✨ feat: Cleaner can use Auto mode

Add `Auto mode` function for ESP32 cleaner, Set the motor more `slower`: `pwm` 100 to 50. Issue #1 -Auto mode
MakerbaseMoon · Mar 19, 2023 · 674bae2 · 674bae2
1 parent b07adab
commit 674bae2
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Showing 3 changed files with 65 additions and 5 deletions.
diff --git a/include/header.h b/include/header.h
@@ -30,7 +30,7 @@
 #define CLEANER_DEFAULT_MOTOR_B01_CHANNEL 3
 #define CLEANER_DEFAULT_MOTOR_B02_CHANNEL 4
 
-#define CLEANER_DEFAULT_MOTOR_PWM 100
+#define CLEANER_DEFAULT_MOTOR_PWM 50
 
 // Ledc setting
 #define CLEANER_DEFAULT_LEDC_FREQ 100000UL

diff --git a/platformio.ini b/platformio.ini
@@ -14,6 +14,13 @@ default_envs = esp32doit-devkit-v1
 [env:esp32doit-devkit-v1]
 platform = espressif32@6.0.1
 board = esp32doit-devkit-v1
+monitor_raw = yes
+monitor_filters = 
+	direct
+	esp32_exception_decoder
+build_flags = 
+	-DCORE_DEBUG_LEVEL=5
+	-DCONFIG_ARDUHAL_LOG_COLORS=1
 framework = arduino
 monitor_speed = 115200
 lib_deps = 

diff --git a/src/main.cpp b/src/main.cpp
@@ -6,9 +6,13 @@
 #include "components/my_network.h"
 
 TaskHandle_t Task1;
+VL53L0X_value value;
 
 void Task1code(void* parameter);
 
+void autoTask();
+uint8_t autoModeNum = 0;
+
 char *sta_ssid   = NULL;
 char *sta_passwd = NULL;
 char *ap_ssid    = NULL;
@@ -39,6 +43,7 @@ Network_conf network_conf = {
 void setup() {
     Serial.begin(115200);
     while(!Serial);
+    Serial.setDebugOutput(true);
 
     setup_data(&my_cleaner_conf, &network_conf);
     setup_module(&my_cleaner_conf);
@@ -47,31 +52,43 @@ void setup() {
     setup_server(&my_cleaner_conf, &network_conf, &cleaner_mode, &url);
 
     xTaskCreatePinnedToCore(Task1code, "Task1", 10240, NULL, 1, &Task1, 1);
+
+    if(get_electricity_value() <= 1500) {
+        Serial.printf("Can not get Battery value, enter USB mode,\n");
+        set_IRF520_PWM(0);
+        motor_stop();
+        cleaner_mode = 1;
+    } else {
+        set_IRF520_PWM(255);
+    }
+
     delay(500);
 }
 
 void loop() {
     loop_server();
     if(cleaner_mode == 0) { // OTA mode.
+        motor_stop();
+        autoModeNum = 0;
         if(!update_loop(url)) {
             cleaner_mode = 2;
             ESP.restart();
         } else {
             cleaner_mode = 2;
         }
     } else if(cleaner_mode == 1) { // Game mode.
-
+        autoModeNum = 0;
     } else if(cleaner_mode == 2) { // Auto mode.
-
+        autoTask();
     }
 }
 
 void Task1code(void* parameter) {
     uint16_t k = 0;
 
     for(;;) {
-        VL53L0X_value value = loop_VL53L0X();
-        Serial.printf("%d\t%d\n", value.left, value.right);
+        value = loop_VL53L0X();
+        ESP_LOGI("VL53L0X", "%d\t%d", value.left, value.right);
 
         if( k >= 29 ) {
             show_dashboard(cleaner_mode);
@@ -82,3 +99,39 @@ void Task1code(void* parameter) {
         vTaskDelay(30 / portTICK_PERIOD_MS);
     }
 }
+unsigned long autoModeTurnTime = 0;
+void autoTask() {
+    if(cleaner_mode != 2) {
+        motor_stop();
+        return;
+    }
+
+    if(autoModeNum == 0) {
+        if(( value.left != -1 && value.left <= 50) || (value.right != -1 && value.right <= 50) ) {
+            motor_stop();
+            autoModeNum = 1;
+        } else {
+            motor_forward();
+        }
+    } else if(autoModeNum == 1) {
+        if(value.left >= 70 || value.right >= 70) {
+            autoModeNum = 2;
+        } else {
+            motor_backward();
+        }
+    } else if(autoModeNum == 2) {
+        if(value.left > value.right) {
+            motor_left();
+        } else {
+            motor_right();
+        }
+        autoModeNum = 3;
+        autoModeTurnTime = millis();
+
+    } else if(autoModeNum == 3) {
+        if(value.left >= 80 && value.right >= 80) {
+            motor_stop();
+            autoModeNum = 0;
+        } 
+    }
+}