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Added motortest mode

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This commit is contained in:
CommanderRedYT
2021-11-27 00:13:55 +01:00
committed by GitHub
parent 5208f7382e
commit cd1f503bc7
11 changed files with 155 additions and 1 deletions
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4
main/CMakeLists.txt
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@ -133,6 +133,7 @@ set(headers
displays/menus/mosfetsmenu.h
displays/menus/motorfeedbackdebugmenu.h
displays/menus/motorstatedebugmenu.h
displays/menus/motortestmodesettingsmenu.h
displays/menus/otamenu.h
displays/menus/selectotabuildmenu.h
displays/menus/presetsmenu.h
@ -188,6 +189,7 @@ set(headers
modes/larsmmode.h
modes/remotecontrolmode.h
modes/tempomatmode.h
modes/motortestmode.h
)
set(sources
@ -325,6 +327,7 @@ set(sources
displays/menus/mosfetsmenu.cpp
displays/menus/motorfeedbackdebugmenu.cpp
displays/menus/motorstatedebugmenu.cpp
displays/menus/motortestmodesettingsmenu.cpp
displays/menus/otamenu.cpp
displays/menus/selectotabuildmenu.cpp
displays/menus/statisticsmenu.cpp
@ -380,6 +383,7 @@ set(sources
modes/larsmmode.cpp
modes/remotecontrolmode.cpp
modes/tempomatmode.cpp
modes/motortestmode.cpp
)
set(dependencies

3
main/accessors/settingsaccessors.h
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@ -159,6 +159,9 @@ struct LarsmModeModelModeAccessor : public RefAccessorSaveSettings<UnifiedModelM
struct LarsmModeModeAccessor : public RefAccessorSaveSettings<LarsmModeMode> { LarsmModeMode &getRef() const override { return settings.larsmMode.mode; } };
struct LarsmModeIterationsAccessor : public RefAccessorSaveSettings<uint8_t> { uint8_t &getRef() const override { return settings.larsmMode.iterations; } };
struct MotortestModeMultiplikatorAccessor : public RefAccessorSaveSettings<uint8_t> { uint8_t &getRef() const override { return settings.motortestMode.multiplikator; } };
struct MotortestMaxPwmAccessor : public RefAccessorSaveSettings<uint16_t> { uint16_t &getRef() const override { return settings.motortestMode.maxPwm; } };
#ifdef FEATURE_LEDSTRIP
struct EnableLedAnimationAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.ledstrip.enableLedAnimation; } };
struct EnableBrakeLightsAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.ledstrip.enableBrakeLights; } };

4
main/actions/modesettingsaction.h
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@ -6,10 +6,12 @@
#include "modes/tempomatmode.h"
#include "modes/larsmmode.h"
#include "modes/gametrakmode.h"
#include "modes/motortestmode.h"
#include "displays/menus/defaultmodesettingsmenu.h"
#include "displays/menus/tempomatmodesettingsmenu.h"
#include "displays/menus/larsmmodesettingsmenu.h"
#include "displays/menus/gametrakmodesettingsmenu.h"
#include "displays/menus/motortestmodesettingsmenu.h"
#include "screenmanager.h"
using namespace espgui;
@ -29,6 +31,8 @@ void ModeSettingsAction::triggered()
switchScreen<TempomatModeSettingsMenu>();
else if (currentMode == &modes::larsmMode)
switchScreen<LarsmModeSettingsMenu>();
else if (currentMode == &modes::motortestMode)
switchScreen<MotortestModeSettingsMenu>();
#ifdef FEATURE_GAMETRAK
else if (currentMode == &modes::gametrakMode)
switchScreen<GametrakModeSettingsMenu>();

44
main/displays/menus/motortestmodesettingsmenu.cpp Normal file
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@ -0,0 +1,44 @@
#include "motortestmodesettingsmenu.h"
// 3rdparty lib includes
#include "changevaluedisplay.h"
#include "menuitem.h"
#include "actions/switchscreenaction.h"
#include "icons/back.h"
// local includes
#include "utils.h"
#include "accessors/settingsaccessors.h"
#include "displays/menus/modessettingsmenu.h"
namespace {
using MotortestMultiplikatorChangeDisplay = espgui::makeComponent<
espgui::ChangeValueDisplay<uint8_t>,
espgui::StaticText<TEXT_MOTORTESTMULTIPLIKATOR>,
MotortestModeMultiplikatorAccessor,
espgui::BackActionInterface<espgui::SwitchScreenAction<MotortestModeSettingsMenu>>,
espgui::SwitchScreenAction<MotortestModeSettingsMenu>
>;
using MotortestMaxPwmChangeDisplay = espgui::makeComponent<
espgui::ChangeValueDisplay<uint16_t>,
espgui::StaticText<TEXT_MOTORTESTMAXPWM>,
MotortestMaxPwmAccessor,
espgui::BackActionInterface<espgui::SwitchScreenAction<MotortestModeSettingsMenu>>,
espgui::SwitchScreenAction<MotortestModeSettingsMenu>
>;
} // namespace
using namespace espgui;
MotortestModeSettingsMenu::MotortestModeSettingsMenu()
{
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MOTORTESTMULTIPLIKATOR>, SwitchScreenAction<MotortestMultiplikatorChangeDisplay>>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MOTORTESTMAXPWM>, SwitchScreenAction<MotortestMaxPwmChangeDisplay>>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>, SwitchScreenAction<ModesSettingsMenu>, StaticMenuItemIcon<&espgui::icons::back>>>();
}
void MotortestModeSettingsMenu::back()
{
switchScreen<ModesSettingsMenu>();
}

17
main/displays/menus/motortestmodesettingsmenu.h Normal file
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@ -0,0 +1,17 @@
#pragma once
// 3rdparty lib includes
// local includes
#include "menudisplay.h"
#include "texts.h"
class MotortestModeSettingsMenu :
public espgui::MenuDisplay,
public espgui::StaticText<TEXT_MOTORTESTMODESETTINGS>
{
public:
MotortestModeSettingsMenu();
void back() override;
};

7
main/displays/menus/selectmodemenu.cpp
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@ -11,6 +11,7 @@
#include "modes/larsmmode.h"
#include "modes/remotecontrolmode.h"
#include "modes/gametrakmode.h"
#include "modes/motortestmode.h"
#include "accessors/globalaccessors.h"
#include "displays/menus/mainmenu.h"
@ -25,6 +26,7 @@ using SetDefaultModeAction = SetterAction<ModeInterface*, currentMode, DefaultMo
using SetTempomatModeAction = SetterAction<ModeInterface*, currentMode, TempomatMode*, &modes::tempomatMode>;
using SetLarsmModeAction = SetterAction<ModeInterface*, currentMode, LarsmMode*, &modes::larsmMode>;
using SetRemoteControlModeAction = SetterAction<ModeInterface*, currentMode, RemoteControlMode*, &modes::remoteControlMode>;
using SetMotorTestModeAction = SetterAction<ModeInterface*, currentMode, MotortestMode*, &modes::motortestMode>;
#ifdef FEATURE_GAMETRAK
using SetGametrakModeAction = SetterAction<ModeInterface*, currentMode, GametrakMode*, &modes::gametrakMode>;
#endif
@ -41,6 +43,7 @@ SelectModeMenu::SelectModeMenu()
#ifdef FEATURE_GAMETRAK
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_GAMETRAK>, MultiAction<SetGametrakModeAction, SwitchScreenAction<MainMenu>>>>();
#endif
if (!simplified) { constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MOTORTEST>, MultiAction<SetMotorTestModeAction, SwitchScreenAction<MainMenu>>>>(); }
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>, SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&espgui::icons::back>>>();
}
@ -54,10 +57,12 @@ void SelectModeMenu::start()
setSelectedIndex(1);
else if (currentMode == &modes::larsmMode)
setSelectedIndex(2);
else if (currentMode == &modes::motortestMode)
setSelectedIndex(3);
else
{
//Serial.printf("Unknown mode: %s", currentMode?currentMode->displayName():"");
setSelectedIndex(3);
setSelectedIndex(4);
}
}

40
main/modes/motortestmode.cpp Normal file
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@ -0,0 +1,40 @@
#include "motortestmode.h"
// local includes
#include "globals.h"
#include "utils.h"
namespace modes {
MotortestMode motortestMode;
} // namespace modes
void MotortestMode::start()
{
m_pwm = 0;
m_dir = 1;
}
void MotortestMode::update()
{
const auto m_pwmMax = settings.motortestMode.maxPwm;
m_pwm += m_dir * settings.motortestMode.multiplikator;
if (m_pwm > m_pwmMax) {
m_pwm = m_pwmMax;
m_dir = -m_dir;
} else if (m_pwm < -m_pwmMax) {
m_pwm = -m_pwmMax;
m_dir = -m_dir;
}
for (bobbycar::protocol::serial::MotorState &motor : motors())
{
motor.ctrlTyp = bobbycar::protocol::ControlType::Sinusoidal;
motor.ctrlMod = bobbycar::protocol::ControlMode::Voltage;
motor.pwm = m_pwm;
motor.cruiseCtrlEna = false;
motor.nCruiseMotTgt = 0;
}
fixCommonParams();
sendCommands();
}

20
main/modes/motortestmode.h Normal file
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@ -0,0 +1,20 @@
#pragma once
// local includes
#include "bobbycar-common.h"
#include "modeinterface.h"
class MotortestMode : public ModeInterface
{
public:
void update() override;
void start() override;
const char *displayName() const override { return "Motortest"; }
private:
int16_t m_pwm{};
int8_t m_dir{};
};
namespace modes {
extern MotortestMode motortestMode;
} // namespace modes

6
main/presets.h
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@ -230,6 +230,11 @@ constexpr Settings::LarsmMode defaultLarsmMode {
.iterations = 100
};
constexpr Settings::MotortestMode defaultMotortestMode {
.multiplikator = 2,
.maxPwm = 400
};
#ifdef FEATURE_LEDSTRIP
constexpr Settings::Ledstrip defaultLedstrip {
.enableLedAnimation = true,
@ -307,6 +312,7 @@ constexpr Settings defaultSettings {
.defaultMode = defaultDefaultMode,
.tempomatMode = defaultTempomatMode,
.larsmMode = defaultLarsmMode,
.motortestMode = defaultMotortestMode,
#ifdef FEATURE_LEDSTRIP
.ledstrip = defaultLedstrip,
#endif

5
main/settings.h
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@ -158,6 +158,11 @@ struct Settings
uint8_t iterations;
} larsmMode;
struct MotortestMode {
uint8_t multiplikator;
uint16_t maxPwm;
} motortestMode;
#ifdef FEATURE_LEDSTRIP
struct Ledstrip {
bool enableLedAnimation;

6
main/texts.h
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@ -277,6 +277,11 @@ constexpr char TEXT_SETMODE[] = "Set mode";
constexpr char TEXT_SETITERATIONS[] = "Set iterations";
//constexpr char TEXT_BACK[] = "Back";
//MotortestModeSettingsMenu
constexpr char TEXT_MOTORTESTMODESETTINGS[] = "Motortest mode seetings";
constexpr char TEXT_MOTORTESTMAXPWM[] = "Max Pwm";
constexpr char TEXT_MOTORTESTMULTIPLIKATOR[] = "Acceleration";
//LedstripMenu
constexpr char TEXT_LEDSTRIP[] = "Ledstrip";
constexpr char TEXT_LEDANIMATION[] = "LED Animation";
@ -407,6 +412,7 @@ constexpr char TEXT_TEMPOMAT[] = "Tempomat";
constexpr char TEXT_LARSM[] = "Larsm";
constexpr char TEXT_REMOTECONTROL[] = "Remote control";
constexpr char TEXT_GAMETRAK[] = "Gametrak";
constexpr char TEXT_MOTORTEST[] = "Motortest";
//constexpr char TEXT_BACK[] = "Back";
//TimersMenu