5e2962302d
- 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
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, MQTT, BLUETOOTH, AUTO};
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//extern controlMode_t mode;
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extern const char* controlModeStr[6];
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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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