967f2cd8b5
When moving the joystick in other direction than driving the deceleration gets speed up. The boost scales with how far the stick is in other direction up to a maximum Some issues with this approach see notes in code
269 lines
9.6 KiB
C++
269 lines
9.6 KiB
C++
// NOTE: this file is included in main.cpp only.
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// outsourced all configuration related functions and structures to this file:
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extern "C"
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{
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#include "esp_log.h"
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}
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#include "motordrivers.hpp"
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#include "motorctl.hpp"
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#include "joystick.hpp"
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#include "http.hpp"
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#include "speedsensor.hpp"
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#include "buzzer.hpp"
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#include "control.hpp"
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#include "fan.hpp"
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#include "auto.hpp"
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#include "chairAdjust.hpp"
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#include "display.hpp"
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#include "encoder.h"
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//==================================
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//======== define loglevels ========
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//==================================
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void setLoglevels(void)
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{
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// set loglevel for all tags:
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esp_log_level_set("*", ESP_LOG_WARN);
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//--- set loglevel for individual tags ---
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esp_log_level_set("main", ESP_LOG_INFO);
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esp_log_level_set("buzzer", ESP_LOG_ERROR);
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// esp_log_level_set("motordriver", ESP_LOG_DEBUG);
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esp_log_level_set("motor-control", ESP_LOG_WARN);
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// esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
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esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
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esp_log_level_set("button", ESP_LOG_INFO);
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esp_log_level_set("control", ESP_LOG_INFO);
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// esp_log_level_set("fan-control", ESP_LOG_INFO);
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esp_log_level_set("wifi", ESP_LOG_INFO);
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esp_log_level_set("http", ESP_LOG_INFO);
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// esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
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esp_log_level_set("display", ESP_LOG_INFO);
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// esp_log_level_set("current-sensors", ESP_LOG_INFO);
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esp_log_level_set("speedSensor", ESP_LOG_WARN);
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esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
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esp_log_level_set("menu", ESP_LOG_INFO);
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esp_log_level_set("encoder", ESP_LOG_INFO);
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esp_log_level_set("TESTING", ESP_LOG_ERROR);
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}
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//==================================
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//======== configuration ===========
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//==================================
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//-----------------------------------
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//------- motor configuration -------
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//-----------------------------------
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/* ==> currently using other driver
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//--- configure left motor (hardware) ---
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_26,
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.gpio_a = GPIO_NUM_16,
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.gpio_b = GPIO_NUM_4,
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.ledc_timer = LEDC_TIMER_0,
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.ledc_channel = LEDC_CHANNEL_0,
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.aEnabledPinState = false, //-> pins inverted (mosfets)
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.bEnabledPinState = false,
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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//--- configure right motor (hardware) ---
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single100a_config_t configDriverRight = {
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.gpio_pwm = GPIO_NUM_27,
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.gpio_a = GPIO_NUM_2,
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.gpio_b = GPIO_NUM_14,
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.ledc_timer = LEDC_TIMER_1,
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.ledc_channel = LEDC_CHANNEL_1,
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.aEnabledPinState = false, //-> pin inverted (mosfet)
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.bEnabledPinState = true, //-> not inverted (direct)
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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*/
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//--- configure sabertooth driver --- (controls both motors in one instance)
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sabertooth2x60_config_t sabertoothConfig = {
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.gpio_TX = GPIO_NUM_27,
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.uart_num = UART_NUM_2};
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// TODO add motor name string -> then use as log tag?
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//--- configure left motor (contol) ---
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motorctl_config_t configMotorControlLeft = {
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.name = "left",
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.loggingEnabled = true,
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.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = false,
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.tractionControlSystemEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_4, // GPIO32
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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.currentInverted = true,
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.currentSnapToZeroThreshold = 0.15,
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.deadTimeMs = 0 // minimum time motor is off between direction change
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};
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//--- configure right motor (contol) ---
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motorctl_config_t configMotorControlRight = {
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.name = "right",
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.loggingEnabled = false,
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.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = false,
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.tractionControlSystemEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_5, // GPIO33
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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.currentInverted = false,
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.currentSnapToZeroThreshold = 0.25,
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.deadTimeMs = 0 // minimum time motor is off between direction change
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};
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//------------------------------
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//------- control config -------
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//------------------------------
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control_config_t configControl = {
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.defaultMode = controlMode_t::JOYSTICK, // default mode after startup and toggling IDLE
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//--- timeouts ---
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.timeoutSwitchToIdleMs = 5 * 60 * 1000, // time of inactivity after which the mode gets switched to IDLE
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.timeoutNotifyPowerStillOnMs = 6 * 60 * 60 * 1000 // time in IDLE after which buzzer beeps in certain interval (notify "forgot to turn off")
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};
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//-------------------------------
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//----- httpJoystick config -----
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//-------------------------------
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httpJoystick_config_t configHttpJoystickMain{
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.toleranceZeroX_Per = 1, // percentage around joystick axis the coordinate snaps to 0
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.toleranceZeroY_Per = 6,
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.toleranceEndPer = 2, // percentage before joystick end the coordinate snaps to 1/-1
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.timeoutMs = 2500 // time no new data was received before the motors get turned off
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};
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//--------------------------------------
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//------- joystick configuration -------
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//--------------------------------------
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joystick_config_t configJoystick = {
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.adc_x = ADC1_CHANNEL_0, // GPIO36
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.adc_y = ADC1_CHANNEL_3, // GPIO39
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// percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
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.tolerance_zeroX_per = 7, // 6
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.tolerance_zeroY_per = 10, // 7
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// percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
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.tolerance_end_per = 4,
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// threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
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.tolerance_radius = 0.09,
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// min and max adc values of each axis, !!!AFTER INVERSION!!! is applied:
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.x_min = 1710, //=> x=-1
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.x_max = 2980, //=> x=1
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.y_min = 1700, //=> y=-1
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.y_max = 2940, //=> y=1
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// invert adc measurement
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.x_inverted = false,
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.y_inverted = true};
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//----------------------------
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//--- configure fan contol ---
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//----------------------------
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fan_config_t configFans = {
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.gpio_fan = GPIO_NUM_13,
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.dutyThreshold = 40,
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.minOnMs = 1500,
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.minOffMs = 3000,
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.turnOffDelayMs = 5000,
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};
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//--------------------------------------------
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//-------- speed sensor configuration --------
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//--------------------------------------------
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speedSensor_config_t speedLeft_config{
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.gpioPin = GPIO_NUM_5,
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.degreePerGroup = 360 / 16,
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.minPulseDurationUs = 3000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
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//measured wihth scope while tires in the air:
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// 5-groups: 12ms
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// 16-groups: 3.7ms
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.tireCircumferenceMeter = 0.81,
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.directionInverted = true,
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.logName = "speedLeft"
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};
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speedSensor_config_t speedRight_config{
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.gpioPin = GPIO_NUM_14,
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.degreePerGroup = 360 / 12,
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.minPulseDurationUs = 4000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
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.tireCircumferenceMeter = 0.81,
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.directionInverted = false,
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.logName = "speedRight"
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};
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//-------------------------
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//-------- display --------
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//-------------------------
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display_config_t display_config{
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// hardware initialization
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.gpio_scl = GPIO_NUM_22,
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.gpio_sda = GPIO_NUM_23,
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.gpio_reset = -1, // negative number disables reset feature
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.width = 128,
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.height = 64,
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.offsetX = 2,
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.flip = false,
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.contrastNormal = 170, // max: 255
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// display task
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.contrastReduced = 30, // max: 255
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.timeoutReduceContrastMs = 5 * 60 * 1000, // actions at certain inactivity
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.timeoutSwitchToScreensaverMs = 30 * 60 * 1000
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};
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//-------------------------
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//-------- encoder --------
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//-------------------------
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//configure rotary encoder (next to joystick)
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rotary_encoder_t encoder_config = {
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.pin_a = GPIO_NUM_25,
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.pin_b = GPIO_NUM_26,
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.pin_btn = GPIO_NUM_21,
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.code = 1,
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.store = 0, //encoder count
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.index = 0,
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.btn_pressed_time_us = 20000,
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.btn_state = RE_BTN_RELEASED //default state
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};
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//-----------------------------------
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//--- joystick command generation ---
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//-----------------------------------
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//configure parameters for motor command generation from joystick data
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joystickGenerateCommands_config_t joystickGenerateCommands_config{
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//-- maxDuty --
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// max duty when both motors are at equal ratio e.g. driving straight forward
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// better to be set less than 100% to have some reserve for boosting the outer tire when turning
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.maxDutyStraight = 75,
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//-- maxBoost --
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// boost is amount of duty added to maxDutyStraight to outer tire while turning
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// => turning: inner tire gets slower, outer tire gets faster
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// 0: boost = 0 (disabled)
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// 100: boost = maxDutyStraight (e.g. when maxDuty is 50, outer motor can still reach 100 (50+50))
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.maxRelativeBoostPercentOfMaxDuty = 60,
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// 60: when maxDuty is set above 62% (equals 0.6*62 = 38% boost) the outer tire can still reach 100% - below 62 maxDuty the boosted speed is also reduced.
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// => setting this value lower prevents desired low max duty configuration from being way to fast in curves.
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.dutyOffset = 5, // duty at which motors start immediately
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.ratioSnapToOneThreshold = 0.9, // threshold ratio snaps to 1 to have some area of max turning before entering X-Axis-full-rotate mode
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.altStickMapping = false // invert reverse direction
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}; |