95f2403163
Add functional mode to control chair position via joystick Switch to that mode using button 1x short 1x long (prev eject support)
135 lines
3.9 KiB
C++
135 lines
3.9 KiB
C++
#pragma once
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extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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#include "esp_err.h"
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}
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#include "freertos/queue.h"
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#include <cmath>
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#include "motorctl.hpp"
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//--------------------------------------------
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//---- struct, enum, variable declarations ---
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//--------------------------------------------
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//enum for special instructions / commands to be run in control task
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enum class auto_instruction_t { NONE, SWITCH_PREV_MODE, SWITCH_JOYSTICK_MODE, RESET_ACCEL_DECEL, RESET_ACCEL, RESET_DECEL };
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//struct for a simple command
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//e.g. put motors in a certain state for certain time
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typedef struct commandSimple_t{
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motorCommands_t motorCmds;
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uint32_t msDuration;
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uint32_t fadeDecel;
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uint32_t fadeAccel;
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auto_instruction_t instruction;
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} commandSimple_t;
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//------------------------------------
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//----- automatedArmchair class -----
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//------------------------------------
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class automatedArmchair {
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public:
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//--- methods ---
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//constructor
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automatedArmchair(void);
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//function to generate motor commands
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//can be also seen as handle function
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//TODO: go with other approach: separate task for handling auto mode
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// - receive commands with queue anyways
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// - => use delay function
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// - have a queue that outputs current motor state/commands -> repeatedly check the queue in control task
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//function that handles automatic driving and returns motor commands
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//also provides instructions to be executed in control task via pointer
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motorCommands_t generateCommands(auto_instruction_t * instruction);
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//function that adds a basic command to the queue
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void addCommand(commandSimple_t command);
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//function that adds an array of basic commands to queue
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void addCommands(commandSimple_t commands[], size_t count);
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//function that deletes all pending/queued commands
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motorCommands_t clearCommands();
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private:
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//--- methods ---
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//--- objects ---
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//TODO: add buzzer here
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//--- variables ---
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//queue for storing pending commands
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QueueHandle_t commandQueue = NULL;
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//current running command
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commandSimple_t cmdCurrent;
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//timestamp current command is finished
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uint32_t timestampCmdFinished = 0;
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motorCommands_t motorCommands;
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//command preset for idling motors
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const motorCommand_t motorCmd_motorIdle = {
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.state = motorstate_t::IDLE,
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.duty = 0
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};
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const motorCommands_t motorCmds_bothMotorsIdle = {
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.left = motorCmd_motorIdle,
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.right = motorCmd_motorIdle
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};
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};
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//=========== EXAMPLE USAGE ============
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//the following was once used in button.cpp to make move that ejects the leg support of armchair v1
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/**
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if (trigger){
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//define commands
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cmds[0] =
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{
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.motorCmds = {
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.left = {motorstate_t::REV, 90},
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.right = {motorstate_t::REV, 90}
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},
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.msDuration = 1200,
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.fadeDecel = 800,
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.fadeAccel = 1300,
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.instruction = auto_instruction_t::NONE
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};
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cmds[1] =
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{
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.motorCmds = {
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.left = {motorstate_t::FWD, 70},
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.right = {motorstate_t::FWD, 70}
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},
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.msDuration = 70,
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.fadeDecel = 0,
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.fadeAccel = 300,
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.instruction = auto_instruction_t::NONE
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};
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cmds[2] =
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{
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.motorCmds = {
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.left = {motorstate_t::IDLE, 0},
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.right = {motorstate_t::IDLE, 0}
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},
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.msDuration = 10,
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.fadeDecel = 800,
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.fadeAccel = 1300,
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.instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
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};
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//send commands to automatedArmchair command queue
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armchair.addCommands(cmds, 3);
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//change mode to AUTO
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control->changeMode(controlMode_t::AUTO);
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return;
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}
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*/
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