Added functional menu using display and encoder:
- a menu item is defined in one struct
- scroll in a list of defined items
- select option
- modify value
- save value, return to list
Currently only menu is run (button and status display disabled)
- Add menu.cpp/hpp
- Add encoder.cpp/hpp mostly from previous test in board-control
- display.cpp: only run new handleMenu() function
- main.cpp: initialize encoder at startup, disable button task for testing
Currently testing with breakoutboard and larger
1.3'' display (OFFSETX needed)
- display.cpp:
- change structure (outsource in page functions)
- add git and compile info to startup screen
- add armchair mode and motor current to status screen
- control.hpp: Add methods to get current armchair control mode (string)
- motorctl.hpp: Add method to get motor current
Now you can switch to mode ADJUST_CHAIR via 1x short, 1x long button
press and control the armchair rests with the joystick.
Untested, due to hardware (relays) not installed yet
- 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
slightly rework hacked display test
- new code structure
- split code in several functions
- add task for display instead of running it in main()
- functions to convert voltage to battery percent charged
- show percentage and voltage on display
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
New controller will be run with single controller at first...
get single board version from V2.0 and create new folder
(two boards version is kept)
-> copied firmware from e6e586e5855d81ee726bb9a0fbe8ab12def5eeef
successfully read rotational speed and direction using encoder disk and
optical sensor
custom implementation of incremental encoder using gpio edge interrupt
brake-mode support
in BRAKE state relays are powered that connects a brake resistor
(not tested with actual motors)
Also brake mode is currently not used at all
[untested]
Turn on brake relays in BRAKE state
Also wait certain time for relays to switch before shorting the driver
Add config option for brake relay pin
Initialize pin in constructor
Add 2x brake relay
Add 2x optical sensor for speed measurement
-> not enough ports available!
-> Split pin assignment in two pcbs connected via UART
Note: just built and soldered both bords as currently described in connection plan
(old board replaced)
currently handles encoder connected to pins configured in encoder.hpp
and receives and logs all available events in encoder task
Works as expected
TODO: migrate with previous implementation of commands in button.cpp
