Fix bug where armchair moved too long every once in a while (especially
at start).
Minor adjustments of parameters.
main.cpp:
- set individual task priorities for each task e.g. fan or buzzer task has very low priority (did not have any immediate effect though while testing)
- increase handle interval of motorctl
change from 20 to 10 (same frequency as generation of massage
commands)
-> this fixed the bug with unexpected movement (motorctl could not
process every command from massage mode)
control.cpp:
- decrease delay in massage mode for more detail/levels at joystick
radius (from 20 to 10ms)
- increase fading in massage mode (400ms to 500ms) for slightly less hard
shaking
joystick.cpp:
- reduce max shaking amount
- swap modes
- top left shake backward
- top right shake forward
- bottom left/right shake rotating
In massage mode it is required that the motors react quicker, Added the
following functionality to control.cpp:
- when changing to MASSAGE mode the downfading is disabled and upfading is
reduced
- when changing from MASSAGE mode downfading is enabled and upfading reset
to default value
Use reference to joystick object in control class instead of accessing
the global evaluatedJoystick object
control.hpp:
- add joystick reference to constructor
- add local joystick pointer variable
control.cpp:
- constructor: copy pointer to joystick object
- use methods of joystick reference instead of global object
- update log output of timeout check
config.cpp:
- add joystick object to control object construction
- joystick.hpp/cpp
- add function joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float pointY)
that scales the coordinates with 2 different slopes before and
after certain point
- control.cpp
- scale coordinates linear with new function instead of exponential in JOYSTICK mode
- scale coordinates linear with new function instead of exponential in HTTP mode
- config.cpp
- adjust / decrease http joystick tolerances
Note: tested the armchair in http and joystick mode briefly and
optimized the scaling point slightly
- joystick.hpp/cpp
- add function joystick_scaleCoordinatesExp(joystickData_t * data, float exponent)
which updates joystick data with its scaled coordinates and
re-calculated radius
- control.cpp
- scale coordinates exponential (pow 2) in JOYSTICK mode
- scale coordinates exponential (pow 2) in HTTP mode
- config.cpp
- fixed swapped x/y zero tolerances for hardware joystick
Note: tested armchair with scaling exponents 1.5; 2; 3 and noticed that
2 works best
- add function joystick_generateCommandsShaking that generates motor
commands from joystick data
- pulses motors:
- intervals depend on joystick radius
- direction depends on joystick position (currently only on-x-axis and on-y-axis
supported)
Fix several bugs noticed while testing the preceding commits in dev
branch:
- Fix bug in function scaleCoordinate
- scaling was wrong resulting in negative/inverted values at start of axis
- Adjust timeout value from 30s to 5min
- Fix http joystick behaivor
- calculate angle, radius and evaluate position AFTER the coordinates
have been scaled in control.cpp (bug introduced when switching applying tolerance
on controller instead of in the app)
- Add independent toleranceZero for X and Y axis -> unnecessary to have
large tolerance for x axis... makes turning more sensitive
- Fix stack overflow in control task
- controller crashed repeatedly when logging output was enabled in
control task
- -> doubled stack size at task creation in main.cpp
currently works, position hast to be evaluated AFTER coordinate scaling
- create new struct control_config_t with several variables previously
hardcoded in control.cpp
- modified constructor: add config parameter
- add definition of config struct in config.cpp
typedef struct control_config_t {
controlMode_t defaultMode; //default mode after startup and toggling IDLE
//--- timeout ---
uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
float http_toleranceZeroPer;//percentage around joystick axis the coordinate snaps to 0
float http_toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1
uint32_t http_timeoutMs; //time no new data was received before the motors get turned off
Add feature that switches to mode IDLE when duty of both motors did not
change over certain time.
control.cpp/hpp:
- add private function that handles timeout
- add public function that resets timeout
- add slow loop with timeout handle inside control handle loop
- joystick.cpp/hpp:
- move method scaleCoordinate from joystick class to public function
- modify scaleCoordinate function to accept float values instead of
ADC pin, change tolerance parameters to percent instead of absolute
number
- change method getData to use the public function now
- control.cpp:
- use scaleCoordinate function in http mode
- calculate radius in http mode
- config.cpp
- adjust tolerance thresholds for joystick to percent
- App.js
- disable "snap to zero" feature -> just scale joystick output to
value of -1 to 1
- control.cpp: Add feature to HTTP mode, that turns motors off when at least one motor is still on
but no data was received for more than 3 seconds (e.g. wifi connection
lost)
- change queue size from 20 to 1 - no need to store multiple joystick
data since only the latest one is relevant
- add "preset command" to control.hpp to set both motors to IDLE
- Create http.cpp and http.hpp
- functions for initializing a http server
- function for URL api/joystick
- receive joystick data from http post request
- parse json, define joystick position (function from joystick.hpp)
- send data to control task via queue
- control.hpp/cpp:
- add HTTP mode to handle loop
- receive joystick commands from queue, generate commands, send to
motorctl
- upgrade changeMode function with ability to run functions at switch
FROM and TO certain modes
- add code to start/stop wifi and webserver when switching to/from
HTTP mode
- change toggleModes and toggleIdle to use the changeMode function
- main.cpp:
- add several sections with code for testing new functions (commented
out)
- add http loglevel
- buzzer.cpp:
- add command (press 4 times) to toggle between HTTP and JOYSTICK mode
FIXME: moved initialization of wifi to main.cpp at startup because of an
error -> resolve this and place wifi start and stop functions into
mode-change as intended
currently works best in accesspoint mode with laptop connected using the
react-webapp
Move section that defines joystick position enum to a separate function
(outside of joystick class), this makes it usable for other inputs as
well
- create new function joystick_evaluatePosition
- call the new function in joystickgetData (where code was initially)
- change function joystick_generateCommandsDriving to accept joystick
data struct instead of joystick object as parameter -> makes the
function usable with other input than hardware joystick too
- Move all separately declared functions in control.hpp to a new class
'controlledArmchair'
- now passing other objects only one time with constructor instead
of accessing them globally
- Create control instance in config.hpp, and passing objects in
config.cpp
- Add functions to new control class
- toggleIdle(): toggle between last mode and idle
- toggleModes(mode1, mode2): toggle between two modes
- Add commands to button.cpp
- 2x button press: call toggleIdle()
- 6x button press: toggleModes MASSAGE -> JOYSTICK
- Define control task in main.cpp
- Adjust button files and main.cpp to use the new command object instead
of the previus functions
Add control.hpp and control.cpp
- task that repeatedly generates motor commands depending on the current mode
- function to change to a specified control mode
Add button.hpp and button.cpp
- class which runs commands depending on the count a button was pressed
Update main.cpp
- create button task
- create control task
- comment out previous testing code
- remove unnecessary includes (already included in config.hpp)
Add control.cpp and button.cpp to CMakeLists
Notes: Tested this state on the armchair: All currently implemented features
work. You can switch between IDLE and JOYSTICK by pressing the button 2
or 3 times. Also driving works well (limited to 60% duty, with no fans
yet).
