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Code cleanups

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This commit is contained in:
Oleg Kalachev 2023-05-24 10:28:32 +03:00
parent aaa8f70166
commit 1019d6d4bb
7 changed files with 6 additions and 56 deletions
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4
flix/flix.ino
View File

@ -35,14 +35,10 @@ Vector acc; // accelerometer data, m/s/s
Quaternion attitude; // estimated attitude
bool calibrating; // flag we're calibrating
void setupDebug();
void lowPowerMode();
void setup()
{
Serial.begin(SERIAL_BAUDRATE);
Serial.println("Initializing flix");
setupTime();
setupLED();
setupMotors();
setLED(true);

2
flix/imu.ino
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@ -59,7 +59,7 @@ static void calibrateGyro()
Serial.println("Calibrating gyro, stand still");
delay(500);
int status = IMU.calibrateGyro();
Serial.println("Calibration status: " + String(status));
Serial.printf("Calibration status: %d\n", status);
Serial.print("Gyro bias: ");
Serial.print(IMU.getGyroBiasX_rads(), 10); Serial.print(" ");
Serial.print(IMU.getGyroBiasY_rads(), 10); Serial.print(" ");

28
flix/led.ino
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@ -1,18 +1,7 @@
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
#define LED_PIN 2
#define BLINK_FAST_PERIOD 300000
#define BLINK_SLOW_PERIOD 1000000
static bool state;
static enum {
OFF,
ON,
BLINK_FAST,
BLINK_SLOW
} LEDscheme = OFF;
#define BLINK_PERIOD 500000
void setupLED()
{
@ -24,20 +13,7 @@ void setLED(bool on)
digitalWrite(LED_BUILTIN, on ? HIGH : LOW);
}
void proceedLED()
{
// TODO: this won't work
// TODO:: just check is current second even or odd
if (LEDscheme == BLINK_FAST && stepTime % BLINK_FAST_PERIOD == 0) {
state != state;
digitalWrite(LED_BUILTIN, state ? HIGH : LOW);
} else if (LEDscheme == BLINK_SLOW && stepTime % BLINK_SLOW_PERIOD == 0) {
state != state;
digitalWrite(LED_BUILTIN, state ? HIGH : LOW);
}
}
void blinkLED()
{
setLED(micros() / 500000 % 2);
setLED(micros() / BLINK_PERIOD % 2);
}

2
flix/pid.hpp
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@ -1,6 +1,8 @@
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
// PID controller implementation
#pragma once
class PID

5
flix/time.ino
View File

@ -7,11 +7,6 @@ const uint32_t S = 1000000;
static uint32_t stepsPerSecondCurrent;
static uint32_t stepsPerSecondCurrentLast;
void setupTime()
{
startTime = micros();
}
void step() {
steps++;
auto time = micros();

20
flix/util.ino
View File

@ -13,11 +13,6 @@ float mapff(float x, float in_min, float in_max, float out_min, float out_max)
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
// float hypot3(float x, float y, float z)
// {
// return sqrt(x * x + y * y + z * z);
// }
int8_t sign(float x)
{
return (x > 0) - (x < 0);
@ -28,19 +23,4 @@ float randomFloat(float min, float max)
return min + (max - min) * (float)rand() / RAND_MAX;
}
// === printf ===
// https://github.com/jandelgado/log4arduino/blob/master/src/log4arduino.cpp#L51
// https://webhamster.ru/mytetrashare/index/mtb0/16381244680p5beet5d6
#ifdef ARDUINO
#define PRINTF_MAX_STRING_LEN 200
void printf(const __FlashStringHelper *fmt, ...)
{
char buf[PRINTF_MAX_STRING_LEN];
va_list args;
va_start(args, fmt);
vsnprintf(buf, PRINTF_MAX_STRING_LEN, (PGM_P)fmt, args);
va_end(args);
Serial.print(buf);
}
#endif

1
flix/wifi.ino
View File

@ -3,6 +3,7 @@
// https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFi/examples/WiFiAccessPoint/WiFiAccessPoint.ino
// https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFi/examples/WiFiClient/WiFiClient.ino
// https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFi/examples/WiFiUDPClient/WiFiUDPClient.ino
#if WIFI_ENABLED == 1