120 lines
3.2 KiB
C++
120 lines
3.2 KiB
C++
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 "driver/gpio.h"
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#include "esp_log.h"
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#include <string.h>
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}
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#include "chairAdjust.hpp"
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//--- gloabl variables ---
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// strings for logging the rest state
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const char* restStateStr[] = {"REST_OFF", "REST_DOWN", "REST_UP"};
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//--- local variables ---
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//tag for logging
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static const char * TAG = "chair-adjustment";
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//=============================
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//======== constructor ========
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//=============================
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cControlledRest::cControlledRest(gpio_num_t gpio_up_f, gpio_num_t gpio_down_f, const char * name_f){
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strcpy(name, name_f);
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gpio_up = gpio_up_f;
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gpio_down = gpio_down_f;
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init();
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}
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//====================
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//======= init =======
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//====================
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// init gpio pins for relays
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void cControlledRest::init()
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{
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ESP_LOGW(TAG, "[%s] initializing gpio pins %d, %d for relays...", name, gpio_up, gpio_down);
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// configure 2 gpio pins
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gpio_pad_select_gpio(gpio_up);
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gpio_set_direction(gpio_up, GPIO_MODE_OUTPUT);
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gpio_pad_select_gpio(gpio_down);
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gpio_set_direction(gpio_down, GPIO_MODE_OUTPUT);
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// both relays off initially
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gpio_set_level(gpio_down, 0);
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gpio_set_level(gpio_up, 0);
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state = REST_OFF;
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}
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//============================
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//========= setState =========
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//============================
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void cControlledRest::setState(restState_t targetState)
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{
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//check if actually changed
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if (targetState == state){
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ESP_LOGD(TAG, "[%s] state already at '%s', nothing to do", name, restStateStr[state]);
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return;
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}
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//apply new state
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ESP_LOGI(TAG, "[%s] switching from state '%s' to '%s'", name, restStateStr[state], restStateStr[targetState]);
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state = targetState;
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timestamp_lastChange = esp_log_timestamp(); //TODO use this to estimate position
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switch (state)
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{
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case REST_UP:
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gpio_set_level(gpio_down, 0);
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gpio_set_level(gpio_up, 1);
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break;
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case REST_DOWN:
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gpio_set_level(gpio_down, 1);
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gpio_set_level(gpio_up, 0);
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break;
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case REST_OFF:
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gpio_set_level(gpio_down, 0);
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gpio_set_level(gpio_up, 0);
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break;
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}
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}
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void setTargetPercent(float targetPercent);
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void handle(){
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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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//TODO:
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// - add separate task that controls chair adjustment
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// - timeout
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// - track position
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// - auto-adjust: move to position while driving
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// - control via app
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// - add delay betweem direction change
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void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest){
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//--- variables ---
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float stickThreshold = 0.3; //min coordinate for motor to start
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//--- control rest motors ---
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//leg rest (x-axis)
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if (data.x > stickThreshold) legRest->setState(REST_UP);
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else if (data.x < -stickThreshold) legRest->setState(REST_DOWN);
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else legRest->setState(REST_OFF);
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//back rest (y-axis)
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if (data.y > stickThreshold) backRest->setState(REST_UP);
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else if (data.y < -stickThreshold) backRest->setState(REST_DOWN);
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else backRest->setState(REST_OFF);
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}
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