adb517c7ed
Add control.hpp and control.cpp - task that repeatedly generates motor commands depending on the current mode - function to change to a specified control mode Add button.hpp and button.cpp - class which runs commands depending on the count a button was pressed Update main.cpp - create button task - create control task - comment out previous testing code - remove unnecessary includes (already included in config.hpp) Add control.cpp and button.cpp to CMakeLists Notes: Tested this state on the armchair: All currently implemented features work. You can switch between IDLE and JOYSTICK by pressing the button 2 or 3 times. Also driving works well (limited to 60% duty, with no fans yet).
41 lines
1.0 KiB
C++
41 lines
1.0 KiB
C++
#pragma once
|
|
|
|
#include "gpio_evaluateSwitch.hpp"
|
|
#include "buzzer.hpp"
|
|
|
|
|
|
|
|
//===================================
|
|
//====== buttonCommands class =======
|
|
//===================================
|
|
//class which runs commands depending on the count a button was pressed
|
|
class buttonCommands {
|
|
public:
|
|
//--- constructor ---
|
|
buttonCommands (
|
|
gpio_evaluatedSwitch * button_f,
|
|
buzzer_t * buzzer_f
|
|
);
|
|
|
|
//--- functions ---
|
|
//the following function has to be started once in a separate task.
|
|
//repeatedly evaluates and processes button events then takes the corresponding action
|
|
void startHandleLoop();
|
|
|
|
private:
|
|
//--- functions ---
|
|
void action(uint8_t count);
|
|
|
|
//--- objects ---
|
|
gpio_evaluatedSwitch* button;
|
|
buzzer_t* buzzer;
|
|
|
|
//--- variables ---
|
|
uint8_t count = 0;
|
|
uint32_t timestamp_lastAction = 0;
|
|
enum class inputState_t {IDLE, WAIT_FOR_INPUT};
|
|
inputState_t state = inputState_t::IDLE;
|
|
|
|
};
|
|
|