8de4dbbe27
While testing the ADJUST_CHAIR mode on actual hardware fixed the following issues: - main.cpp: Uninitialized pointer for leg/back-rest were passed to control task thus as when a method was called the controller crashed - chairAdjust.cpp: the state was never reset to REST_OFF when below stick threshold
41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
#pragma once
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#include "joystick.hpp"
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typedef enum {
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REST_OFF = 0,
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REST_DOWN,
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REST_UP
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} restState_t;
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extern const char* restStateStr[];
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//=====================================
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//======= cControlledRest class =======
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//=====================================
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//class that controls 2 relays powering a motor that moves a rest of the armchair up or down
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//2 instances will be created one for back and one for leg rest
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class cControlledRest {
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public:
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cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, const char *name);
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void setState(restState_t targetState);
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void stop();
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private:
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void init();
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char name[32];
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gpio_num_t gpio_up;
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gpio_num_t gpio_down;
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restState_t state;
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const uint32_t travelDuration = 5000;
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uint32_t timestamp_lastChange;
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float currentPosition = 0;
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};
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//====================================
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//====== controlChairAdjustment ======
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//====================================
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//function that controls the two rests according to joystick data (applies threshold, defines direction)
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void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest); |