change direction add commutask

.gitignore

@@ -29,3 +29,4 @@ build/
 
 __pycache__
 
+**/.DS_Store

firmware/src/CommuTask.cpp

@@ -0,0 +1,28 @@
+#include "commu_task.h"
+
+#include "semaphore_guard.h"
+
+CommuTask::CommuTask(const uint8_t task_core) : Task{"Communication", 4048, 1, task_core} {
+
+  mutex_ = xSemaphoreCreateMutex();
+  assert(mutex_ != NULL);
+}
+
+CommuTask::~CommuTask()
+{
+
+}
+
+void CommuTask::run() {
+
+  WiFi.begin("poes", "Rijnstraat214");
+
+  while(1)
+  {
+    while (WiFi.status() != WL_CONNECTED) {
+        delay(500);
+        Serial.print(".");
+    }
+    delay(100);
+  }
+}

firmware/src/commu_task.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <Arduino.h>
+#include <WiFi.h>
+
+#include "knob_data.h"
+#include "task.h"
+
+class CommuTask : public Task<CommuTask> {
+  friend class Task<CommuTask>; // Allow base Task to invoke protected run()
+
+  public:
+    CommuTask(const uint8_t task_core);
+    ~CommuTask();
+
+
+  protected:
+    void run();
+
+
+  private:
+      
+    SemaphoreHandle_t mutex_;
+
+};

firmware/src/display_task.cpp

@@ -189,6 +189,7 @@ void DisplayTask::run() {
           SemaphoreGuard lock(mutex_);
           ledcWrite(LEDC_CHANNEL_LCD_BACKLIGHT, brightness_);
         }
+
         delay(2);
     }
 }

firmware/src/display_task.h

@@ -35,6 +35,8 @@ class DisplayTask : public Task<DisplayTask> {
         SemaphoreHandle_t mutex_;
 
         uint16_t brightness_;
+
+        uint32_t last_printupdate = 0;
 };
 
 #else

firmware/src/interface_task.cpp

@@ -195,7 +195,8 @@ void InterfaceTask::run() {
             float lux = veml.readLux();
             lux_avg = lux * LUX_ALPHA + lux_avg * (1 - LUX_ALPHA);
             static uint32_t last_als;
-            if (millis() - last_als > 1000) {
+
+            if (millis() - last_als >5000) {
                 Serial.print("millilux: "); Serial.println(lux*1000);
                 last_als = millis();
             }
@@ -220,7 +221,7 @@ void InterfaceTask::run() {
                     press_value_unit = 1. * (value - lower) / (upper - lower);
 
                     static bool pressed;
-                    if (!pressed && press_value_unit > 0.75) {
+                    if (!pressed && press_value_unit > 0.3) {
                         motor_task_.playHaptic(true);
                         pressed = true;
                         changeConfig(true);
@@ -241,7 +242,7 @@ void InterfaceTask::run() {
             }
         #endif
 
-        uint16_t brightness = UINT16_MAX;
+        
         // TODO: brightness scale factor should be configurable (depends on reflectivity of surface)
         #if SK_ALS
             brightness = (uint16_t)CLAMP(lux_avg * 13000, (float)1280, (float)UINT16_MAX);

firmware/src/interface_task.h

@@ -7,6 +7,8 @@
 #include "motor_task.h"
 #include "task.h"
 
+#define ALSCHECKINTERVAL 4000
+
 class InterfaceTask : public Task<InterfaceTask>, public ace_button::IEventHandler {
     friend class Task<InterfaceTask>; // Allow base Task to invoke protected run()
 
@@ -25,5 +27,7 @@ class InterfaceTask : public Task<InterfaceTask>, public ace_button::IEventHandl
 
         int current_config_ = 0;
 
+        uint16_t brightness = UINT16_MAX;
+
         void changeConfig(bool next);
 };

firmware/src/main.cpp

@@ -4,14 +4,16 @@
 #include "display_task.h"
 #include "interface_task.h"
 #include "motor_task.h"
+#include "commu_task.h"
 
 #if SK_DISPLAY
-static DisplayTask display_task = DisplayTask(0);
+static DisplayTask display_task = DisplayTask(1);
 static DisplayTask* display_task_p = &display_task;
 #else
 static DisplayTask* display_task_p = nullptr;
 #endif
-static MotorTask motor_task = MotorTask(1);
+static MotorTask motor_task = MotorTask(0);
+static CommuTask commu_Task = CommuTask(1);
 
 
 InterfaceTask interface_task = InterfaceTask(0, motor_task, display_task_p);
@@ -23,6 +25,7 @@ void setup() {
 
   motor_task.begin();
   interface_task.begin();
+  //commu_Task.begin();
 
   #if SK_DISPLAY
   display_task.begin();
@@ -61,6 +64,8 @@ void loop() {
     #endif
     Serial.printf("motor: %d\n", uxTaskGetStackHighWaterMark(motor_task.getHandle()));
     Serial.printf("interface: %d\n", uxTaskGetStackHighWaterMark(interface_task.getHandle()));
+    Serial.printf("communication: %d\n", uxTaskGetStackHighWaterMark(commu_Task.getHandle()));
+
     last_stack_debug = millis();
   }
 }

firmware/src/motor_task.cpp

@@ -53,8 +53,8 @@ void MotorTask::run() {
     // float zero_electric_offset = -0.8; // handheld 2
     // float zero_electric_offset = 2.93; //0.15; // 17mm test
     // float zero_electric_offset = 0.66; // 15mm handheld
-    float zero_electric_offset = 7.34;
-    Direction foc_direction = Direction::CW;
+    float zero_electric_offset = 7.07;
+    Direction foc_direction = Direction::CCW;
     motor.pole_pairs = 7;
 
     driver.voltage_power_supply = 5;