Demo!

2021-10-24 22:23:05 -07:00
parent bbc51702ff
commit 0b5785ecf3
10 changed files with 431 additions and 80 deletions
--- a/firmware/src/interface_task.cpp
+++ b/firmware/src/interface_task.cpp
@@ -0,0 +1,70 @@
+#include "interface_task.h"
+
+#define COUNT_OF(A) (sizeof(A) / sizeof(A[0]))
+
+InterfaceTask::InterfaceTask(const uint8_t task_core, MotorTask& motor_task) : Task{"Interface", 8192, 1, task_core}, motor_task_(motor_task) {
+}
+
+InterfaceTask::~InterfaceTask() {}
+
+void InterfaceTask::run() {
+    KnobConfig configs[] = {
+        {
+            .num_positions = 0,
+            .position = 0,
+            .position_width_radians = 10 * PI / 180,
+            .detent_strength_unit = 0,
+        },
+        {
+            .num_positions = 11,
+            .position = 0,
+            .position_width_radians = 10 * PI / 180,
+            .detent_strength_unit = 0,
+        },
+        {
+            .num_positions = 2,
+            .position = 0,
+            .position_width_radians = 60 * PI / 180,
+            .detent_strength_unit = 1,
+        },
+        {
+            .num_positions = 256,
+            .position = 127,
+            .position_width_radians = 1 * PI / 180,
+            .detent_strength_unit = 0,
+        },
+        {
+            .num_positions = 256,
+            .position = 127,
+            .position_width_radians = 1 * PI / 180,
+            .detent_strength_unit = 1,
+        },
+        {
+            .num_positions = 32,
+            .position = 0,
+            .position_width_radians = 8.225806452 * PI / 180,
+            .detent_strength_unit = 1,
+        },
+        {
+            .num_positions = 32,
+            .position = 0,
+            .position_width_radians = 8.225806452 * PI / 180,
+            .detent_strength_unit = 0.1,
+        },
+    };
+
+    int current_config = 0;
+
+    motor_task_.setConfig(configs[current_config]);
+    while (1) {
+        if (Serial.available()) {
+            int v = Serial.read();
+            if (v == ' ') {
+                current_config = (current_config + 1) % COUNT_OF(configs);
+                Serial.printf("Chaning config to %d\n", current_config);
+                motor_task_.setConfig(configs[current_config]);
+            }
+        }
+        delay(10);
+    }
+}