Cleanup of the code
Got rid of the last bits of shouting defines
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@ -38,6 +38,7 @@ class Config
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static const uint16_t DisplayIdleTime = 10000;
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static const uint16_t DisplayMoveRefreshRate = 1000;
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/*
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@ -57,6 +58,7 @@ class Config
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// How much the measurements can change to still be considered "stable"
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static const uint8_t HeightMeasurementDeltaStable = 10;
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static const uint8_t HeightMeasurementDeltaStableCount = 1; // TODO: restore StableCount to 3
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// How far in advance to stop the motor
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static const uint8_t HeightMeasurementDeltaStop = 0;
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@ -96,9 +98,10 @@ class Config
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#define ColorDarkGray 0x528A
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#define ColorDarkerGray 0x2965
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#define ColorSoftGreen 0x2BE7
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#define ColorStopRed 0xF9A6
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#define ColorSoftGreen 0x2BE7
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#define ColorSoftBlue 0x3376
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#define ColorDarkBlue 0x0907
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static const uint16_t ColorInitSeqBackground = ColorBlack;
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@ -129,6 +132,16 @@ class Config
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static const uint16_t ColorMoveTarget = ColorWhite;
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static const uint16_t ColorMoveCurrent = ColorWhite;
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static const uint16_t ColorMoveStop = ColorStopRed;
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static const uint16_t ColorMenuHeaderText = ColorWhite;
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static const uint16_t ColorMenuHeaderBackground = ColorSoftBlue;
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static const uint16_t ColorMenuSelectedText = ColorWhite;
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static const uint16_t ColorMenuSelectedBackground = ColorDarkBlue;
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static const uint16_t ColorCalibrateIndicators = ColorWhite;
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static const uint16_t ColorCalibrateValue = ColorWhite;
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};
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#endif
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79
src/include/metrics.h
Normal file
79
src/include/metrics.h
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@ -0,0 +1,79 @@
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#ifndef __metrics
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#define __metrics
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#include <stdint.h>
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#include "fonts/FreeSansBold18pt7b.trimmed.h"
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class Metrics
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{
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public:
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/*
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Small font
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Uses the built-in Adafruit GFX 5x8 font.
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*/
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static constexpr const GFXfont* SmallFont = nullptr;
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static const uint16_t SmallFontBaseline = 0;
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static const uint16_t SmallFontHeight = 8;
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static const uint16_t SmallFontMaxHeight = Metrics::SmallFontHeight;
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/*
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Large font
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Uses a trimmed version of the FreeSansBold 18pt font.
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*/
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static constexpr const GFXfont* LargeFont = &FreeSansBold18pt7bTrimmed;
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static const uint16_t LargeFontBaseline = 25;
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static const uint16_t LargeFontHeight = Metrics::LargeFontBaseline;
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static const uint16_t LargeFontMaxHeight = 42;
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/*
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Text line
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Defines the height of a standard line of text including margins.
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Suitable for applying a background color.
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*/
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static const uint16_t LargeTextLineMargin = 7;
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static const uint16_t LargeTextLineYOffset = Metrics::LargeFontBaseline + Metrics::LargeTextLineMargin;
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static const uint16_t LargeTextLineHeight = (Metrics::LargeFontHeight + (2 * Metrics::LargeTextLineMargin));
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static const uint16_t SmallTextLineMargin = 7;
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static const uint16_t SmallTextLineHeight = (Metrics::SmallFontHeight + (2 * Metrics::SmallTextLineMargin));
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/*
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Arrows
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*/
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static const uint16_t HArrowWidth = 10;
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static const uint16_t HArrowHeight = 20;
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static const uint16_t VArrowWidth = Metrics::HArrowHeight;
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static const uint16_t VArrowHeight = Metrics::HArrowWidth;
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static const uint16_t ArrowMargin = 8;
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static const uint16_t LargeTextLineHArrowYOffset = (Metrics::LargeTextLineHeight - Metrics::HArrowHeight) / 2;
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static const uint16_t LargeTextLineVArrowYOffset = (Metrics::LargeTextLineHeight - Metrics::VArrowHeight) / 2;
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/*
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Screen layout
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Shared amongst screens for a consistent layout
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*/
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static const uint16_t MiddleLargeTextLineY = 100;
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};
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#endif
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@ -1,4 +1,4 @@
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#include "./motorstate.h"
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#include "./control.h"
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#include "./motor.h"
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#include "./state.h"
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#include "./settings.h"
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@ -6,18 +6,18 @@
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#include "include/config.h"
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void motorStateMoveTo(uint16_t height)
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void controlMoveTo(uint16_t height)
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{
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dl("motorStateMoveTo: "); dln(height);
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dl("controlMoveTo: "); dln(height);
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State.MoveTarget = height;
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State.MoveDirection = height > State.CurrentHeight ? Direction::Up : Direction::Down;
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}
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bool motorStateCheckTargetReached()
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bool controlCheckTargetReached()
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{
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dl("motorStateCheckTargetReached: direction = "); dl((uint8_t)State.MoveDirection); dl(", currentHeight = "); dln(State.CurrentHeight);
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dl("controlCheckTargetReached: direction = "); dl((uint8_t)State.MoveDirection); dl(", currentHeight = "); dln(State.CurrentHeight);
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switch (State.MoveDirection)
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{
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@ -27,7 +27,7 @@ bool motorStateCheckTargetReached()
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if (State.CurrentHeight - State.MoveTarget <= Config::HeightMeasurementDeltaOnTarget)
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State.CurrentHeight = State.MoveTarget;
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motorStateStop();
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controlStop();
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return true;
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}
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break;
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@ -38,7 +38,7 @@ bool motorStateCheckTargetReached()
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if (State.MoveTarget - State.CurrentHeight <= Config::HeightMeasurementDeltaOnTarget)
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State.CurrentHeight = State.MoveTarget;
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motorStateStop();
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controlStop();
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return true;
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}
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break;
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@ -51,13 +51,13 @@ bool motorStateCheckTargetReached()
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}
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bool motorStateCheckOverCurrent()
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bool controlCheckOverCurrent()
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{
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if (motorIsOverCurrent())
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{
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dln("motorStateCheckOverCurrent: overcurrent detected!");
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dln("controlCheckOverCurrent: overcurrent detected!");
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motorStateStop();
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controlStop();
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return true;
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}
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@ -65,15 +65,28 @@ bool motorStateCheckOverCurrent()
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}
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void motorStateStop()
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void controlStop()
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{
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dln("motorStateStop");
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dln("controlStop");
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motorStop();
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State.MoveDirection = Direction::None;
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}
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void controlSnapToPreset()
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{
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for (uint8_t i = 0; i < 2; i++)
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{
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if (abs(State.CurrentHeight - Settings.Height.Preset[i]) <= Config::HeightMeasurementDeltaOnTarget)
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{
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State.CurrentHeight = Settings.Height.Preset[i];
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break;
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}
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}
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}
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void getDisplayHeight(char* buffer, uint16_t value)
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{
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uint8_t displayValue = (value + Settings.Height.Offset) / 10;
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@ -1,13 +1,15 @@
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#ifndef __motorstate
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#define __motorstate
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#ifndef __control
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#define __control
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#include <stdint.h>
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// High-level functions to control the motor and update the global state
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extern void motorStateMoveTo(uint16_t height);
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extern bool motorStateCheckTargetReached();
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extern bool motorStateCheckOverCurrent();
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extern void motorStateStop();
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extern void controlMoveTo(uint16_t height);
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extern bool controlCheckTargetReached();
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extern bool controlCheckOverCurrent();
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extern void controlStop();
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extern void controlSnapToPreset();
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// Formats a height value as "0.00m" (always exactly 5 characters long).
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@ -1,5 +1,6 @@
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#include "./screen.h"
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#include "include/config.h"
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#include "include/metrics.h"
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Adafruit_GFX* BaseScreen::getDisplay()
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@ -26,6 +27,36 @@ uint16_t BaseScreen::printCentered(const char* text, int16_t y)
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}
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void BaseScreen::drawArrowLeft(int16_t x, int16_t y, uint16_t color)
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{
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this->getDisplay()->fillTriangle(
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x + Metrics::HArrowWidth, y, // Top right
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x, y + (Metrics::HArrowHeight / 2), // Middle left
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x + Metrics::HArrowWidth, y + Metrics::HArrowHeight, // Bottom right
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color);
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}
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void BaseScreen::drawArrowUp(int16_t x, int16_t y, uint16_t color)
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{
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this->getDisplay()->fillTriangle(
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x + (Metrics::VArrowWidth / 2), y, // Top middle
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x, y + Metrics::VArrowHeight, // Bottom left
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x + Metrics::VArrowWidth, y + Metrics::VArrowHeight, // Bottom right
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color);
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}
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void BaseScreen::drawArrowDown(int16_t x, int16_t y, uint16_t color)
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{
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this->getDisplay()->fillTriangle(
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x, y, // Top left
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x + Metrics::VArrowWidth, y, // Top right
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x + (Metrics::VArrowWidth / 2), y + Metrics::VArrowHeight, // Bottom middle
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color);
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}
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void ScreenManager::init()
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{
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pinMode(Config::DisplayPinBL, OUTPUT);
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@ -36,6 +36,10 @@ class BaseScreen
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uint16_t printCentered(const char* text, int16_t y);
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void drawArrowLeft(int16_t x, int16_t y, uint16_t color);
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void drawArrowUp(int16_t x, int16_t y, uint16_t color);
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void drawArrowDown(int16_t x, int16_t y, uint16_t color);
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private:
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ScreenManager* screenManager;
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};
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@ -3,7 +3,7 @@
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void CalibrateScreen::onShow()
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{
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auto display = this->getDisplay();
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//auto display = this->getDisplay();
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// TODO: implement CalibrateScreen
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}
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@ -1,31 +1,12 @@
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#include "./home.h"
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#include "./move.h"
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#include "fonts/FreeSansBold18pt7b.trimmed.h"
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#include "include/config.h"
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#include "include/metrics.h"
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#include "lib/settings.h"
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#include "lib/motorstate.h"
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#include "lib/control.h"
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#include "./menu.h"
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#define HOME_FONT_BASELINE 25
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#define HOME_FONT_HEIGHT 42
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#define PRESET_MARGIN 7
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// HOME_FONT_BASELINE is not a mistake, as there are no characters used which
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// go below the baseline.
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#define PRESET_LINEHEIGHT (HOME_FONT_BASELINE + (2 * PRESET_MARGIN))
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#define HOME_ARROW_WIDTH 10
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#define HOME_ARROW_HEIGHT 20
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#define HOME_ARROW_MARGIN 8
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#define HOME_ARROW_YOFFSET ((PRESET_LINEHEIGHT - HOME_ARROW_HEIGHT) / 2)
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#define HOME_INDICATOR_OFFSET (HOME_ARROW_WIDTH + (2 * HOME_ARROW_MARGIN))
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#define HOME_MENU_Y 100
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void HomeScreen::onShow()
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{
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@ -33,7 +14,7 @@ void HomeScreen::onShow()
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auto display = this->getDisplay();
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display->setFont(&FreeSansBold18pt7bTrimmed);
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display->setFont(Metrics::LargeFont);
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display->fillScreen(Config::ColorHomeBackground);
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this->drawPreset1();
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@ -52,19 +33,20 @@ void HomeScreen::onButton(Button button)
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this->idle = false;
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this->showTime = State.CurrentTime;
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// TODO: should preset buttons activate immediately?
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return;
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// Preset buttons activate immediately
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if (button == Button::Menu)
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return;
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}
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switch (button)
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{
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case Button::Up:
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motorStateMoveTo(Settings.Height.Preset[0]);
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controlMoveTo(Settings.Height.Preset[0]);
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this->getScreenManager()->show<MoveScreen>();
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break;
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case Button::Down:
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motorStateMoveTo(Settings.Height.Preset[1]);
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controlMoveTo(Settings.Height.Preset[1]);
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this->getScreenManager()->show<MoveScreen>();
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break;
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@ -87,21 +69,20 @@ void HomeScreen::onTick()
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void HomeScreen::drawPreset1()
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{
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//this->drawPreset(0, Settings.Height.Preset[0]);
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this->drawPreset(0, State.CurrentHeight);
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this->drawPreset(0, Settings.Height.Preset[0]);
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}
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void HomeScreen::drawPreset2()
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{
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this->drawPreset(Config::DisplayHeight - PRESET_LINEHEIGHT, Settings.Height.Preset[1]);
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this->drawPreset(Config::DisplayHeight - Metrics::LargeTextLineHeight, Settings.Height.Preset[1]);
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}
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void HomeScreen::drawNonPresetHeight()
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{
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auto display = this->getDisplay();
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auto y = PRESET_LINEHEIGHT;
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auto y = Metrics::LargeTextLineHeight;
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if (State.CurrentHeight != Settings.Height.Preset[0] &&
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State.CurrentHeight != Settings.Height.Preset[1])
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@ -112,16 +93,6 @@ void HomeScreen::drawNonPresetHeight()
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}
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void HomeScreen::drawArrow(int16_t y, uint16_t color)
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{
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this->getDisplay()->fillTriangle(
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HOME_ARROW_MARGIN + HOME_ARROW_WIDTH, y + HOME_ARROW_YOFFSET, // Top right
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HOME_ARROW_MARGIN, y + HOME_ARROW_YOFFSET + (HOME_ARROW_HEIGHT / 2), // Middle left
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HOME_ARROW_MARGIN + HOME_ARROW_WIDTH, y + HOME_ARROW_YOFFSET + HOME_ARROW_HEIGHT, // Bottom right
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color);
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}
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void HomeScreen::drawPreset(int16_t y, uint16_t value)
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{
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auto display = this->getDisplay();
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@ -143,10 +114,10 @@ void HomeScreen::drawPreset(int16_t y, uint16_t value)
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arrowColor = Config::ColorPresetArrow;
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}
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display->fillRect(0, y, Config::DisplayWidth, PRESET_LINEHEIGHT, backgroundColor);
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display->fillRect(0, y, Config::DisplayWidth, Metrics::LargeTextLineHeight, backgroundColor);
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if (arrowColor)
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this->drawArrow(y, arrowColor);
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this->drawArrowLeft(Metrics::ArrowMargin, y + Metrics::LargeTextLineHArrowYOffset, arrowColor);
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display->setTextColor(textColor);
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this->drawHeight(y, value);
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@ -155,12 +126,10 @@ void HomeScreen::drawPreset(int16_t y, uint16_t value)
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void HomeScreen::drawHeight(int16_t y, uint16_t value)
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{
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auto display = this->getDisplay();
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char textValue[6];
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getDisplayHeight(&textValue[0], value);
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this->printCentered(&textValue[0], y + HOME_FONT_BASELINE + PRESET_MARGIN);
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this->printCentered(&textValue[0], y + Metrics::LargeTextLineYOffset);
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}
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@ -168,8 +137,8 @@ void HomeScreen::drawMenu()
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{
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auto display = this->getDisplay();
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this->drawArrow(HOME_MENU_Y, Config::ColorHomeMenuArrow);
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this->drawArrowLeft(Metrics::ArrowMargin, Metrics::MiddleLargeTextLineY, Config::ColorHomeMenuArrow);
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display->setTextColor(Config::ColorHomeMenuText);
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this->printCentered("Menu", HOME_MENU_Y + HOME_FONT_BASELINE + PRESET_MARGIN);
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this->printCentered("Menu", Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineYOffset);
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}
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@ -26,7 +26,6 @@ class HomeScreen : public BaseScreen
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void drawPreset2();
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void drawNonPresetHeight();
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void drawArrow(int16_t y, uint16_t color);
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void drawPreset(int16_t y, uint16_t value);
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void drawHeight(int16_t y, uint16_t value);
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void drawMenu();
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@ -3,7 +3,7 @@
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void ManualScreen::onShow()
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{
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auto display = this->getDisplay();
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//auto display = this->getDisplay();
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// TODO: implement ManualScreen
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}
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@ -3,7 +3,7 @@
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void MenuScreen::onShow()
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{
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auto display = this->getDisplay();
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//auto display = this->getDisplay();
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// TODO: implement MenuScreen
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}
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@ -3,7 +3,7 @@
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void MoveOverCurrentScreen::onShow()
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{
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auto display = this->getDisplay();
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//auto display = this->getDisplay();
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// TODO: implement MoveOverCurrentScreen
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}
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@ -3,7 +3,7 @@
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void MoveSensorErrorScreen::onShow()
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{
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auto display = this->getDisplay();
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//auto display = this->getDisplay();
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// TODO: implement MoveSensorErrorScreen
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}
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@ -1,45 +1,29 @@
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#include "./move.h"
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#include "./home.h"
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#include "fonts/FreeSansBold18pt7b.trimmed.h"
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#include "include/config.h"
|
||||
#include "include/metrics.h"
|
||||
#include "lib/settings.h"
|
||||
#include "lib/motorstate.h"
|
||||
#include "lib/control.h"
|
||||
|
||||
|
||||
#define MOVE_FONT_BASELINE 25
|
||||
#define MOVE_FONT_HEIGHT 42
|
||||
|
||||
#define MOVE_REFRESHRATE 1000
|
||||
|
||||
#define MOVE_LINE_MARGIN 7
|
||||
#define MOVE_LINE_HEIGHT (MOVE_FONT_BASELINE + (2 * MOVE_LINE_MARGIN))
|
||||
|
||||
#define MOVE_STOP_SMALL_TEXT_SIZE
|
||||
#define MOVE_STOP_SMALL_LINE_HEIGHT 8
|
||||
|
||||
#define MOVE_ARROW_WIDTH 20
|
||||
#define MOVE_ARROW_HEIGHT 10
|
||||
#define MOVE_ARROW_YOFFSET ((MOVE_LINE_HEIGHT - MOVE_ARROW_HEIGHT) / 2)
|
||||
|
||||
|
||||
void MoveScreen::onShow()
|
||||
{
|
||||
auto display = this->getDisplay();
|
||||
//auto startY = (Config::DisplayHeight - (MOVE_LINE_HEIGHT * 3)) / 2;
|
||||
auto startY = MOVE_LINE_HEIGHT;
|
||||
auto arrowY = startY + MOVE_LINE_HEIGHT + MOVE_ARROW_YOFFSET;
|
||||
auto arrowX = (Config::DisplayWidth - MOVE_ARROW_WIDTH) / 2;
|
||||
auto stopY = Config::DisplayHeight - MOVE_LINE_HEIGHT;
|
||||
auto startY = Metrics::LargeTextLineHeight;
|
||||
auto arrowY = startY + Metrics::LargeTextLineHeight + Metrics::LargeTextLineVArrowYOffset;
|
||||
auto arrowX = (Config::DisplayWidth - Metrics::VArrowWidth) / 2;
|
||||
auto stopY = Config::DisplayHeight - Metrics::LargeTextLineHeight;
|
||||
|
||||
display->fillScreen(Config::ColorMoveBackground);
|
||||
|
||||
// Stop
|
||||
display->setFont(nullptr);
|
||||
display->setFont(Metrics::SmallFont);
|
||||
display->setTextColor(Config::ColorMoveStop);
|
||||
this->printCentered("Press any button to", stopY - MOVE_STOP_SMALL_LINE_HEIGHT);
|
||||
this->printCentered("Press any button to", stopY - Metrics::SmallTextLineHeight);
|
||||
|
||||
display->setFont(&FreeSansBold18pt7bTrimmed);
|
||||
this->printCentered("STOP", stopY + MOVE_FONT_BASELINE + MOVE_LINE_MARGIN);
|
||||
display->setFont(Metrics::LargeFont);
|
||||
this->printCentered("STOP", stopY + Metrics::LargeTextLineYOffset);
|
||||
|
||||
char targetHeightText[6];
|
||||
getDisplayHeight(&targetHeightText[0], State.MoveTarget);
|
||||
@ -48,27 +32,17 @@ void MoveScreen::onShow()
|
||||
// Target and arrow
|
||||
if (State.MoveDirection == Direction::Up)
|
||||
{
|
||||
this->currentHeightY = startY + (MOVE_LINE_HEIGHT * 2);
|
||||
this->currentHeightY = startY + (Metrics::LargeTextLineHeight * 2);
|
||||
|
||||
this->printCentered(&targetHeightText[0], startY + MOVE_FONT_BASELINE + MOVE_LINE_MARGIN);
|
||||
|
||||
display->fillTriangle(
|
||||
arrowX + (MOVE_ARROW_WIDTH / 2), arrowY, // Top middle
|
||||
arrowX, arrowY + MOVE_ARROW_HEIGHT, // Bottom left
|
||||
arrowX + MOVE_ARROW_WIDTH, arrowY + MOVE_ARROW_HEIGHT, // Bottom right
|
||||
Config::ColorMoveArrow);
|
||||
this->printCentered(&targetHeightText[0], startY + Metrics::LargeTextLineYOffset);
|
||||
this->drawArrowUp(arrowX, arrowY, Config::ColorMoveArrow);
|
||||
}
|
||||
else
|
||||
{
|
||||
this->currentHeightY = startY;
|
||||
|
||||
this->printCentered(&targetHeightText[0], startY + (MOVE_LINE_HEIGHT * 2) + MOVE_FONT_BASELINE + MOVE_LINE_MARGIN);
|
||||
|
||||
display->fillTriangle(
|
||||
arrowX, arrowY, // Top left
|
||||
arrowX + MOVE_ARROW_WIDTH, arrowY, // Top right
|
||||
arrowX + (MOVE_ARROW_WIDTH / 2), arrowY + MOVE_ARROW_HEIGHT, // Bottom middle
|
||||
Config::ColorMoveArrow);
|
||||
this->printCentered(&targetHeightText[0], startY + (Metrics::LargeTextLineHeight * 2) + Metrics::LargeTextLineYOffset);
|
||||
this->drawArrowDown(arrowX, arrowY, Config::ColorMoveArrow);
|
||||
}
|
||||
|
||||
this->lastRefresh = State.CurrentTime;
|
||||
@ -78,7 +52,7 @@ void MoveScreen::onShow()
|
||||
|
||||
void MoveScreen::onButton(Button button)
|
||||
{
|
||||
motorStateStop();
|
||||
controlStop();
|
||||
this->getScreenManager()->show<HomeScreen>();
|
||||
}
|
||||
|
||||
@ -93,7 +67,7 @@ void MoveScreen::onTick()
|
||||
|
||||
// Don't update every tick, monitoring the current height is more
|
||||
// important and the flicker would be unpleasant as well.
|
||||
if (State.CurrentTime - this->lastRefresh >= MOVE_REFRESHRATE)
|
||||
if (State.CurrentTime - this->lastRefresh >= Config::DisplayMoveRefreshRate)
|
||||
{
|
||||
this->drawCurrentHeight();
|
||||
this->lastRefresh = State.CurrentTime;
|
||||
@ -109,8 +83,8 @@ void MoveScreen::drawCurrentHeight()
|
||||
getDisplayHeight(¤tHeightText[0], State.CurrentHeight);
|
||||
|
||||
if (this->lastTextWidth > 0)
|
||||
display->fillRect((Config::DisplayWidth - this->lastTextWidth) / 2, this->currentHeightY, this->lastTextWidth, MOVE_LINE_HEIGHT, Config::ColorMoveBackground);
|
||||
display->fillRect((Config::DisplayWidth - this->lastTextWidth) / 2, this->currentHeightY, this->lastTextWidth, Metrics::LargeTextLineHeight, Config::ColorMoveBackground);
|
||||
|
||||
display->setTextColor(Config::ColorMoveTarget);
|
||||
this->lastTextWidth = this->printCentered(¤tHeightText[0], this->currentHeightY + MOVE_FONT_BASELINE);
|
||||
this->lastTextWidth = this->printCentered(¤tHeightText[0], this->currentHeightY + Metrics::LargeFontBaseline);
|
||||
}
|
25
src/main.cpp
25
src/main.cpp
@ -11,7 +11,7 @@
|
||||
#include "./lib/vl53l0x.h"
|
||||
#include "./lib/state.h"
|
||||
#include "./lib/motor.h"
|
||||
#include "./lib/motorstate.h"
|
||||
#include "./lib/control.h"
|
||||
#include "./lib/screen/home.h"
|
||||
#include "./lib/screen/calibrate.h"
|
||||
#include "./lib/screen/move-overcurrent.h"
|
||||
@ -85,13 +85,18 @@ void setup()
|
||||
|
||||
State.CurrentTime = millis();
|
||||
|
||||
// TODO: check if close to either preset, then use the preset height
|
||||
State.CurrentHeight = currentHeight;
|
||||
|
||||
if (initialized)
|
||||
{
|
||||
State.CurrentHeight = currentHeight;
|
||||
controlSnapToPreset();
|
||||
|
||||
screenManager.show<HomeScreen>();
|
||||
}
|
||||
else
|
||||
{
|
||||
screenManager.show<CalibrateScreen>();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -146,8 +151,7 @@ inline uint16_t testHeightSensor()
|
||||
uint8_t closeCount = 0;
|
||||
uint16_t measurement;
|
||||
|
||||
// TODO: while (closeCount < 3)
|
||||
while (closeCount < 1)
|
||||
while (true)
|
||||
{
|
||||
if (heightSensorGetRange(&measurement))
|
||||
{
|
||||
@ -169,7 +173,10 @@ inline uint16_t testHeightSensor()
|
||||
closeCount = 0;
|
||||
}
|
||||
|
||||
delay(500);
|
||||
if (closeCount < Config::HeightMeasurementDeltaStableCount)
|
||||
delay(500);
|
||||
else
|
||||
break;
|
||||
}
|
||||
|
||||
initSequenceSuccess(InitSequenceStep::HeightSensorTest);
|
||||
@ -194,7 +201,7 @@ void loop()
|
||||
|
||||
if (State.MoveDirection != Direction::None)
|
||||
{
|
||||
if (motorStateCheckOverCurrent())
|
||||
if (controlCheckOverCurrent())
|
||||
screenManager.show<MoveOverCurrentScreen>();
|
||||
else
|
||||
updateHeight();
|
||||
@ -230,13 +237,13 @@ void updateHeight()
|
||||
State.CurrentHeight = measurement;
|
||||
lastValidMeasurement = State.CurrentTime;
|
||||
|
||||
if (motorStateCheckTargetReached())
|
||||
if (controlCheckTargetReached())
|
||||
screenManager.show<HomeScreen>();
|
||||
}
|
||||
else if (State.CurrentTime - lastValidMeasurement >= Config::HeightMeasurementAbortTimeout)
|
||||
{
|
||||
dln("Out of range timeout!");
|
||||
motorStateStop();
|
||||
controlStop();
|
||||
|
||||
screenManager.show<MoveSensorErrorScreen>();
|
||||
}
|
||||
|
Loading…
Reference in New Issue
Block a user