mirror of
https://github.com/scottbez1/smartknob.git
synced 2025-09-26 23:09:27 +08:00
Better demo UI, show config name, tune for re-mounted motor
This commit is contained in:
parent
381df91b92
commit
b380a756c3
@ -18,8 +18,7 @@ monitor_flags =
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--echo
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--filter=esp32_exception_decoder
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lib_deps =
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TFT_eSPI@2.3.70
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fastled/FastLED @ ^3.4.0
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bodmer/TFT_eSPI@2.4.25
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askuric/Simple FOC @ ^2.2
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infineon/TLV493D-Magnetic-Sensor @ ^1.0.3
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bxparks/AceButton @ ^1.9.1
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@ -3,7 +3,7 @@
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#include "font/roboto_light_60.h"
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DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 8192, 1, task_core} {
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DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 2048, 1, task_core} {
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semaphore_ = xSemaphoreCreateMutex();
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assert(semaphore_ != NULL);
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xSemaphoreGive(semaphore_);
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@ -78,13 +78,16 @@ void DisplayTask::run() {
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tft_.setRotation(0);
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spr_.setColorDepth(16);
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spr_.createSprite(TFT_WIDTH, TFT_HEIGHT);
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spr_.setFreeFont(&Roboto_Light_60);
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if (spr_.createSprite(TFT_WIDTH, TFT_HEIGHT) == nullptr) {
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Serial.println("ERROR: sprite allocation failed!");
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}
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spr_.setTextColor(0xFFFF, TFT_BLACK);
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KnobState state;
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const int RADIUS = TFT_WIDTH / 2;
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const uint16_t FILL_COLOR = spr_.color565(90, 18, 151);
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const uint16_t DOT_COLOR = spr_.color565(80, 100, 200);
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int32_t pointer_center_x = TFT_WIDTH / 2;
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int32_t pointer_center_y = TFT_HEIGHT / 2;
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@ -94,42 +97,75 @@ void DisplayTask::run() {
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spr_.setTextDatum(CC_DATUM);
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spr_.setTextColor(TFT_WHITE);
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while(1) {
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{
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SemaphoreGuard lock(semaphore_);
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state = state_;
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}
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spr_.fillSprite(TFT_BLACK);
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if (state.num_positions > 1) {
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int32_t height = state.current_position * TFT_HEIGHT / (state.num_positions - 1);
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spr_.fillRect(0, TFT_HEIGHT - height, TFT_WIDTH, height, spr_.color565(109, 20, 176));
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if (state.config.num_positions > 1) {
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int32_t height = state.current_position * TFT_HEIGHT / (state.config.num_positions - 1);
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spr_.fillRect(0, TFT_HEIGHT - height, TFT_WIDTH, height, FILL_COLOR);
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}
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spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2, 1);
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spr_.setFreeFont(&Roboto_Light_60);
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spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2 - 30, 1);
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spr_.setFreeFont(&Roboto_Thin_24);
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int32_t line_y = TFT_HEIGHT / 2 + 20;
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char* start = state.config.descriptor;
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char* end = start + strlen(state.config.descriptor);
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while (start < end) {
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char* newline = strchr(start, '\n');
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if (newline == nullptr) {
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newline = end;
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}
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char buf[sizeof(state.config.descriptor)] = {};
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strncat(buf, start, min(sizeof(buf) - 1, (size_t)(newline - start)));
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spr_.drawString(String(buf), TFT_WIDTH / 2, line_y, 1);
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start = newline + 1;
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line_y += spr_.fontHeight(1);
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}
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float left_bound = PI / 2;
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if (state.num_positions > 0) {
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float range_radians = (state.num_positions - 1) * state.position_width_radians;
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if (state.config.num_positions > 0) {
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float range_radians = (state.config.num_positions - 1) * state.config.position_width_radians;
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left_bound = PI / 2 + range_radians / 2;
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float right_bound = PI / 2 - range_radians / 2;
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spr_.drawLine(TFT_WIDTH/2 + RADIUS * cosf(left_bound), TFT_HEIGHT/2 - RADIUS * sinf(left_bound), TFT_WIDTH/2 + (RADIUS - 10) * cosf(left_bound), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(left_bound), TFT_WHITE);
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spr_.drawLine(TFT_WIDTH/2 + RADIUS * cosf(right_bound), TFT_HEIGHT/2 - RADIUS * sinf(right_bound), TFT_WIDTH/2 + (RADIUS - 10) * cosf(right_bound), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(right_bound), TFT_WHITE);
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}
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float adjusted_sub_position = state.sub_position_unit;
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if (state.num_positions > 0) {
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float adjusted_sub_position = state.sub_position_unit * state.config.position_width_radians;
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if (state.config.num_positions > 0) {
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if (state.current_position == 0 && state.sub_position_unit < 0) {
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adjusted_sub_position = -logf(1 - state.sub_position_unit);
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} else if (state.current_position == state.num_positions - 1 && state.sub_position_unit > 0) {
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adjusted_sub_position = logf(1 + state.sub_position_unit);
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adjusted_sub_position = -logf(1 - state.sub_position_unit * state.config.position_width_radians / 5 / PI * 180) * 5 * PI / 180;
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} else if (state.current_position == state.config.num_positions - 1 && state.sub_position_unit > 0) {
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adjusted_sub_position = logf(1 + state.sub_position_unit * state.config.position_width_radians / 5 / PI * 180) * 5 * PI / 180;
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}
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}
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float angle = left_bound - (state.current_position + adjusted_sub_position) * state.position_width_radians;
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spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(angle), 5, TFT_BLUE);
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float raw_angle = left_bound - state.current_position * state.config.position_width_radians;
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float adjusted_angle = raw_angle - adjusted_sub_position;
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if (state.config.num_positions > 0 && ((state.current_position == 0 && state.sub_position_unit < 0) || (state.current_position == state.config.num_positions - 1 && state.sub_position_unit > 0))) {
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spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(raw_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(raw_angle), 5, DOT_COLOR);
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if (raw_angle < adjusted_angle) {
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for (float r = raw_angle; r <= adjusted_angle; r += 2 * PI / 180) {
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spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(r), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(r), 2, DOT_COLOR);
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}
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spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 2, DOT_COLOR);
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} else {
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for (float r = raw_angle; r >= adjusted_angle; r -= 2 * PI / 180) {
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spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(r), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(r), 2, DOT_COLOR);
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}
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spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 2, DOT_COLOR);
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}
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} else {
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spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 5, DOT_COLOR);
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}
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spr_.pushSprite(0, 0);
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delay(2);
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@ -7,71 +7,80 @@ using namespace ace_button;
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static KnobConfig configs[] = {
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{
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.num_positions = 0,
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.position = 0,
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.position_width_radians = 10 * PI / 180,
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.detent_strength_unit = 0,
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.snap_point = 1.1,
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0,
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0,
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10 * PI / 180,
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0,
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1.1,
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"Unbounded\nNo detents",
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},
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{
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.num_positions = 11,
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.position = 0,
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.position_width_radians = 10 * PI / 180,
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.detent_strength_unit = 0,
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.snap_point = 1.1,
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11,
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0,
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10 * PI / 180,
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0,
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1.1,
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"Bounded 0-10\nNo detents",
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},
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{
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.num_positions = 73,
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.position = 0,
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.position_width_radians = 10 * PI / 180,
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.detent_strength_unit = 0,
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.snap_point = 1.1,
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73,
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0,
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10 * PI / 180,
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0,
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1.1,
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"Multi-rev\nNo detents",
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},
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{
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.num_positions = 2,
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.position = 0,
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.position_width_radians = 60 * PI / 180,
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.detent_strength_unit = 1,
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.snap_point = 1.1,
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2,
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0,
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45 * PI / 180,
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1,
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0.6, // Note the snap point is slightly past the midpoint (0.5); compare to normal detents which use a snap point *past* the next value (i.e. > 1)
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"On/off\nStrong detent",
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},
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{
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.num_positions = 2,
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.position = 0,
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.position_width_radians = 60 * PI / 180,
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.detent_strength_unit = 1,
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.snap_point = 0.6,
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1,
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0,
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60 * PI / 180,
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0.01,
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1.1,
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"Return-to-center",
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},
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{
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.num_positions = 256,
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.position = 127,
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.position_width_radians = 1 * PI / 180,
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.detent_strength_unit = 0,
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.snap_point = 1.1,
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256,
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127,
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1 * PI / 180,
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0,
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1.1,
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"Fine values\nNo detents",
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},
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{
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.num_positions = 256,
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.position = 127,
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.position_width_radians = 1 * PI / 180,
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.detent_strength_unit = 1,
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.snap_point = 1.1,
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256,
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127,
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1 * PI / 180,
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1,
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1.1,
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"Fine values\nWith detents",
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},
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{
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.num_positions = 32,
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.position = 0,
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.position_width_radians = 8.225806452 * PI / 180,
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.detent_strength_unit = 1,
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.snap_point = 1.1,
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32,
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0,
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8.225806452 * PI / 180,
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1,
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1.1,
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"Coarse values\nStrong detents",
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},
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{
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.num_positions = 32,
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.position = 0,
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.position_width_radians = 8.225806452 * PI / 180,
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.detent_strength_unit = 0.1,
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.snap_point = 1.1,
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32,
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0,
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8.225806452 * PI / 180,
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0.1,
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1.1,
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"Coarse values\nWeak detents",
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},
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};
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InterfaceTask::InterfaceTask(const uint8_t task_core, MotorTask& motor_task) : Task{"Interface", 8192, 1, task_core}, motor_task_(motor_task) {
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InterfaceTask::InterfaceTask(const uint8_t task_core, MotorTask& motor_task) : Task{"Interface", 2048, 1, task_core}, motor_task_(motor_task) {
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}
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InterfaceTask::~InterfaceTask() {}
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@ -108,6 +117,6 @@ void InterfaceTask::handleEvent(AceButton* button, uint8_t event_type, uint8_t b
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void InterfaceTask::nextConfig() {
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current_config_ = (current_config_ + 1) % COUNT_OF(configs);
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Serial.printf("Changing config to %d\n", current_config_);
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Serial.printf("Changing config to %d:\n%s\n", current_config_, configs[current_config_].descriptor);
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motor_task_.setConfig(configs[current_config_]);
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}
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@ -8,11 +8,11 @@ struct KnobConfig {
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float position_width_radians;
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float detent_strength_unit;
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float snap_point;
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char descriptor[50];
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};
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struct KnobState {
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int32_t num_positions;
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int32_t current_position;
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float sub_position_unit;
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float position_width_radians;
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KnobConfig config;
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};
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@ -18,9 +18,9 @@ CRGB leds[1];
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void setup() {
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Serial.begin(115200);
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display_task.begin();
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motor_task.begin();
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interface_task.begin();
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display_task.begin();
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vTaskDelete(nullptr);
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}
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@ -69,7 +69,7 @@ void MotorTask::run() {
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tlv.update();
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delay(10);
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motor.initFOC(6, Direction::CW);
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motor.initFOC(-0.6, Direction::CCW);
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Serial.println(motor.zero_electric_angle);
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command.add('M', &doMotor, "foo");
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@ -90,6 +90,8 @@ void MotorTask::run() {
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uint32_t last_idle_start = 0;
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uint32_t last_debug = 0;
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uint32_t last_display_update = 0;
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while (1) {
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motor.loopFOC();
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@ -138,21 +140,23 @@ void MotorTask::run() {
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bool out_of_bounds = config.num_positions > 0 && ((angle_to_detent_center > 0 && config.position == 0) || (angle_to_detent_center < 0 && config.position == config.num_positions - 1));
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motor.PID_velocity.limit = out_of_bounds ? 10 : 3;
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motor.PID_velocity.P = out_of_bounds ? 4 : config.detent_strength_unit * 4;
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motor.PID_velocity.D = config.detent_strength_unit * 0.04;
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motor.PID_velocity.D = config.detent_strength_unit * 0.02;
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if (fabsf(motor.shaft_velocity) > 20) {
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// Don't apply torque if velocity is too high (helps avoid feedback loop)
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// Don't apply torque if velocity is too high (helps avoid positive feedback loop/runaway)
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motor.move(0);
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} else {
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motor.move(motor.PID_velocity(-angle_to_detent_center + dead_zone_adjustment));
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}
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display_task_.setData({
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.num_positions = config.num_positions,
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.current_position = config.position,
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.sub_position_unit = -angle_to_detent_center / config.position_width_radians,
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.position_width_radians = config.position_width_radians,
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});
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if (millis() - last_display_update > 10) {
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display_task_.setData({
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.current_position = config.position,
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.sub_position_unit = -angle_to_detent_center / config.position_width_radians,
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.config = config,
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});
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last_display_update = millis();
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}
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motor.monitor();
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// command.run();
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@ -1,6 +1,6 @@
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#include "tlv_sensor.h"
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static const float ALPHA = 0.05;
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static const float ALPHA = 0.04;
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TlvSensor::TlvSensor() {}
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Block a user