3cb5bc410b
- 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
61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
#pragma once
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#include "motordrivers.hpp"
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#include "motorctl.hpp"
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#include "buzzer.hpp"
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//enum that decides how the motors get controlled
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enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
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//extern controlMode_t mode;
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extern const char* controlModeStr[7];
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//==================================
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//========= control class ==========
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//==================================
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//controls the mode the armchair operates
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//repeatedly generates the motor commands corresponding to current mode and sends those to motorcontrol
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class controlledArmchair {
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public:
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//--- constructor ---
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controlledArmchair (
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buzzer_t* buzzer_f,
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controlledMotor* motorLeft_f,
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controlledMotor* motorRight_f
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);
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//--- functions ---
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//task that repeatedly generates motor commands depending on the current mode
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void startHandleLoop();
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//function that changes to a specified control mode
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void changeMode(controlMode_t modeNew);
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//function that toggle between IDLE and previous active mode (or default if not switched to certain mode yet)
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void toggleIdle();
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//function that toggles between two modes, but prefers first argument if entirely different mode is currently active
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void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary);
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private:
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//--- objects ---
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buzzer_t* buzzer;
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controlledMotor* motorLeft;
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controlledMotor* motorRight;
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//---variables ---
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//struct for motor commands returned by generate functions of each mode
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motorCommands_t commands;
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//definition of mode enum
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controlMode_t mode = controlMode_t::IDLE;
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//variable to store mode when toggling IDLE mode
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controlMode_t modePrevious = controlMode_t::JOYSTICK; //default mode
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};
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