f8415655c2
- Create class automatedArmchair in new files auto.hpp and auto.cpp This class currently makes it possible to queue up and run commands (motorstate, duty for certaion duration), - add new file to cmakelists - create automatedArmchair instance 'armchair' in config.cpp - add loglevel configuration to main.cpp - add AUTO mode to control.cpp (no way to change to mode yet)
75 lines
1.9 KiB
C++
75 lines
1.9 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 "esp_log.h"
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#include "esp_err.h"
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}
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#include "freertos/queue.h"
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#include <cmath>
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#include "motorctl.hpp"
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//--------------------------------------------
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//---- struct, enum, variable declarations ---
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//--------------------------------------------
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//struct for a simple command
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//e.g. put motors in a certain state for certain time
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typedef struct {
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motorCommands_t commands;
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uint32_t msDuration;
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} commandSimple_t;
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//------------------------------------
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//----- automatedArmchair class -----
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//------------------------------------
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class automatedArmchair {
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public:
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//--- methods ---
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//constructor
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automatedArmchair(void);
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//function to generate motor commands
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//can be also seen as handle function
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//TODO: maybe create separate task for handling at mode switch and communicate with queue?
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motorCommands_t generateCommands(); //repeatedly called by control task
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//function that adds a basic command to the queue
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void addCommand(commandSimple_t command);
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//function that deletes all pending/queued commands
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motorCommands_t clearCommands();
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private:
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//--- methods ---
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//--- objects ---
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//TODO: add buzzer here
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//--- variables ---
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//queue for storing pending commands
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QueueHandle_t commandQueue = NULL;
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//current running command
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commandSimple_t cmdCurrent;
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//timestamp current command is finished
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uint32_t timestampCmdFinished = 0;
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motorCommands_t motorCommands;
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//command preset for idling motors
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const motorCommand_t cmd_motorIdle = {
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.state = motorstate_t::IDLE,
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.duty = 0
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};
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const motorCommands_t cmds_bothMotorsIdle = {
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.left = cmd_motorIdle,
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.right = cmd_motorIdle
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};
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};
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