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8 | 8 | using namespace std::chrono_literals;
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9 | 9 |
|
10 | 10 | extern "C" void app_main(void) {
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| 11 | + espp::Logger logger({.tag = "Joystick", .level = espp::Logger::Verbosity::DEBUG}); |
| 12 | + logger.info("Running joystick example"); |
11 | 13 | {
|
12 |
| - fmt::print("Running joystick example\n"); |
13 |
| - { |
14 |
| - //! [circular joystick example] |
15 |
| - float min = 0; |
16 |
| - float max = 255; |
17 |
| - float center = 127; |
18 |
| - float deadband_percent = 0.1; |
19 |
| - float deadband = deadband_percent * (max - min); |
| 14 | + logger.info("Starting circular / square joystick example"); |
| 15 | + //! [circular joystick example] |
| 16 | + float min = 0; |
| 17 | + float max = 255; |
| 18 | + float center = 127; |
| 19 | + float deadband_percent = 0.1; |
| 20 | + float deadband = deadband_percent * (max - min); |
20 | 21 |
|
21 |
| - // circular joystick |
22 |
| - espp::Joystick js1({ |
23 |
| - .x_calibration = {.center = center, .minimum = min, .maximum = max}, |
24 |
| - .y_calibration = {.center = center, .minimum = min, .maximum = max}, |
25 |
| - .type = espp::Joystick::Type::CIRCULAR, |
26 |
| - .center_deadzone_radius = deadband_percent, |
27 |
| - .range_deadzone = deadband_percent, |
28 |
| - }); |
29 |
| - // square joystick (for comparison) |
30 |
| - espp::Joystick js2({ |
31 |
| - .x_calibration = {.center = center, |
32 |
| - .center_deadband = deadband, |
33 |
| - .minimum = min, |
34 |
| - .maximum = max, |
35 |
| - .range_deadband = deadband}, |
36 |
| - .y_calibration = {.center = center, |
37 |
| - .center_deadband = deadband, |
38 |
| - .minimum = min, |
39 |
| - .maximum = max, |
40 |
| - .range_deadband = deadband}, |
41 |
| - }); |
42 |
| - // now make a loop where we update the raw valuse and print out the joystick values |
43 |
| - fmt::print("raw x, raw y, js1 x, js1 y, js2 x, js2 y\n"); |
44 |
| - for (float x = min - 10.0f; x <= max + 10.0f; x += 10.0f) { |
45 |
| - for (float y = min - 10.0f; y <= max + 10.0f; y += 10.0f) { |
46 |
| - js1.update(x, y); |
47 |
| - js2.update(x, y); |
48 |
| - fmt::print("{}, {}, {}, {}, {}, {}\n", x, y, js1.x(), js1.y(), js2.x(), js2.y()); |
49 |
| - } |
| 22 | + // circular joystick |
| 23 | + espp::Joystick js1({ |
| 24 | + .x_calibration = {.center = center, .minimum = min, .maximum = max}, |
| 25 | + .y_calibration = {.center = center, .minimum = min, .maximum = max}, |
| 26 | + .type = espp::Joystick::Type::CIRCULAR, |
| 27 | + .center_deadzone_radius = deadband_percent, |
| 28 | + .range_deadzone = deadband_percent, |
| 29 | + }); |
| 30 | + // square joystick (for comparison) |
| 31 | + espp::Joystick js2({ |
| 32 | + .x_calibration = {.center = center, |
| 33 | + .center_deadband = deadband, |
| 34 | + .minimum = min, |
| 35 | + .maximum = max, |
| 36 | + .range_deadband = deadband}, |
| 37 | + .y_calibration = {.center = center, |
| 38 | + .center_deadband = deadband, |
| 39 | + .minimum = min, |
| 40 | + .maximum = max, |
| 41 | + .range_deadband = deadband}, |
| 42 | + }); |
| 43 | + // now make a loop where we update the raw valuse and print out the joystick values |
| 44 | + fmt::print("raw x, raw y, js1 x, js1 y, js2 x, js2 y\n"); |
| 45 | + for (float x = min - 10.0f; x <= max + 10.0f; x += 10.0f) { |
| 46 | + for (float y = min - 10.0f; y <= max + 10.0f; y += 10.0f) { |
| 47 | + js1.update(x, y); |
| 48 | + js2.update(x, y); |
| 49 | + fmt::print("{}, {}, {}, {}, {}, {}\n", x, y, js1.x(), js1.y(), js2.x(), js2.y()); |
50 | 50 | }
|
51 |
| - //! [circular joystick example] |
52 | 51 | }
|
53 |
| - { |
54 |
| - //! [adc joystick example] |
55 |
| - static constexpr adc_unit_t ADC_UNIT = CONFIG_EXAMPLE_ADC_UNIT == 1 ? ADC_UNIT_1 : ADC_UNIT_2; |
56 |
| - static constexpr adc_channel_t ADC_CHANNEL_X = (adc_channel_t)CONFIG_EXAMPLE_ADC_CHANNEL_X; |
57 |
| - static constexpr adc_channel_t ADC_CHANNEL_Y = (adc_channel_t)CONFIG_EXAMPLE_ADC_CHANNEL_Y; |
| 52 | + //! [circular joystick example] |
| 53 | + } |
| 54 | + |
| 55 | + { |
| 56 | + logger.info("Starting joystick deadzone (.5, .5) example"); |
| 57 | + //! [joystick deadzone example] |
| 58 | + float min = 0; |
| 59 | + float max = 255; |
| 60 | + float center = 127; |
| 61 | + float center_deadzone_radius = 0.5; |
| 62 | + float range_deadzone_radius = 0.5; |
| 63 | + |
| 64 | + // circular joystick |
| 65 | + espp::Joystick js1({ |
| 66 | + .x_calibration = {.center = center, .minimum = min, .maximum = max}, |
| 67 | + .y_calibration = {.center = center, .minimum = min, .maximum = max}, |
| 68 | + .type = espp::Joystick::Type::CIRCULAR, |
| 69 | + .center_deadzone_radius = center_deadzone_radius, |
| 70 | + .range_deadzone = range_deadzone_radius, |
| 71 | + }); |
| 72 | + // now make a loop where we update the raw valuse and print out the joystick values |
| 73 | + fmt::print("raw x, raw y, js x, js y\n"); |
| 74 | + for (float x = min - 10.0f; x <= max + 10.0f; x += 10.0f) { |
| 75 | + for (float y = min - 10.0f; y <= max + 10.0f; y += 10.0f) { |
| 76 | + js1.update(x, y); |
| 77 | + fmt::print("{}, {}, {}, {}\n", x, y, js1.x(), js1.y()); |
| 78 | + } |
| 79 | + } |
| 80 | + // update the deadzones to be very large (overlapping) |
| 81 | + logger.info("Setting deadzones to overlap"); |
| 82 | + js1.set_center_deadzone_radius(0.75); |
| 83 | + js1.set_range_deadzone(0.75); |
| 84 | + // and run the loop again |
| 85 | + fmt::print("raw x, raw y, js x, js y\n"); |
| 86 | + for (float x = min - 10.0f; x <= max + 10.0f; x += 10.0f) { |
| 87 | + for (float y = min - 10.0f; y <= max + 10.0f; y += 10.0f) { |
| 88 | + js1.update(x, y); |
| 89 | + fmt::print("{}, {}, {}, {}\n", x, y, js1.x(), js1.y()); |
| 90 | + } |
| 91 | + } |
| 92 | + // extreme case: set both deadzones to be greater than 1, which should |
| 93 | + // mean they are both clamped to 1 by joystick. |
| 94 | + logger.info("Setting deadzones to be greater than 1"); |
| 95 | + js1.set_center_deadzone_radius(2); |
| 96 | + js1.set_range_deadzone(2); |
| 97 | + // and run the loop again |
| 98 | + fmt::print("raw x, raw y, js x, js y\n"); |
| 99 | + for (float x = min - 10.0f; x <= max + 10.0f; x += 10.0f) { |
| 100 | + for (float y = min - 10.0f; y <= max + 10.0f; y += 10.0f) { |
| 101 | + js1.update(x, y); |
| 102 | + fmt::print("{}, {}, {}, {}\n", x, y, js1.x(), js1.y()); |
| 103 | + } |
| 104 | + } |
| 105 | + //! [joystick deadzone example] |
| 106 | + } |
58 | 107 |
|
59 |
| - std::vector<espp::AdcConfig> channels{ |
60 |
| - {.unit = ADC_UNIT, .channel = ADC_CHANNEL_X, .attenuation = ADC_ATTEN_DB_12}, |
61 |
| - {.unit = ADC_UNIT, .channel = ADC_CHANNEL_Y, .attenuation = ADC_ATTEN_DB_12}}; |
62 |
| - espp::OneshotAdc adc({ |
63 |
| - .unit = ADC_UNIT_2, |
64 |
| - .channels = channels, |
65 |
| - }); |
66 |
| - auto read_joystick = [&adc, &channels](float *x, float *y) -> bool { |
67 |
| - // this will be in mv |
68 |
| - auto maybe_x_mv = adc.read_mv(channels[0]); |
69 |
| - auto maybe_y_mv = adc.read_mv(channels[1]); |
70 |
| - if (maybe_x_mv.has_value() && maybe_y_mv.has_value()) { |
71 |
| - auto x_mv = maybe_x_mv.value(); |
72 |
| - auto y_mv = maybe_y_mv.value(); |
73 |
| - *x = (float)(x_mv); |
74 |
| - *y = (float)(y_mv); |
75 |
| - return true; |
76 |
| - } |
77 |
| - return false; |
78 |
| - }; |
79 |
| - espp::Joystick js1({ |
80 |
| - // convert [0, 3300]mV to approximately [-1.0f, 1.0f] |
81 |
| - .x_calibration = |
82 |
| - {.center = 1700.0f, .center_deadband = 100.0f, .minimum = 0.0f, .maximum = 3300.0f}, |
83 |
| - .y_calibration = |
84 |
| - {.center = 1700.0f, .center_deadband = 100.0f, .minimum = 0.0f, .maximum = 3300.0f}, |
85 |
| - .get_values = read_joystick, |
86 |
| - }); |
87 |
| - espp::Joystick js2({ |
88 |
| - // convert [0, 3300]mV to approximately [-1.0f, 1.0f] |
89 |
| - .x_calibration = |
90 |
| - {.center = 1700.0f, .center_deadband = 0.0f, .minimum = 0.0f, .maximum = 3300.0f}, |
91 |
| - .y_calibration = |
92 |
| - {.center = 1700.0f, .center_deadband = 0.0f, .minimum = 0.0f, .maximum = 3300.0f}, |
93 |
| - .type = espp::Joystick::Type::CIRCULAR, |
94 |
| - .center_deadzone_radius = 0.1f, |
95 |
| - .get_values = read_joystick, |
96 |
| - }); |
97 |
| - auto task_fn = [&js1, &js2](std::mutex &m, std::condition_variable &cv) { |
98 |
| - js1.update(); |
99 |
| - js2.update(); |
100 |
| - fmt::print("{}, {}\n", js1, js2); |
101 |
| - // NOTE: sleeping in this way allows the sleep to exit early when the |
102 |
| - // task is being stopped / destroyed |
103 |
| - { |
104 |
| - std::unique_lock<std::mutex> lk(m); |
105 |
| - cv.wait_for(lk, 500ms); |
106 |
| - } |
107 |
| - // don't want to stop the task |
108 |
| - return false; |
109 |
| - }; |
110 |
| - auto task = espp::Task({.callback = task_fn, |
111 |
| - .task_config = {.name = "Joystick"}, |
112 |
| - .log_level = espp::Logger::Verbosity::INFO}); |
113 |
| - fmt::print("js1 x, js1 y, js2 x, js2 y\n"); |
114 |
| - task.start(); |
115 |
| - //! [adc joystick example] |
| 108 | + { |
| 109 | + logger.info("Starting ADC joystick example"); |
| 110 | + //! [adc joystick example] |
| 111 | + static constexpr adc_unit_t ADC_UNIT = CONFIG_EXAMPLE_ADC_UNIT == 1 ? ADC_UNIT_1 : ADC_UNIT_2; |
| 112 | + static constexpr adc_channel_t ADC_CHANNEL_X = (adc_channel_t)CONFIG_EXAMPLE_ADC_CHANNEL_X; |
| 113 | + static constexpr adc_channel_t ADC_CHANNEL_Y = (adc_channel_t)CONFIG_EXAMPLE_ADC_CHANNEL_Y; |
116 | 114 |
|
117 |
| - // loop forever to let the task run and user to play with the joystick |
118 |
| - while (true) { |
119 |
| - std::this_thread::sleep_for(1s); |
| 115 | + std::vector<espp::AdcConfig> channels{ |
| 116 | + {.unit = ADC_UNIT, .channel = ADC_CHANNEL_X, .attenuation = ADC_ATTEN_DB_12}, |
| 117 | + {.unit = ADC_UNIT, .channel = ADC_CHANNEL_Y, .attenuation = ADC_ATTEN_DB_12}}; |
| 118 | + espp::OneshotAdc adc({ |
| 119 | + .unit = ADC_UNIT_2, |
| 120 | + .channels = channels, |
| 121 | + }); |
| 122 | + auto read_joystick = [&adc, &channels](float *x, float *y) -> bool { |
| 123 | + // this will be in mv |
| 124 | + auto maybe_x_mv = adc.read_mv(channels[0]); |
| 125 | + auto maybe_y_mv = adc.read_mv(channels[1]); |
| 126 | + if (maybe_x_mv.has_value() && maybe_y_mv.has_value()) { |
| 127 | + auto x_mv = maybe_x_mv.value(); |
| 128 | + auto y_mv = maybe_y_mv.value(); |
| 129 | + *x = (float)(x_mv); |
| 130 | + *y = (float)(y_mv); |
| 131 | + return true; |
| 132 | + } |
| 133 | + return false; |
| 134 | + }; |
| 135 | + espp::Joystick js1({ |
| 136 | + // convert [0, 3300]mV to approximately [-1.0f, 1.0f] |
| 137 | + .x_calibration = |
| 138 | + {.center = 1700.0f, .center_deadband = 100.0f, .minimum = 0.0f, .maximum = 3300.0f}, |
| 139 | + .y_calibration = |
| 140 | + {.center = 1700.0f, .center_deadband = 100.0f, .minimum = 0.0f, .maximum = 3300.0f}, |
| 141 | + .get_values = read_joystick, |
| 142 | + }); |
| 143 | + espp::Joystick js2({ |
| 144 | + // convert [0, 3300]mV to approximately [-1.0f, 1.0f] |
| 145 | + .x_calibration = |
| 146 | + {.center = 1700.0f, .center_deadband = 0.0f, .minimum = 0.0f, .maximum = 3300.0f}, |
| 147 | + .y_calibration = |
| 148 | + {.center = 1700.0f, .center_deadband = 0.0f, .minimum = 0.0f, .maximum = 3300.0f}, |
| 149 | + .type = espp::Joystick::Type::CIRCULAR, |
| 150 | + .center_deadzone_radius = 0.1f, |
| 151 | + .get_values = read_joystick, |
| 152 | + }); |
| 153 | + auto task_fn = [&js1, &js2](std::mutex &m, std::condition_variable &cv) { |
| 154 | + js1.update(); |
| 155 | + js2.update(); |
| 156 | + fmt::print("{}, {}\n", js1, js2); |
| 157 | + // NOTE: sleeping in this way allows the sleep to exit early when the |
| 158 | + // task is being stopped / destroyed |
| 159 | + { |
| 160 | + std::unique_lock<std::mutex> lk(m); |
| 161 | + cv.wait_for(lk, 500ms); |
120 | 162 | }
|
| 163 | + // don't want to stop the task |
| 164 | + return false; |
| 165 | + }; |
| 166 | + auto task = espp::Task({.callback = task_fn, |
| 167 | + .task_config = {.name = "Joystick"}, |
| 168 | + .log_level = espp::Logger::Verbosity::INFO}); |
| 169 | + fmt::print("js1 x, js1 y, js2 x, js2 y\n"); |
| 170 | + task.start(); |
| 171 | + //! [adc joystick example] |
| 172 | + |
| 173 | + // loop forever to let the task run and user to play with the joystick |
| 174 | + while (true) { |
| 175 | + std::this_thread::sleep_for(1s); |
121 | 176 | }
|
122 | 177 | }
|
123 | 178 |
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