Adding Quick selection, light, proper mode definitions and CRUISE MODE

master
Lukas Bachschwell 5 years ago
parent 1c948c7070
commit af0e105366

@ -22,7 +22,24 @@ Preferences preferences;
uint8_t boardData[6] = {0, 0, 0, 0, 0, 0};
//#define DEBUG
#define M_NORMAL 0 // Limit is a sub of normal
#define M_SELECT 1
#define M_SETTINGS 2
#define M_CRUISE 3
#define M_STEERING 4
//#define steeringInfluential
uint8_t currentMode = M_NORMAL;
uint8_t selectedIndex = 2;
bool lightActive = false;
bool shouldUpdateSettings = false; // Needed to update limitmode on core 1 instead of 0
bool crusing = false;
uint8_t crusingSpeed = 127;
#define DEBUG
#ifdef DEBUG
#define DEBUG_PRINTLN(x) Serial.println(x)
@ -48,9 +65,6 @@ unsigned long lastSignalBlink;
bool signalBlink = false;
unsigned long lastDataRotation;
bool beginnerMode = false; // TODO: moved to setting
bool steeringMode = false;
// Defining variables for Hall Effect throttle.
short hallMeasurement;
@ -60,8 +74,8 @@ uint8_t esc2 = 127;
byte hallCenterMargin = 5;
const float minVoltage = 3.4;
const float maxVoltage = 4.1;
const float minVoltage = 2.9; // These values are heavily strange since the devider is not working nicely yet...
const float maxVoltage = 3.6;
const float refVoltage = 3.3;
// Resistors in Ohms
const float deviderR1 = 1500;
@ -88,6 +102,15 @@ bool triggerActive();
#include "settings.h"
void setCrusing(uint8_t speed) {
if(speed < 127) { // no backward cruse!
crusing = false;
crusingSpeed = 127;
} else {
crusing = true;
if(speed > crusingSpeed) crusingSpeed = speed;
}
}
// ESPNOW functions ##############################
// Scan for boards in AP mode
@ -237,6 +260,7 @@ void sendData() {
DEBUG_PRINT("Sending: "); DEBUG_PRINTLN(esc1);
esp_err_t result = esp_now_send(peer_addr, data, sizeof(data));
DEBUG_PRINT("Send Status: ");
if(result != ESP_OK) setCrusing(0);
if (result == ESP_OK) {
DEBUG_PRINTLN("Success");
} else if (result == ESP_ERR_ESPNOW_NOT_INIT) {
@ -268,6 +292,7 @@ void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
} else {
connected = false;
DEBUG_PRINTLN("Delivery Fail");
setCrusing(0);
}
}
@ -315,7 +340,7 @@ void calculateThrottlePosition() {
DEBUG_PRINTLN(hallMeasurement);
int maxSpeed = 255;
if(settings[limitMode] == 1) maxSpeed = 190;
if(settings[limitMode] == 1) maxSpeed = 180;
if (hallMeasurement >= HAL_CENTER) {
throttle = c_map(hallMeasurement, HAL_CENTER, HAL_MAX, 127, maxSpeed);
@ -387,12 +412,42 @@ void checkClicks(void * parameter) {
int timeSinceLastClick = millis()-lastClick;
lastClick = millis();
if(currentMode == M_SELECT) {
switch(selectedIndex) {
case 0:
currentMode = M_SETTINGS;
break;
case 1:
if(settings[limitMode] == 0) settings[limitMode] = 1;
else settings[limitMode] = 0;
shouldUpdateSettings = true;
currentMode = M_NORMAL;
break;
case 2:
lightActive = !lightActive;
currentMode = M_NORMAL;
break;
case 3:
currentMode = M_STEERING;
break;
case 4:
currentMode = M_CRUISE;
break;
}
}
if(timeSinceLastClick < clickDiff) clickCounter++;
else clickCounter = 1;
if(clickCounter == 3) {
DEBUG_PRINTLN("YEAH TRIPPLE");
if(changeSettings) changeSettings = false;
else steeringMode = !steeringMode;
if(currentMode == M_NORMAL) {
currentMode = M_SELECT;
selectedIndex = 2;
} else {
currentMode = M_NORMAL;
}
vTaskDelay(pdMS_TO_TICKS(2000));
}
@ -430,7 +485,8 @@ void drawBatteryLevel() {
void drawThrottle() {
int x = 0;
int y = 18;
uint8_t displayThrottle = throttle;
if(crusing) displayThrottle = crusingSpeed;
// Draw throttle
u8g2.drawHLine(x, y, 52);
u8g2.drawVLine(x, y, 10);
@ -438,14 +494,14 @@ void drawThrottle() {
u8g2.drawHLine(x, y + 10, 5);
u8g2.drawHLine(x + 52 - 4, y + 10, 5);
if (throttle >= 127) {
int width = map(throttle, 127, 255, 0, 49);
if (displayThrottle >= 127) {
int width = map(displayThrottle, 127, 255, 0, 49);
for (int i = 0; i < width; i++) {
u8g2.drawVLine(x + i + 2, y + 2, 7);
}
} else {
int width = map(throttle, 0, 126, 49, 0);
int width = map(displayThrottle, 0, 126, 49, 0);
for (int i = 0; i < width; i++) {
u8g2.drawVLine(x + 50 - i, y + 2, 7);
}
@ -577,18 +633,95 @@ void drawPage() {
u8g2.drawStr(x + 86 + 2, y + 13, displayBuffer);
}
void controlSelect() {
if (hallMeasurement >= (HAL_MAX - 250) && settingsLoopFlag == false) { //settings[maxHallValue]
// Up
if (selectedIndex != 0) {
selectedIndex--;
settingsLoopFlag = true;
}
} else if (hallMeasurement <= (HAL_MIN + 250) && settingsLoopFlag == false) { //settings[minHallValue]
// Down
if (selectedIndex < 4) {
selectedIndex++;
settingsLoopFlag = true;
}
} else if (inRange(hallMeasurement, HAL_CENTER - 50, HAL_CENTER + 50)) { // settings[centerHallValue]
settingsLoopFlag = false;
}
}
String selectionItems[5] = {
"Se","Li","B","St","Cr"
};
void drawSelectionMenu() {
const uint8_t y = 35;
const uint8_t xStart = 10;
const uint8_t xSpace = 20;
u8g2.setFontMode(0);
u8g2.setDrawColor(1);
String title = "Select Action";
title.toCharArray(displayBuffer, 20);
u8g2.setFont(u8g2_font_helvR10_tr );
u8g2.drawStr(20, 12, displayBuffer);
for(int i = 0; i < 5; i++) {
if(selectedIndex == i) {
u8g2.setFontMode(0);
u8g2.drawBox(xStart-2 + xSpace * i, y-12, 15, 15);
u8g2.setDrawColor(0);
}
selectionItems[i].toCharArray(displayBuffer, 10);
u8g2.setFont(u8g2_font_profont12_tr);
u8g2.drawStr(xStart + xSpace * i, y, displayBuffer);
u8g2.setFontMode(0);
u8g2.setDrawColor(1);
}
}
void drawLight() {
if(lightActive) {
displayString = "Light";
displayString.toCharArray(displayBuffer, 12);
u8g2.setFont(u8g2_font_profont10_tr);
u8g2.drawStr(100, 38, displayBuffer);
}
}
void drawMode() {
if(steeringMode) {
if(currentMode == M_STEERING) {
displayString = (String)esc1 + " |S| " + (String)esc2;
displayString.toCharArray(displayBuffer, 12);
u8g2.setFont(u8g2_font_profont12_tr);
u8g2.drawStr(25, 50, displayBuffer);
}
if(settings[limitMode] == 1) {
} else if(currentMode == M_NORMAL && settings[limitMode] == 1) {
displayString = "LIM";
displayString.toCharArray(displayBuffer, 12);
u8g2.setFont(u8g2_font_profont12_tr);
u8g2.drawStr(105, 50, displayBuffer);
} else if(currentMode == M_CRUISE) {
if(crusing) {
displayString = "ACTIVE: " + (String) crusingSpeed;
displayString.toCharArray(displayBuffer, 12);
u8g2.setFont(u8g2_font_profont12_tr);
u8g2.drawStr(0, 50, displayBuffer);
} else {
displayString = "Inactive";
displayString.toCharArray(displayBuffer, 12);
u8g2.setFont(u8g2_font_profont12_tr);
u8g2.drawStr(0, 50, displayBuffer);
}
displayString = "CRU";
displayString.toCharArray(displayBuffer, 12);
u8g2.setFont(u8g2_font_profont12_tr);
u8g2.drawStr(105, 50, displayBuffer);
}
}
@ -596,8 +729,9 @@ void updateMainDisplay() {
u8g2.firstPage();
do {
if (changeSettings == true) {
if(currentMode == M_SELECT) {
drawSelectionMenu();
} else if (currentMode == M_SETTINGS) {
drawSettingsMenu();
drawSettingNumber();
} else {
@ -605,6 +739,7 @@ void updateMainDisplay() {
drawPage();
drawBatteryLevel();
drawSignal();
drawLight();
drawMode();
}
@ -661,7 +796,7 @@ void setup() {
drawStartScreen();
if (triggerActive()) {
changeSettings = true;
currentMode = M_SETTINGS;
drawTitleScreen("Remote Settings");
}
@ -697,7 +832,7 @@ void setup() {
void loop() {
updateMainDisplay();
readAccel();
if(currentMode == M_STEERING) readAccel();
Serial.print("Accel Value Left Right( Y): ");
Serial.print(map(AcY, -15000, 15000, -100, 100));
@ -705,41 +840,61 @@ void loop() {
Serial.println(map(GyY, -15000, 15000, -100, 100));
calculateThrottlePosition();
if (changeSettings == true) {
if (currentMode == M_SELECT) {
controlSelect();
esc1 = 127;
esc2 = 127;
} else if (currentMode == M_SETTINGS) {
// Use throttle and trigger to change settings
controlSettingsMenu();
} else {
// Use throttle and trigger to drive motors
if (triggerActive()) {
if(!steeringMode) {
esc1 = (uint8_t) throttle;
esc2 = (uint8_t) throttle;
} else {
if(currentMode == M_STEERING) {
DEBUG_PRINT("Value: ");
int map = c_map(AcX, 15000, -15000, -50, 50);
int map = c_map(AcX, 15000, -15000, -60, 60);
DEBUG_PRINTLN(map);
esc1 = (uint8_t) constrain(throttle + map, 0, 200);
esc2 = (uint8_t) constrain(throttle - map, 0, 200);
#ifdef steeringInfluential
esc1 = (uint8_t) constrain(throttle - map, 0, 200);
esc2 = (uint8_t) constrain(throttle + map, 0, 200);
#else
esc1 = (uint8_t) constrain(127 - map, 0, 200);
esc2 = (uint8_t) constrain(127 + map, 0, 200);
if(-10 < map && map < 10) {
esc1 = throttle;
esc2 = throttle;
}
#endif
if(throttle == 127) {
esc1 = 127;
esc2 = 127;
}
DEBUG_PRINT("SteeringMode: ESC1: "); DEBUG_PRINT(esc1); DEBUG_PRINT(" ESC2: "); DEBUG_PRINTLN(esc2);
} else if(currentMode == M_CRUISE) {
setCrusing(throttle);
esc1 = (uint8_t) throttle;
esc2 = (uint8_t) throttle;
if(crusing) {
esc1 = (uint8_t) crusingSpeed;
esc2 = (uint8_t) crusingSpeed;
}
} else {
esc1 = (uint8_t) throttle;
esc2 = (uint8_t) throttle;
}
} else {
// 127 is the middle position - no throttle and no brake/reverse
esc1 = 127;
esc2 = 127;
if(throttle < 30) { // enter settings mode
changeSettings = true;
}
// could use the other side for cruise control...
if(throttle > 230) {
}
if(crusing) setCrusing(0);
}
}
@ -759,4 +914,9 @@ void loop() {
else {
// No board found to process
}
if(shouldUpdateSettings) {
updateSettings();
shouldUpdateSettings = false;
}
}

@ -15,7 +15,6 @@ float ratioRpmSpeed;
float ratioPulseDistance;
// Defining variables for Settings menu
bool changeSettings = false;
bool changeSelectedSetting = false;
bool settingsLoopFlag = false;

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