- 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).
