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proj: switching to Linux

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This commit is contained in:
Gustice
2025-07-06 11:00:29 +02:00
parent 9ebbedb04a
commit 8f0dbd4cbd
23 changed files with 255 additions and 170 deletions
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test/integration/main/movementTests.cpp
+24 -6
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@@ -11,11 +11,11 @@
#include "Processor.hpp"
#include "PwmExpanderPca9685.hpp"
#include "StepperDrv8833.hpp"
#include "Task.hpp"
#include "esp_event.h"
#include "esp_log.h"
#include "sdkconfig.h"
#include "stepperDrv.hpp"
#include "stepperMotor.hpp"
#include "watchFace.hpp"
#include <array>
@@ -181,6 +181,10 @@ constexpr bool DoFullTurns = false;
constexpr bool DoTurnSteps = false;
constexpr bool DoTurnProfiles = true;
void AllmostDone(uint8_t newIdx) {
ESP_LOGW(TAG, "Done callback");
}
void testMovementTask() {
esp_log_level_set(TAG, ESP_LOG_DEBUG);
esp_log_level_set("STP", ESP_LOG_DEBUG);
@@ -207,7 +211,7 @@ void testMovementTask() {
OutputPort motorSleep(GPIO_NUM_15, GpioPort::Logic::Inverted);
StepperMotor stepper(stepperCfg, stepperDriver, initSens);
WatchMotor watch(stepper, motorSleep);
WatchMotor watch(stepper, motorSleep, AllmostDone);
///
/// Full Turns with full steps
@@ -273,14 +277,14 @@ void testMovementTask() {
ESP_LOGI(TAG, "Move to each index multiple times");
illum.flashAll(BLUE);
for (size_t i = 1; i <= 2 * 3; i++) {
watch.moveTo(3 * i);
watch.moveTo(3 * i, 0, 0, 1, 1);
ESP_LOGD(TAG, "Position is %3d / %.2f", stepper.getQuanted(), stepper.getScaledPos() * 6);
}
ESP_LOGI(TAG, "Move to each index multiple times");
illum.flashAll(BLUE);
for (size_t i = 1; i <= 6 * 3; i++) {
watch.moveTo(i);
watch.moveTo(i, 0, 0, 1, 1);
ESP_LOGD(TAG, "Position is %3d / %.2f", stepper.getQuanted(), stepper.getScaledPos() * 6);
}
}
@@ -290,14 +294,28 @@ void testMovementTask() {
///
if constexpr (DoTurnProfiles) {
for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) {
// for (size_t i = ProfileGenerator::JumpIn; i < ProfileGenerator::NumProfiles; i++) { // If only part is needed
// for (size_t i = ProfileGenerator::JumpIn; i < ProfileGenerator::NumProfiles; i++) { // If only part is needed
ESP_LOGI(TAG, "Running Profile %d ", i);
ESP_LOGD(TAG, "Fist Position is %3d / %.2f / Micro %d", stepper.getQuanted(), stepper.getScaledPos() * 6, stepper.getSubPos());
fos::Task::delayMs(1000);
illum.flashAll(BLUE);
int steps[3]{4, 2, 0};
for (size_t j = 0; j < 3; j++) {
watch.moveTo(steps[j], i);
watch.moveTo(steps[j], i, 0, 1, 1);
ESP_LOGI(TAG, "Last position is %3d / %.2f", stepper.getQuanted(), stepper.getScaledPos() * 6);
fos::Task::delayMs(1000);
}
}
for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) {
// for (size_t i = ProfileGenerator::JumpIn; i < ProfileGenerator::NumProfiles; i++) { // If only part is needed
ESP_LOGI(TAG, "Running Profile %d ", i);
ESP_LOGD(TAG, "Fist Position is %3d / %.2f / Micro %d", stepper.getQuanted(), stepper.getScaledPos() * 6, stepper.getSubPos());
fos::Task::delayMs(1000);
illum.flashAll(BLUE);
int steps[3]{4, 2, 0};
for (size_t j = 0; j < 3; j++) {
watch.moveTo(steps[j], i, 0, 3, 3);
ESP_LOGI(TAG, "Last position is %3d / %.2f", stepper.getQuanted(), stepper.getScaledPos() * 6);
fos::Task::delayMs(1000);
}