f7ce61c666
- add new function to joystick.hpp/cpp
- reads data from joystick and generates commands for driving in
"joystick" mode
- returns struct with commands for both motors
- main.cpp
- add code for testing the new function
- enable 5v regulator (needed for pullups AB left motor)
- add newly created motorRight to handle function
- add new struct with two motorcommands to motorctl.hpp
111 lines
3.3 KiB
C++
111 lines
3.3 KiB
C++
#pragma once
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extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/gpio.h"
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#include "driver/adc.h"
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#include "esp_log.h"
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#include "esp_err.h"
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}
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#include <cmath>
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#include "motorctl.hpp" //for deklaration of motorCommands_t struct
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//======================================
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//========= evaluated Joystick =========
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//======================================
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//class which evaluates a joystick with 2 analog signals
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// - scales the adc input to coordinates with detailed tolerances
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// - calculates angle and radius
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// - defines an enum with position information
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//--------------------------------------------
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//---- struct, enum, variable deklarations ---
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//--------------------------------------------
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//struct with all required configuration parameters
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typedef struct joystick_config_t {
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//analog inputs the axis are connected
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adc1_channel_t adc_x;
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adc1_channel_t adc_y;
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//range around center-threshold of each axis the coordinates stays at 0 (adc value 0-4095)
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int tolerance_zero;
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//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
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int tolerance_end;
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//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
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float tolerance_radius;
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//min and max adc values of each axis
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int x_min;
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int x_max;
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int y_min;
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int y_max;
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//invert adc measurement (e.g. when moving joystick up results in a decreasing voltage)
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bool x_inverted;
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bool y_inverted;
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} joystick_config_t;
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//enum for describing the position of the joystick
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enum class joystickPos_t {CENTER, Y_AXIS, X_AXIS, TOP_RIGHT, TOP_LEFT, BOTTOM_LEFT, BOTTOM_RIGHT};
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extern const char* joystickPosStr[7];
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//struct with current data of the joystick
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typedef struct joystickData_t {
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joystickPos_t position;
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float x;
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float y;
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float radius;
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float angle;
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} joystickData_t;
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//------------------------------------
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//----- evaluatedJoystick class -----
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//------------------------------------
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class evaluatedJoystick {
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public:
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//--- constructor ---
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evaluatedJoystick(joystick_config_t config_f);
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//--- functions ---
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joystickData_t getData(); //read joystick, calculate values and return the data in a struct
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void defineCenter(); //define joystick center from current position
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private:
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//--- functions ---
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//initialize adc inputs, define center
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void init();
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//read adc while making multiple samples with option to invert the result
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int readAdc(adc1_channel_t adc_channel, bool inverted = false);
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//read input voltage and scale to value from -1 to 1 using the given thresholds and tolerances
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float getCoordinate(adc1_channel_t adc_channel, bool inverted, int min, int max, int center, int tolerance_zero, int tolerance_end);
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//--- variables ---
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joystick_config_t config;
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int x_center;
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int y_center;
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joystickData_t data;
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float x;
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float y;
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};
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//============================================
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//========= joystick_CommandsDriving =========
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//============================================
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//function that generates commands for both motors from the joystick data
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motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick);
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