Major changes in motorctl and control to optimize performance
by freeing unnecessary cpu usage by motorctl task
Needs testing on actual hardware!
motorctl:
- slow down handle loop when duty is at target (wait for new command)
- create separate task for each motor
- setTarget method also accepts motorCommand directly now
control.cpp:
- redurce stress on motorctl by removing unnecessary commands
- set motors to idle at mode change only, instead of every iteration (IDLE, MENU, ADJUST)
- HTTP, JOYSTICK: only update motors when stick data actually changed
- simplify code
- add method for idling both motors
- use motorcommands directly in setTarget()
http:cpp:
- dont block control task with getData() method
- handle timeout independent of one queue event
- prevents unresponsive system for http-timeout when changing mode from HTTP
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for thatMajor Rework all files - Remove global variables, pass pointers to tasks
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for that
NOTES: - tested on breakoutboard only
- known issue that slow encoder events are not recognized
(especially in menu) - slowing down motorctl helps
Same reason as before commit
Note: some changes to http were necessary due to global object
- untested!
Also remove unneded duplicate components folder
