//string array representing the mode enum (for printing the state as string)
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extern const char* controlModeStr[7];
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//struct with config parameters
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typedef struct control_config_t {
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controlMode_t defaultMode; //default mode after startup and toggling IDLE
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//--- timeout ---
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uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
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float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
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} control_config_t;
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//==================================
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@ -21,9 +34,11 @@ class controlledArmchair {
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public:
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//--- constructor ---
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controlledArmchair (
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control_config_t config_f,
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buzzer_t* buzzer_f,
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controlledMotor* motorLeft_f,
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controlledMotor* motorRight_f
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controlledMotor* motorRight_f,
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httpJoystick* httpJoystick_f
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);
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//--- functions ---
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@ -39,16 +54,26 @@ class controlledArmchair {
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//function that toggles between two modes, but prefers first argument if entirely different mode is currently active
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void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary);
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//function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
|
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void resetTimeout();
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|
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private:
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|
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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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|
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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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|
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//---variables ---
|
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//struct for motor commands returned by generate functions of each mode
|
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motorCommands_t commands;
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//struct with config parameters
|
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control_config_t config;
|
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|
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//variables for http mode
|
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uint32_t http_timestamp_lastData = 0;
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@ -57,7 +82,7 @@ class controlledArmchair {
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controlMode_t mode = controlMode_t::IDLE;
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|
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//variable to store mode when toggling IDLE mode
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controlMode_t modePrevious = controlMode_t::JOYSTICK; //default mode
|
||||
controlMode_t modePrevious; //default mode
|
||||
|
||||
//command preset for idling motors
|
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const motorCommand_t cmd_motorIdle = {
|
||||
@ -68,6 +93,14 @@ class controlledArmchair {
|
||||
.left = cmd_motorIdle,
|
||||
.right = cmd_motorIdle
|
||||
};
|
||||
|
||||
//variable for slow loop
|
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uint32_t timestamp_SlowLoopLastRun = 0;
|
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|
||||
//variables for detecting timeout (switch to idle, after inactivity)
|
||||
float dutyLeft_lastActivity = 0;
|
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float dutyRight_lastActivity = 0;
|
||||
uint32_t timestamp_lastActivity = 0;
|
||||
};
|
||||
|
||||
|
||||
|
||||
105
main/http.cpp
105
main/http.cpp
@ -3,7 +3,6 @@ extern "C"
|
||||
#include <stdio.h>
|
||||
#include "mdns.h"
|
||||
#include "cJSON.h"
|
||||
#include "esp_http_server.h"
|
||||
#include "esp_spiffs.h"
|
||||
#include "esp_wifi.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
@ -14,14 +13,13 @@ extern "C"
|
||||
}
|
||||
|
||||
#include "http.hpp"
|
||||
#include "joystick.hpp"
|
||||
#include "config.hpp"
|
||||
|
||||
|
||||
//tag for logging
|
||||
static const char * TAG = "http";
|
||||
static httpd_handle_t server = NULL;
|
||||
|
||||
QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
|
||||
|
||||
|
||||
//joystickData_t http_readFromJoystickQueue
|
||||
@ -99,12 +97,25 @@ static esp_err_t on_default_url(httpd_req_t *req)
|
||||
|
||||
|
||||
|
||||
//===============================
|
||||
//====== joystick endpoint ======
|
||||
//===============================
|
||||
//function that is called when data is received with post request at /api/joystick
|
||||
esp_err_t on_joystick_url(httpd_req_t *req)
|
||||
{
|
||||
//==============================
|
||||
//===== httpJoystick class =====
|
||||
//==============================
|
||||
//-----------------------
|
||||
//----- constructor -----
|
||||
//-----------------------
|
||||
httpJoystick::httpJoystick( httpJoystick_config_t config_f ){
|
||||
//copy config struct
|
||||
config = config_f;
|
||||
//initialize queue for joystick data
|
||||
QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
|
||||
}
|
||||
|
||||
|
||||
//--------------------------
|
||||
//---- receiveHttpData -----
|
||||
//--------------------------
|
||||
//joystick endpoint - function that is called when data is received with post request at /api/joystick
|
||||
esp_err_t httpJoystick::receiveHttpData(httpd_req_t *req){
|
||||
//--- add header ---
|
||||
//to allow cross origin (otherwise browser fails when app is running on another host)
|
||||
httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
|
||||
@ -122,8 +133,6 @@ esp_err_t on_joystick_url(httpd_req_t *req)
|
||||
//--- extract relevant items from json object ---
|
||||
cJSON *x_json = cJSON_GetObjectItem(payload, "x");
|
||||
cJSON *y_json = cJSON_GetObjectItem(payload, "y");
|
||||
cJSON *radius_json = cJSON_GetObjectItem(payload, "radius");
|
||||
cJSON *angle_json = cJSON_GetObjectItem(payload, "angle");
|
||||
|
||||
//--- save items to struct ---
|
||||
joystickData_t data = { };
|
||||
@ -132,34 +141,87 @@ esp_err_t on_joystick_url(httpd_req_t *req)
|
||||
//convert json to double to float
|
||||
data.x = static_cast<float>(x_json->valuedouble);
|
||||
data.y = static_cast<float>(y_json->valuedouble);
|
||||
data.radius = static_cast<float>(radius_json->valuedouble);
|
||||
data.angle = static_cast<float>(angle_json->valuedouble);
|
||||
//log received and parsed values
|
||||
ESP_LOGI(TAG, "received values: x=%.3f y=%.3f",
|
||||
data.x, data.y);
|
||||
|
||||
//--- evaluate joystick position enum ---
|
||||
// scaleCoordinate(input, min, max, center, tolerance_zero_per, tolerance_end_per)
|
||||
data.x = scaleCoordinate(data.x+1, 0, 2, 1, config.toleranceZeroX_Per, config.toleranceEndPer);
|
||||
data.y = scaleCoordinate(data.y+1, 0, 2, 1, config.toleranceZeroY_Per, config.toleranceEndPer);
|
||||
|
||||
//--- calculate radius with new/scaled coordinates ---
|
||||
data.radius = sqrt(pow(data.x,2) + pow(data.y,2));
|
||||
//TODO: radius tolerance? (as in original joystick func)
|
||||
//limit radius to 1
|
||||
if (data.radius > 1) {
|
||||
data.radius = 1;
|
||||
}
|
||||
//--- calculate angle ---
|
||||
data.angle = (atan(data.y/data.x) * 180) / 3.141;
|
||||
//--- evaluate position ---
|
||||
data.position = joystick_evaluatePosition(data.x, data.y);
|
||||
|
||||
|
||||
//log received and parsed values
|
||||
ESP_LOGI(TAG, "parsed values from received json: \n x=%.3f y=%.3f radius=%.3f angle=%.3f",
|
||||
data.x, data.y, data.radius, data.angle);
|
||||
//log processed values
|
||||
ESP_LOGI(TAG, "processed values: x=%.3f y=%.3f radius=%.3f angle=%.3f pos=%s",
|
||||
data.x, data.y, data.radius, data.angle, joystickPosStr[(int)data.position]);
|
||||
|
||||
//--- free memory ---
|
||||
cJSON_Delete(payload);
|
||||
|
||||
|
||||
//--- send data to control task via queue ---
|
||||
//xQueueSend( joystickDataQueue, ( void * )&data, ( TickType_t ) 0 );
|
||||
//changed to length = 1 -> overwrite - older values are no longer relevant
|
||||
xQueueOverwrite( joystickDataQueue, ( void * )&data );
|
||||
|
||||
|
||||
//--- return http response ---
|
||||
httpd_resp_set_status(req, "204 NO CONTENT");
|
||||
httpd_resp_send(req, NULL, 0);
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
|
||||
//-------------------
|
||||
//----- getData -----
|
||||
//-------------------
|
||||
//wait for and return joystick data from queue, if timeout return NULL
|
||||
joystickData_t httpJoystick::getData(){
|
||||
|
||||
//--- get joystick data from queue ---
|
||||
if( xQueueReceive( joystickDataQueue, &dataRead, pdMS_TO_TICKS(config.timeoutMs) ) ) {
|
||||
|
||||
ESP_LOGD(TAG, "getData: received data (from queue): x=%.3f y=%.3f radius=%.3f angle=%.3f",
|
||||
dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
|
||||
}
|
||||
//--- timeout ---
|
||||
//no new data received within configured timeout
|
||||
else {
|
||||
//send error message when last received data did NOT result in CENTER position
|
||||
if (dataRead.position != joystickPos_t::CENTER) {
|
||||
//change data to "joystick center" data to stop the motors
|
||||
dataRead = dataCenter;
|
||||
ESP_LOGE(TAG, "TIMEOUT - no data received for 3s -> set to center");
|
||||
}
|
||||
}
|
||||
return dataRead;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//--------------------------------------------
|
||||
//--- receiveHttpData for httpJoystickMain ---
|
||||
//--------------------------------------------
|
||||
//function that wraps pointer to member function of httpJoystickMain instance in a "normal" function which the webserver can run on joystick URL
|
||||
|
||||
//declare pointer to receiveHttpData method of httpJoystick class
|
||||
esp_err_t (httpJoystick::*pointerToReceiveFunc)(httpd_req_t *req) = &httpJoystick::receiveHttpData;
|
||||
|
||||
esp_err_t on_joystick_url(httpd_req_t *req){
|
||||
//run pointer to receiveHttpData function of httpJoystickMain instance
|
||||
return (httpJoystickMain.*pointerToReceiveFunc)(req);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//============================
|
||||
@ -169,9 +231,6 @@ esp_err_t on_joystick_url(httpd_req_t *req)
|
||||
void http_init_server()
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
//configure webserver
|
||||
httpd_config_t config = HTTPD_DEFAULT_CONFIG();
|
||||
config.uri_match_fn = httpd_uri_match_wildcard;
|
||||
|
||||
@ -1,6 +1,14 @@
|
||||
#pragma once
|
||||
|
||||
extern QueueHandle_t joystickDataQueue;
|
||||
extern "C"
|
||||
{
|
||||
#include "esp_http_server.h"
|
||||
}
|
||||
|
||||
#include "joystick.hpp"
|
||||
|
||||
|
||||
|
||||
|
||||
//============================
|
||||
//===== init http server =====
|
||||
@ -21,3 +29,43 @@ void start_mdns_service();
|
||||
//============================
|
||||
//function that destroys the http server
|
||||
void http_stop_server();
|
||||
|
||||
|
||||
//==============================
|
||||
//===== httpJoystick class =====
|
||||
//==============================
|
||||
//class that receices that from a HTTP post request, generates and scales joystick data and provides the data in a queue
|
||||
|
||||
//struct with configuration parameters
|
||||
typedef struct httpJoystick_config_t {
|
||||
float toleranceZeroX_Per;//percentage around joystick axis the coordinate snaps to 0
|
||||
float toleranceZeroY_Per;
|
||||
float toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1
|
||||
uint32_t timeoutMs; //time no new data was received before the motors get turned off
|
||||
} httpJoystick_config_t;
|
||||
|
||||
|
||||
class httpJoystick{
|
||||
public:
|
||||
//--- constructor ---
|
||||
httpJoystick( httpJoystick_config_t config_f );
|
||||
|
||||
//--- functions ---
|
||||
joystickData_t getData(); //wait for and return joystick data from queue, if timeout return CENTER
|
||||
|
||||
esp_err_t receiveHttpData(httpd_req_t *req); //function that is called when data is received with post request at /api/joystick
|
||||
|
||||
private:
|
||||
//--- variables ---
|
||||
httpJoystick_config_t config;
|
||||
QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
|
||||
//struct for receiving data from http function, and storing data of last update
|
||||
joystickData_t dataRead;
|
||||
const joystickData_t dataCenter = {
|
||||
.position = joystickPos_t::CENTER,
|
||||
.x = 0,
|
||||
.y = 0,
|
||||
.radius = 0,
|
||||
.angle = 0
|
||||
};
|
||||
};
|
||||
|
||||
@ -68,50 +68,6 @@ int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
|
||||
|
||||
|
||||
|
||||
//----------------------------
|
||||
//------ getCoordinate -------
|
||||
//----------------------------
|
||||
//function to read voltage at a gpio pin and scale it to a value from -1 to 1 using the given thresholds and tolerances
|
||||
float evaluatedJoystick::getCoordinate(adc1_channel_t adc_channel, bool inverted, int min, int max, int center, int tolerance_zero, int tolerance_end) {
|
||||
|
||||
float coordinate = 0;
|
||||
|
||||
//read voltage from adc
|
||||
int input = readAdc(adc_channel, inverted);
|
||||
|
||||
//define coordinate value considering the different tolerances
|
||||
//--- center ---
|
||||
if ((input < center+tolerance_zero) && (input > center-tolerance_zero) ) { //adc value is inside tolerance around center threshold
|
||||
coordinate = 0;
|
||||
}
|
||||
//--- maximum ---
|
||||
else if (input > max-tolerance_end) {
|
||||
coordinate = 1;
|
||||
}
|
||||
//--- minimum ---
|
||||
else if (input < min+tolerance_end) {
|
||||
coordinate = -1;
|
||||
}
|
||||
//--- positive area ---
|
||||
else if (input > center) {
|
||||
float range = max - center - tolerance_zero - tolerance_end;
|
||||
coordinate = (input - center - tolerance_end) / range;
|
||||
}
|
||||
//--- negative area ---
|
||||
else if (input < center) {
|
||||
float range = (center - min - tolerance_zero - tolerance_end);
|
||||
coordinate = -(center-input - tolerance_end) / range;
|
||||
}
|
||||
|
||||
ESP_LOGD(TAG, "coordinate=%.3f, input=%d/4095, isInverted=%d", coordinate, input, inverted);
|
||||
//return coordinate (-1 to 1)
|
||||
return coordinate;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//-------------------------------
|
||||
//---------- getData ------------
|
||||
//-------------------------------
|
||||
@ -120,10 +76,11 @@ joystickData_t evaluatedJoystick::getData() {
|
||||
//get coordinates
|
||||
//TODO individual tolerances for each axis? Otherwise some parameters can be removed
|
||||
ESP_LOGD(TAG, "getting X coodrinate...");
|
||||
float x = getCoordinate(config.adc_x, config.x_inverted, config.x_min, config.x_max, x_center, config.tolerance_zero, config.tolerance_end);
|
||||
float x = scaleCoordinate(readAdc(config.adc_x, config.x_inverted), config.x_min, config.x_max, x_center, config.tolerance_zeroX_per, config.tolerance_end_per);
|
||||
data.x = x;
|
||||
|
||||
ESP_LOGD(TAG, "getting Y coodrinate...");
|
||||
float y = getCoordinate(config.adc_y, config.y_inverted, config.y_min, config.y_max, y_center, config.tolerance_zero, config.tolerance_end);
|
||||
float y = scaleCoordinate(readAdc(config.adc_y, config.y_inverted), config.y_min, config.y_max, y_center, config.tolerance_zeroY_per, config.tolerance_end_per);
|
||||
data.y = y;
|
||||
|
||||
//calculate radius
|
||||
@ -159,6 +116,53 @@ void evaluatedJoystick::defineCenter(){
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//==============================
|
||||
//====== scaleCoordinate =======
|
||||
//==============================
|
||||
//function that scales an input value (e.g. from adc pin) to a value from -1 to 1 using the given thresholds and tolerances
|
||||
float scaleCoordinate(float input, float min, float max, float center, float tolerance_zero_per, float tolerance_end_per) {
|
||||
|
||||
float coordinate = 0;
|
||||
|
||||
//convert tolerance percentages to actual values of range
|
||||
double tolerance_zero = (max-min) * tolerance_zero_per / 100;
|
||||
double tolerance_end = (max-min) * tolerance_end_per / 100;
|
||||
|
||||
//define coordinate value considering the different tolerances
|
||||
//--- center ---
|
||||
if ((input < center+tolerance_zero) && (input > center-tolerance_zero) ) { //adc value is inside tolerance around center threshold
|
||||
coordinate = 0;
|
||||
}
|
||||
//--- maximum ---
|
||||
else if (input > max-tolerance_end) {
|
||||
coordinate = 1;
|
||||
}
|
||||
//--- minimum ---
|
||||
else if (input < min+tolerance_end) {
|
||||
coordinate = -1;
|
||||
}
|
||||
//--- positive area ---
|
||||
else if (input > center) {
|
||||
float range = max - center - tolerance_zero - tolerance_end;
|
||||
coordinate = (input - center - tolerance_zero) / range;
|
||||
}
|
||||
//--- negative area ---
|
||||
else if (input < center) {
|
||||
float range = (center - min - tolerance_zero - tolerance_end);
|
||||
coordinate = -(center-input - tolerance_zero) / range;
|
||||
}
|
||||
|
||||
ESP_LOGD(TAG, "scaled coordinate from %.3f to %.3f, tolZero=%.3f, tolEnd=%.3f", input, coordinate, tolerance_zero, tolerance_end);
|
||||
//return coordinate (-1 to 1)
|
||||
return coordinate;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//=============================================
|
||||
//========= joystick_evaluatePosition =========
|
||||
//=============================================
|
||||
|
||||
@ -31,10 +31,11 @@ typedef struct joystick_config_t {
|
||||
adc1_channel_t adc_x;
|
||||
adc1_channel_t adc_y;
|
||||
|
||||
//range around center-threshold of each axis the coordinates stays at 0 (adc value 0-4095)
|
||||
int tolerance_zero;
|
||||
//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
|
||||
int tolerance_end;
|
||||
//percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
|
||||
int tolerance_zeroX_per;
|
||||
int tolerance_zeroY_per;
|
||||
//percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
|
||||
int tolerance_end_per;
|
||||
//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
|
||||
float tolerance_radius;
|
||||
|
||||
@ -86,8 +87,6 @@ class evaluatedJoystick {
|
||||
void init();
|
||||
//read adc while making multiple samples with option to invert the result
|
||||
int readAdc(adc1_channel_t adc_channel, bool inverted = false);
|
||||
//read input voltage and scale to value from -1 to 1 using the given thresholds and tolerances
|
||||
float getCoordinate(adc1_channel_t adc_channel, bool inverted, int min, int max, int center, int tolerance_zero, int tolerance_end);
|
||||
|
||||
//--- variables ---
|
||||
joystick_config_t config;
|
||||
@ -111,9 +110,15 @@ class evaluatedJoystick {
|
||||
motorCommands_t joystick_generateCommandsDriving(joystickData_t data );
|
||||
|
||||
|
||||
//==============================
|
||||
//====== scaleCoordinate =======
|
||||
//==============================
|
||||
//function that scales an input value (e.g. from adc pin) to a value from -1 to 1 using the giben thresholds and tolerances
|
||||
float scaleCoordinate(float input, float min, float max, float center, float tolerance_zero_per, float tolerance_end_per);
|
||||
|
||||
//============================================
|
||||
//========= joystick_CommandsDriving =========
|
||||
//============================================
|
||||
|
||||
//=============================================
|
||||
//========= joystick_evaluatePosition =========
|
||||
//=============================================
|
||||
//function that defines and returns enum joystickPos from x and y coordinates
|
||||
joystickPos_t joystick_evaluatePosition(float x, float y);
|
||||
|
||||
@ -169,7 +169,7 @@ extern "C" void app_main(void) {
|
||||
//--- create task for control ---
|
||||
//-------------------------------
|
||||
//task that generates motor commands depending on the current mode and sends those to motorctl task
|
||||
xTaskCreate(&task_control, "task_control", 2048, NULL, 5, NULL);
|
||||
xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
|
||||
|
||||
//------------------------------
|
||||
//--- create task for button ---
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
/>
|
||||
<title>armchair ctl</title>
|
||||
</head>
|
||||
<body>
|
||||
<body style="background-color:#001427; color:white;">
|
||||
<noscript>You need to enable JavaScript to run this app.</noscript>
|
||||
<div id="root"></div>
|
||||
<!--
|
||||
|
||||
46
react-app/src/App.js
vendored
46
react-app/src/App.js
vendored
@ -7,11 +7,9 @@ import React, { useState} from 'react';
|
||||
|
||||
function App() {
|
||||
//declare variables that can be used and updated in html
|
||||
const [angle_html, setAngle_html] = useState(0);
|
||||
const [x_html, setX_html] = useState(0);
|
||||
const [y_html, setY_html] = useState(0);
|
||||
const [ip, setIp] = useState("10.0.0.66");
|
||||
const [radius_html, setRadius_html] = useState(0);
|
||||
|
||||
|
||||
|
||||
@ -19,7 +17,7 @@ function App() {
|
||||
//=========== config ============
|
||||
//===============================
|
||||
const decimalPlaces = 3;
|
||||
const joystickSize = 200; //affects scaling of coordinates and size of joystick on website
|
||||
const joystickSize = 250; //affects scaling of coordinates and size of joystick on website
|
||||
const throttle = 300; //throtthe interval the joystick sends data while moving (ms)
|
||||
const toleranceSnapToZeroPer = 20;//percentage of moveable range the joystick can be moved from the axix and value stays at 0
|
||||
|
||||
@ -33,7 +31,7 @@ function App() {
|
||||
// - snaps 0 zero for a given tolerance in percent
|
||||
// - rounds value do given decimal places
|
||||
// - TODO: add threshold it snaps to 1 / -1 (100%) toleranceEnd
|
||||
const ScaleCoordinate = (input) => {
|
||||
const ScaleCoordinateTolerance = (input) => {
|
||||
//calc tolerance threshold and available range
|
||||
const tolerance = joystickSize/2 * toleranceSnapToZeroPer/100;
|
||||
const range = joystickSize/2 - tolerance;
|
||||
@ -61,6 +59,15 @@ function App() {
|
||||
|
||||
|
||||
|
||||
//----------------------------------------
|
||||
//----------- Scale coordinate -----------
|
||||
//----------------------------------------
|
||||
//simply scale coordinate from joystick to a value of -1 to 1 without applying any tolerances
|
||||
const ScaleCoordinate = (input) => {
|
||||
return ( input / (joystickSize/2) ).toFixed(decimalPlaces);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//-------------------------------------------
|
||||
//------- Senda data via POST request -------
|
||||
@ -106,27 +113,26 @@ function App() {
|
||||
//evaluate coordinates and send to esp32
|
||||
const handleMove = (e) => {
|
||||
//console.log("data from joystick-element X:" + e.x + " Y:" + e.y + " distance:" + e.distance);
|
||||
//calculate needed variables
|
||||
|
||||
//--- convert coordinates ---
|
||||
//Note: tolerance (snap to zero) now handled by controller -> send raw coordinates
|
||||
//const x = ScaleCoordinateTolerance(e.x);
|
||||
//const y = ScaleCoordinateTolerance(e.y);
|
||||
const x = ScaleCoordinate(e.x);
|
||||
const y = ScaleCoordinate(e.y);
|
||||
const radius = (e.distance / 100).toFixed(5);
|
||||
const angle = ( Math.atan( y / x ) * 180 / Math.PI ).toFixed(2);
|
||||
|
||||
//crate object with necessary data
|
||||
//create object with necessary data
|
||||
const joystick_data={
|
||||
x: x,
|
||||
y: y,
|
||||
radius: radius,
|
||||
angle: angle
|
||||
y: y
|
||||
}
|
||||
|
||||
//send object with joystick data as json to controller
|
||||
httpSendObject(joystick_data);
|
||||
|
||||
//update variables for html
|
||||
setX_html(joystick_data.x);
|
||||
setY_html(joystick_data.y);
|
||||
setRadius_html(joystick_data.radius);
|
||||
setAngle_html(joystick_data.angle);
|
||||
};
|
||||
|
||||
|
||||
@ -139,15 +145,11 @@ function App() {
|
||||
const joystick_data={
|
||||
x: 0,
|
||||
y: 0,
|
||||
radius: 0,
|
||||
angle: 0
|
||||
}
|
||||
|
||||
//update variables for html
|
||||
setX_html(0);
|
||||
setY_html(0);
|
||||
setRadius_html(0);
|
||||
setAngle_html(0);
|
||||
//send object with joystick data as json to controller
|
||||
httpSendObject(joystick_data);
|
||||
};
|
||||
@ -162,14 +164,14 @@ function App() {
|
||||
|
||||
<div style={{display:'flex', justifyContent:'center', alignItems:'center', height:'100vh'}}>
|
||||
<div>
|
||||
<div style={{position: 'absolute', top: '0'}}>
|
||||
<h1>Joystick ctl</h1>
|
||||
<div style={{position: 'absolute', top: '0', left: '0', width: '100%'}}>
|
||||
<h1 style={{width:'100%', textAlign:'center'}}>Armchair ctl</h1>
|
||||
</div>
|
||||
<Joystick
|
||||
size={joystickSize}
|
||||
sticky={false}
|
||||
baseColor="red"
|
||||
stickColor="blue"
|
||||
baseColor="#8d0801"
|
||||
stickColor="#708d81"
|
||||
throttle={throttle}
|
||||
move={handleMove}
|
||||
stop={handleStop}
|
||||
@ -178,8 +180,6 @@ function App() {
|
||||
<ul>
|
||||
<li> x={x_html} </li>
|
||||
<li> y={y_html} </li>
|
||||
<li> radius={radius_html} </li>
|
||||
<li> angle={angle_html} </li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user