82 lines
1.7 KiB
C++
82 lines
1.7 KiB
C++
#ifndef __control
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#define __control
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#include <stdint.h>
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#include "./vl53l0x.h"
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#include "./settings.h"
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enum class ControlUpdateResult
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{
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Idle,
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Stabilizing,
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Moving,
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TargetReached,
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SensorError,
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Overcurrent
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};
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enum class MoveDirection
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{
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None,
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Up,
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Down
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};
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class ControlManager
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{
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public:
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VL53L0XInitResult init();
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ControlUpdateResult update();
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void stabilizeStart();
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bool stabilized();
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void moveStart(uint16_t height);
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void moveStop();
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void snapToPreset();
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// Formats a height value as "0.00m" (always exactly 5 characters long).
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// Buffer must be at least 6 bytes long, a null character is added.
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// The value is the raw height sensor value, the offset is added by this function.
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void getDisplayHeight(char* buffer, uint16_t value);
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uint16_t getCurrentHeight() { return this->currentMeasurement + Settings.Height.Offset; }
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uint16_t getCurrentMeasurement() { return this->currentMeasurement; }
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uint16_t getLastMeasurement() { return this->lastMeasurement; }
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MoveDirection getMoveDirection() { return this->moveDirection; }
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uint16_t getMoveTargetHeight() { return this->moveTargetHeight; }
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bool getIsStabilizing() { return this->stabilizationStart != 0; }
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private:
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bool targetReached();
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VL53L0X heightSensor = VL53L0X();
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uint16_t currentMeasurement;
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uint16_t lastMeasurement = 0;
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uint32_t lastValidMeasurement = 0;
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uint32_t lastCurrentCheck = 0;
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MoveDirection moveDirection;
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uint16_t moveTargetHeight;
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uint32_t stabilizationStart = 0;
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uint8_t stabilizeCount = 0;
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uint16_t stabilizeTargetMeasurement = 0;
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uint32_t stabilizationLastCheck = 0;
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};
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extern ControlManager Control;
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#endif |