- complete rework of chairAdjust.cpp/.hpp
created a class cControlledRest which is more readable
and saves a lot of duplicate code
- joystick.cpp: move chair control via joystick to
chairAdjust.cpp (prevents dependency loop)
- button.cpp: fix bug instant idle when changing to ADJUST_CHAIR
Note: briefly tested this state on a breakout board:
Mode change and call of new class methods works.
- add mutex around mutex send instruction
- add minimum delay between sent messages
- detect situation where both motors are off and send special both motor
stop command. This might fix issue "right motor stay always on"
- move speedsensor files from motorctl pcb to common
- single pcb create and configure global speedsensor objects
- display: create fast slow veryslow loop
- clear display every 30s
- show speed in rpm and km/h
NOTE: speedsensor needs fix, direction unreliable
Successfull test drive with new driver
- set max duty from 90 to 100
- config adjust fading, calibrate joystick, disable deadtime
- disable 1x button cmd
- 8x sport mode: toggle accel not decel
- make motorctl compatible with different drivers
- pass set function instead of specific motor object
- add lambda function in config.cpp
- update config to use one new sabertooth driver instead of two single100a
- main test controlled motor
Same reason as before commit
Note: some changes to http were necessary due to global object
- untested!
Also remove unneded duplicate components folder
since board_single uses mostly the same code as board_control and
board_motorctl several files are outsorced to common folder to prevent
dupliate code and different versions
Same functionality as previous commit. But way more stable and clean.
Previous proof of concept approach had issues with random partial or
too large messages due to time based method
Rework send and receive functions to work more stable
- send: encode data with frame (start, end byte)
- receive: read each byte one after the other, assemble message,
handle actual data in handle function
- add semaphore to write operation to prevent parallel write of
different data when called from other tasks
- board_control successfully sends motor commands to board_motorctl
- board_motorctl receives and applies motor commands
note: control pcb currently switches to HTTP mode after startup for testing
with data from ui
- partially commented in code that has to be reworked
- control: send commands via uart instead of to motor objects
- board motorctl handled motor: add timeout when no target data
received (e.g. control pcb offline / uart bugged)
- board motorctl uart: receive motorCommands_t struct and apply data to
target state of handled motors
- types: fix issue with global motorstateStr variable
- outsoruce common files and separate common types from source files (new
common/types.hpp)
- split source files to 2 board folders (relevant only, no duplicate)
- currently boards compile successfull but not functional at all
- comment out currently incompatible code
