9dfe1bddb2
- Add functions that control the relays for adjusting the armchair position - Add function that controls the chair using joystick input
148 lines
4.1 KiB
C++
148 lines
4.1 KiB
C++
extern "C"
|
|
{
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "driver/gpio.h"
|
|
#include "esp_log.h"
|
|
}
|
|
|
|
#include "chairAdjust.hpp"
|
|
|
|
|
|
|
|
|
|
//--- config ---
|
|
//relays that control the motor for electric chair adjustment
|
|
//TODO: add this to config?
|
|
//relays connected to 4x stepper mosfets:
|
|
#define GPIO_LEGREST_UP GPIO_NUM_4
|
|
#define GPIO_LEGREST_DOWN GPIO_NUM_16
|
|
#define GPIO_BACKREST_UP GPIO_NUM_2
|
|
#define GPIO_BACKREST_DOWN GPIO_NUM_15
|
|
|
|
//--- variables ---
|
|
//tag for logging
|
|
static const char * TAG = "chair-adjustment";
|
|
//current motor states
|
|
static restState_t stateLegRest = REST_OFF;
|
|
static restState_t stateBackRest = REST_OFF;
|
|
|
|
|
|
//TODO Add timestamps or even a task to keep track of current position (estimate)
|
|
|
|
|
|
|
|
|
|
//=============================
|
|
//======= set direction =======
|
|
//=============================
|
|
//functions for each rest that set the motors to desired direction / state
|
|
//TODO evaluate if separate functions needed, can be merged with run..Rest(state) function?
|
|
//--- leg-rest ---
|
|
void setLegrestUp(){
|
|
gpio_set_level(GPIO_LEGREST_DOWN, 0);
|
|
gpio_set_level(GPIO_LEGREST_UP, 1);
|
|
stateLegRest = REST_UP;
|
|
ESP_LOGD(TAG, "switched relays to move leg-rest UP");
|
|
}
|
|
void setLegrestDown(){
|
|
gpio_set_level(GPIO_LEGREST_DOWN, 1);
|
|
gpio_set_level(GPIO_LEGREST_UP, 0);
|
|
stateLegRest = REST_DOWN;
|
|
ESP_LOGD(TAG, "switched relays to move leg-rest DOWN");
|
|
}
|
|
void setLegrestOff(){
|
|
gpio_set_level(GPIO_LEGREST_DOWN, 0);
|
|
gpio_set_level(GPIO_LEGREST_UP, 0);
|
|
stateLegRest = REST_OFF;
|
|
ESP_LOGD(TAG, "switched relays for leg-rest OFF");
|
|
}
|
|
|
|
//--- back-rest ---
|
|
void setBackrestUp(){
|
|
gpio_set_level(GPIO_BACKREST_DOWN, 0);
|
|
gpio_set_level(GPIO_BACKREST_UP, 1);
|
|
stateBackRest = REST_UP;
|
|
ESP_LOGD(TAG, "switched relays to move back-rest UP");
|
|
}
|
|
void setBackrestDown(){
|
|
gpio_set_level(GPIO_BACKREST_DOWN, 1);
|
|
gpio_set_level(GPIO_BACKREST_UP, 0);
|
|
stateBackRest = REST_DOWN;
|
|
ESP_LOGD(TAG, "switched relays to move back-rest DOWN");
|
|
}
|
|
void setBackrestOff(){
|
|
gpio_set_level(GPIO_BACKREST_DOWN, 0);
|
|
gpio_set_level(GPIO_BACKREST_UP, 0);
|
|
stateBackRest = REST_OFF;
|
|
ESP_LOGD(TAG, "switched relays for back-rest OFF");
|
|
}
|
|
|
|
|
|
|
|
|
|
//==============================
|
|
//========= runLegrest =========
|
|
//==============================
|
|
//abstract functions that can be used to set the state of leg rest
|
|
// 0 = OFF; <0 = DOWN; >0 = UP
|
|
void runLegrest(float targetDirection){
|
|
if (targetDirection > 0) {
|
|
setLegrestUp();
|
|
ESP_LOGD(TAG, "Leg-rest: coordinate = %.1f => run UP", targetDirection);
|
|
} else if (targetDirection < 0) {
|
|
setLegrestDown();
|
|
ESP_LOGD(TAG, "Leg-rest: coordinate = %.1f => run DOWN", targetDirection);
|
|
} else {
|
|
setLegrestOff();
|
|
ESP_LOGD(TAG, "Leg-rest: coordinate = %.1f => OFF", targetDirection);
|
|
}
|
|
}
|
|
//set to certain state
|
|
void runLegrest(restState_t targetState){
|
|
switch (targetState){
|
|
case REST_UP:
|
|
setLegrestUp();
|
|
break;
|
|
case REST_DOWN:
|
|
setLegrestDown();
|
|
break;
|
|
case REST_OFF:
|
|
setLegrestOff();
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
//==============================
|
|
//========= runBackrest =========
|
|
//==============================
|
|
//abstract functions that can be used to set the state of back rest
|
|
// 0 = OFF; <0 = DOWN; >0 = UP
|
|
void runBackrest(float targetDirection){
|
|
if (targetDirection > 0) {
|
|
setBackrestUp();
|
|
ESP_LOGD(TAG, "Back-rest: coordinate = %.1f => run UP", targetDirection);
|
|
} else if (targetDirection < 0) {
|
|
setBackrestDown();
|
|
ESP_LOGD(TAG, "Back-rest: coordinate = %.1f => run DOWN", targetDirection);
|
|
} else {
|
|
setBackrestOff();
|
|
ESP_LOGD(TAG, "back-rest: coordinate = %.1f => off", targetDirection);
|
|
}
|
|
}
|
|
//set to certain state
|
|
void runBackrest(restState_t targetState){
|
|
switch (targetState){
|
|
case REST_UP:
|
|
setBackrestUp();
|
|
break;
|
|
case REST_DOWN:
|
|
setBackrestDown();
|
|
break;
|
|
case REST_OFF:
|
|
setBackrestOff();
|
|
break;
|
|
}
|
|
}
|