76e8bac113
- outsoruce common files and separate common types from source files (new common/types.hpp) - split source files to 2 board folders (relevant only, no duplicate) - currently boards compile successfull but not functional at all - comment out currently incompatible code
88 lines
2.7 KiB
C++
88 lines
2.7 KiB
C++
#pragma once
|
|
|
|
extern "C"
|
|
{
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "esp_log.h"
|
|
#include "esp_err.h"
|
|
}
|
|
|
|
#include "freertos/queue.h"
|
|
#include <cmath>
|
|
#include "types.hpp"
|
|
|
|
|
|
|
|
//--------------------------------------------
|
|
//---- struct, enum, variable declarations ---
|
|
//--------------------------------------------
|
|
//enum for special instructions / commands to be run in control task
|
|
enum class auto_instruction_t { NONE, SWITCH_PREV_MODE, SWITCH_JOYSTICK_MODE, RESET_ACCEL_DECEL, RESET_ACCEL, RESET_DECEL };
|
|
|
|
//struct for a simple command
|
|
//e.g. put motors in a certain state for certain time
|
|
typedef struct commandSimple_t{
|
|
motorCommands_t motorCmds;
|
|
uint32_t msDuration;
|
|
uint32_t fadeDecel;
|
|
uint32_t fadeAccel;
|
|
auto_instruction_t instruction;
|
|
} commandSimple_t;
|
|
|
|
|
|
|
|
//------------------------------------
|
|
//----- automatedArmchair class -----
|
|
//------------------------------------
|
|
class automatedArmchair {
|
|
public:
|
|
//--- methods ---
|
|
//constructor
|
|
automatedArmchair(void);
|
|
//function to generate motor commands
|
|
//can be also seen as handle function
|
|
//TODO: go with other approach: separate task for handling auto mode
|
|
// - receive commands with queue anyways
|
|
// - => use delay function
|
|
// - have a queue that outputs current motor state/commands -> repeatedly check the queue in control task
|
|
//function that handles automatic driving and returns motor commands
|
|
//also provides instructions to be executed in control task via pointer
|
|
motorCommands_t generateCommands(auto_instruction_t * instruction);
|
|
|
|
//function that adds a basic command to the queue
|
|
void addCommand(commandSimple_t command);
|
|
//function that adds an array of basic commands to queue
|
|
void addCommands(commandSimple_t commands[], size_t count);
|
|
|
|
//function that deletes all pending/queued commands
|
|
motorCommands_t clearCommands();
|
|
|
|
|
|
private:
|
|
//--- methods ---
|
|
//--- objects ---
|
|
//TODO: add buzzer here
|
|
//--- variables ---
|
|
//queue for storing pending commands
|
|
QueueHandle_t commandQueue = NULL;
|
|
//current running command
|
|
commandSimple_t cmdCurrent;
|
|
//timestamp current command is finished
|
|
uint32_t timestampCmdFinished = 0;
|
|
|
|
motorCommands_t motorCommands;
|
|
|
|
//command preset for idling motors
|
|
const motorCommand_t motorCmd_motorIdle = {
|
|
.state = motorstate_t::IDLE,
|
|
.duty = 0
|
|
};
|
|
const motorCommands_t motorCmds_bothMotorsIdle = {
|
|
.left = motorCmd_motorIdle,
|
|
.right = motorCmd_motorIdle
|
|
};
|
|
};
|
|
|
|
|