Skip to content

bugfix(haptics): enable repeated start/stop #2

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
finger563 merged 2 commits into from
Jun 23, 2023
Merged

bugfix(haptics): enable repeated start/stop #2

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
00b3ff7
bugfix(haptics): enable repeated start/stop
finger563 Jun 23, 2023
eba4a03
update readme.
finger563 Jun 23, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ See the Getting Started Guide for full steps to configure and use ESP-IDF to bui
The haptics (detent configuration, click/buzz) can be configured dynamically at
run-time using the provided CLI, see screenshot below:

![CleanShot 2023-06-23 at 08 45 26](https://github.com/esp-cpp/bldc_test_stand/assets/213467/912aae32-a434-4969-8309-af42a4f5f4c7)
![CleanShot 2023-06-23 at 13 23 44](https://github.com/esp-cpp/bldc_test_stand/assets/213467/eb2a2f37-01d0-46e3-992a-48820401c0ab)

As you can see, the cli also allows you to start and stop the haptic engine
(default is off when the program starts) and allows you to query the position of
Expand Down
2 changes: 1 addition & 1 deletion components/espp
Open in desktop
Submodule espp updated 86 files
+13 −28 components/bldc_driver/include/bldc_driver.hpp
+33 −2 components/bldc_haptics/include/bldc_haptics.hpp
+16 −6 components/bldc_motor/include/bldc_motor.hpp
+9 −10 components/cli/include/cli.hpp
+172 −1 components/rtsp/example/main/jpeg_image.hpp
+11 −9 components/rtsp/example/main/rtsp_example.cpp
+114 −128 components/rtsp/include/jpeg_frame.hpp
+725 −321 components/rtsp/include/jpeg_header.hpp
+15 −17 components/rtsp/include/rtcp_packet.hpp
+201 −214 components/rtsp/include/rtp_jpeg_packet.hpp
+140 −147 components/rtsp/include/rtp_packet.hpp
+425 −416 components/rtsp/include/rtsp_client.hpp
+271 −274 components/rtsp/include/rtsp_server.hpp
+8 −0 components/task/include/task.hpp
+2 −2 docs/adc/adc_types.html
+2 −2 docs/adc/ads1x15.html
+2 −2 docs/adc/ads7138.html
+2 −2 docs/adc/continuous_adc.html
+1 −1 docs/adc/index.html
+2 −2 docs/adc/oneshot_adc.html
+2 −2 docs/bldc/bldc_driver.html
+15 −4 docs/bldc/bldc_motor.html
+1 −1 docs/bldc/index.html
+2 −2 docs/button.html
+3 −3 docs/cli.html
+2 −2 docs/color.html
+2 −2 docs/controller.html
+3 −3 docs/csv.html
+2 −2 docs/display/display.html
+3 −3 docs/display/display_drivers.html
+1 −1 docs/display/index.html
+2 −2 docs/encoder/abi_encoder.html
+2 −2 docs/encoder/as5600.html
+2 −2 docs/encoder/encoder_types.html
+1 −1 docs/encoder/index.html
+2 −2 docs/encoder/mt6701.html
+2 −2 docs/event_manager.html
+2 −2 docs/file_system.html
+2 −2 docs/filters/biquad.html
+2 −2 docs/filters/butterworth.html
+1 −1 docs/filters/index.html
+2 −2 docs/filters/lowpass.html
+2 −2 docs/filters/sos.html
+2 −2 docs/filters/transfer_function.html
+4 −4 docs/ftp/ftp_server.html
+1 −1 docs/ftp/index.html
+11 −3 docs/genindex.html
+25 −4 docs/haptics/bldc_haptics.html
+2 −2 docs/haptics/drv2605.html
+1 −1 docs/haptics/index.html
+1 −1 docs/index.html
+1 −1 docs/input/index.html
+2 −2 docs/input/touchpad_input.html
+2 −2 docs/io_expander/aw9523.html
+1 −1 docs/io_expander/index.html
+2 −2 docs/io_expander/mcp23x17.html
+2 −2 docs/joystick.html
+2 −2 docs/led.html
+2 −2 docs/led_strip.html
+2 −2 docs/logger.html
+2 −2 docs/math/bezier.html
+2 −2 docs/math/fast_math.html
+2 −2 docs/math/gaussian.html
+1 −1 docs/math/index.html
+2 −2 docs/math/range_mapper.html
+2 −2 docs/math/vector2d.html
+2 −2 docs/monitor.html
+1 −1 docs/network/index.html
+2 −2 docs/network/socket.html
+2 −2 docs/network/tcp_socket.html
+2 −2 docs/network/udp_socket.html
+1 −1 docs/nfc/index.html
+2 −2 docs/nfc/ndef.html
+2 −2 docs/nfc/st25dv.html
+ − docs/objects.inv
+2 −2 docs/pid.html
+3 −3 docs/rmt.html
+20 −18 docs/rtsp.html
+1 −1 docs/searchindex.js
+3 −3 docs/serialization.html
+5 −5 docs/state_machine.html
+13 −2 docs/task.html
+2 −2 docs/thermistor.html
+1 −1 docs/wifi/index.html
+2 −2 docs/wifi/wifi_ap.html
+2 −2 docs/wifi/wifi_sta.html
28 changes: 24 additions & 4 deletions main/main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -154,15 +154,23 @@ extern "C" void app_main(void) {
root_menu->Insert(
"start",
[&](std::ostream &out) {
out << "Starting motor!\n";
haptic_motor.start();
if (!haptic_motor.is_running()) {
out << "Starting motor!\n";
haptic_motor.start();
} else {
out << "Motor already running!\n";
}
},
"Start the motor");
root_menu->Insert(
"stop",
[&](std::ostream &out) {
out << "Stopping motor!\n";
haptic_motor.stop();
if (haptic_motor.is_running()) {
out << "Stopping motor!\n";
haptic_motor.stop();
} else {
out << "Motor already stopped!\n";
}
},
"Stop the motor");
root_menu->Insert(
Expand All @@ -171,6 +179,18 @@ extern "C" void app_main(void) {
out << "Current position: " << haptic_motor.get_position() << "\n";
},
"Print the current position of the haptic motor");
root_menu->Insert(
"shaft_angle",
[&](std::ostream &out) {
out << "Current shaft angle: " << motor.get_shaft_angle() << " radians\n";
},
"Print the current position of the haptic motor");
root_menu->Insert(
"electrical_angle",
[&](std::ostream &out) {
out << "Current electrical angle: " << motor.get_electrical_angle() << " radians\n";
},
"Print the current position of the haptic motor");
root_menu->Insert(
"unbounded_no_detents",
[&](std::ostream &out) {
Expand Down