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).
73 lines
2.0 KiB
C++
73 lines
2.0 KiB
C++
extern "C"
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{
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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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 "config.hpp"
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#include "control.hpp"
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//=================================
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//===== variable declaration ======
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//=================================
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//tag for logging
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static const char * TAG = "control";
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//definition of mode enum
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controlMode_t mode = controlMode_t::IDLE;
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const char* controlModeStr[6] = {"IDLE", "JOYSTICK", "MASSAGE", "MQTT", "BLUETOOTH", "AUTO"};
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//==================================
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//========== handle task ===========
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//==================================
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//task that repeatedly generates motor commands depending on the current mode
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void task_control ( void * pvParameters ) {
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while (1){
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vTaskDelay(20 / portTICK_PERIOD_MS);
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ESP_LOGV(TAG, "control task executing... mode=%s", controlModeStr[(int)mode]);
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switch(mode) {
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default:
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mode = controlMode_t::IDLE;
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break;
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case controlMode_t::IDLE:
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motorRight.setTarget(motorstate_t::IDLE, 0);
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motorLeft.setTarget(motorstate_t::IDLE, 0);
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break;
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case controlMode_t::JOYSTICK:
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motorCommands_t commands = joystick_generateCommandsDriving(joystick);
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motorRight.setTarget(commands.right.state, commands.right.duty);
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motorLeft.setTarget(commands.left.state, commands.left.duty);
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//TODO make motorctl.setTarget also accept motorcommand struct directly
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break;
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//TODO: add other modes here
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}
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}
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}
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//===================================
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//=========== changeMode ============
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//===================================
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//function to change to a specified control mode
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void control_changeMode(controlMode_t modeNew) {
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ESP_LOGW(TAG, "changing mode from %s to %s", controlModeStr[(int)mode], controlModeStr[(int)modeNew]);
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mode = modeNew;
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//TODO: add mutex
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}
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