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firmware checkpoint

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This commit is contained in:
Scott Bezek
2021-11-01 22:38:36 -07:00
parent a33c46b29b
commit 26373a9b4e
4 changed files with 38 additions and 22 deletions
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34
firmware/src/display_task.cpp
View File

@@ -99,30 +99,15 @@ void DisplayTask::run() {
SemaphoreGuard lock(semaphore_);
state = state_;
}
// float degrees = angle * 360 / 2 / PI;
// uint8_t r, g, b;
// HSV_to_RGB(degrees, 80, 80, &r, &g, &b);
// spr_.fillSprite(tft_.color565(r, g, b));
spr_.fillSprite(TFT_BLACK);
if (state.num_positions > 1) {
int32_t height = state.current_position * TFT_HEIGHT / (state.num_positions - 1);
spr_.fillRect(0, TFT_HEIGHT - height, TFT_WIDTH, height, spr_.color565(109, 20, 176));
}
spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2, 1);
// spr_.setCursor(60, 40);
// spr_.printf("%.1f", degrees);
// float pointer_angle = - angle;
// spr_.fillTriangle(
// pointer_center_x + pointer_length_short * cos(pointer_angle - PI * 3 /4),
// pointer_center_y + pointer_length_short * sin(pointer_angle - PI * 3 /4),
// pointer_center_x + pointer_length_short * cos(pointer_angle + PI * 3 /4),
// pointer_center_y + pointer_length_short * sin(pointer_angle + PI * 3 /4),
// pointer_center_x + pointer_length_long * cos(pointer_angle),
// pointer_center_y + pointer_length_long * sin(pointer_angle),
// TFT_WHITE
// );
// spr_.fillCircle(pointer_center_x, pointer_center_y, 3, TFT_RED);
float left_bound = PI / 2;
if (state.num_positions > 0) {
@@ -133,7 +118,16 @@ void DisplayTask::run() {
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);
}
float angle = left_bound - (state.sub_position_unit + state.current_position) * state.position_width_radians;
float adjusted_sub_position = state.sub_position_unit;
if (state.num_positions > 0) {
if (state.current_position == 0 && state.sub_position_unit < 0) {
adjusted_sub_position = -logf(1 - state.sub_position_unit);
} else if (state.current_position == state.num_positions - 1 && state.sub_position_unit > 0) {
adjusted_sub_position = logf(1 + state.sub_position_unit);
}
}
float angle = left_bound - (state.current_position + adjusted_sub_position) * state.position_width_radians;
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(angle), 5, TFT_BLUE);

21
firmware/src/interface_task.cpp
View File

@@ -11,42 +11,63 @@ static KnobConfig configs[] = {
.position = 0,
.position_width_radians = 10 * PI / 180,
.detent_strength_unit = 0,
.snap_point = 1.1,
},
{
.num_positions = 11,
.position = 0,
.position_width_radians = 10 * PI / 180,
.detent_strength_unit = 0,
.snap_point = 1.1,
},
{
.num_positions = 73,
.position = 0,
.position_width_radians = 10 * PI / 180,
.detent_strength_unit = 0,
.snap_point = 1.1,
},
{
.num_positions = 2,
.position = 0,
.position_width_radians = 60 * PI / 180,
.detent_strength_unit = 1,
.snap_point = 1.1,
},
{
.num_positions = 2,
.position = 0,
.position_width_radians = 60 * PI / 180,
.detent_strength_unit = 1,
.snap_point = 0.6,
},
{
.num_positions = 256,
.position = 127,
.position_width_radians = 1 * PI / 180,
.detent_strength_unit = 0,
.snap_point = 1.1,
},
{
.num_positions = 256,
.position = 127,
.position_width_radians = 1 * PI / 180,
.detent_strength_unit = 1,
.snap_point = 1.1,
},
{
.num_positions = 32,
.position = 0,
.position_width_radians = 8.225806452 * PI / 180,
.detent_strength_unit = 1,
.snap_point = 1.1,
},
{
.num_positions = 32,
.position = 0,
.position_width_radians = 8.225806452 * PI / 180,
.detent_strength_unit = 0.1,
.snap_point = 1.1,
},
};

1
firmware/src/knob_data.h
View File

@@ -7,6 +7,7 @@ struct KnobConfig {
int32_t position;
float position_width_radians;
float detent_strength_unit;
float snap_point;
};
struct KnobState {

4
firmware/src/motor_task.cpp
View File

@@ -120,11 +120,11 @@ void MotorTask::run() {
}
float angle_to_detent_center = motor.shaft_angle - current_detent_center;
if (angle_to_detent_center > config.position_width_radians * 1.05 && (config.num_positions <= 0 || config.position > 0)) {
if (angle_to_detent_center > config.position_width_radians * config.snap_point && (config.num_positions <= 0 || config.position > 0)) {
current_detent_center += config.position_width_radians;
angle_to_detent_center -= config.position_width_radians;
config.position--;
} else if (angle_to_detent_center < -config.position_width_radians * 1.05 && (config.num_positions <= 0 || config.position < config.num_positions - 1)) {
} else if (angle_to_detent_center < -config.position_width_radians * config.snap_point && (config.num_positions <= 0 || config.position < config.num_positions - 1)) {
current_detent_center -= config.position_width_radians;
angle_to_detent_center += config.position_width_radians;
config.position++;