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Merged
peterso merged 2 commits into from
May 3, 2025
Merged

Wiring update #31

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f84f9c6
update sensor and actuator pin assignments to match as-built
peterso May 3, 2025
b5c052d
clean up comments and add solenoid testing with Core2 BtnC
peterso May 3, 2025
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28 changes: 28 additions & 0 deletions idf/taskboard/main/hal/PbHubController.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -160,6 +160,34 @@ struct PbHubController
read_operation(channel, Operation::WRITE_IO1, reinterpret_cast<uint8_t*>(&data), sizeof(data));
}

/**
* @brief Writes PWM value to IO0 pin
*
* @param channel Channel to write to
* @param value range 0 - 255
*/
void write_PWM_IO0(
const Channel channel,
const uint8_t value)
{
uint8_t data = value;
read_operation(channel, Operation::PWM_IO0, reinterpret_cast<uint8_t*>(&data), sizeof(data));
}

/**
* @brief Writes PWM value to IO1 pin
*
* @param channel Channel to write to
* @param value range 0 - 255
*/
void write_PWM_IO1(
const Channel channel,
const uint8_t value)
{
uint8_t data = value;
read_operation(channel, Operation::PWM_IO1, reinterpret_cast<uint8_t*>(&data), sizeof(data));
}

protected:

/**
Expand Down
53 changes: 28 additions & 25 deletions idf/taskboard/main/hal/board/TaskBoardDriver_TBv2025.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,35 +117,35 @@ struct TaskBoardDriver_v1 :
Sensor* blue_button_left = new Sensor("BLUE_BUTTON_LEFT", [&]()
{
bool value =
hardware_low_level_controller_.pb_hub_controller_1.read_digital_IO0(PbHubController::Channel::
CHANNEL_4);
hardware_low_level_controller_.pb_hub_controller_2.read_digital_IO1(PbHubController::Channel::
CHANNEL_0);

return SensorMeasurement(!value); // Button is inverted
});

Sensor* red_button_left = new Sensor("RED_BUTTON_LEFT", [&]()
{
bool value =
hardware_low_level_controller_.pb_hub_controller_1.read_digital_IO1(PbHubController::Channel::
CHANNEL_4);
hardware_low_level_controller_.pb_hub_controller_2.read_digital_IO1(PbHubController::Channel::
CHANNEL_0);

return SensorMeasurement(!value); // Button is inverted
});

Sensor* blue_button_right = new Sensor("BLUE_BUTTON_RIGHT", [&]()
{
bool value =
hardware_low_level_controller_.pb_hub_controller_1.read_digital_IO0(PbHubController::Channel::
CHANNEL_5);
hardware_low_level_controller_.pb_hub_controller_2.read_digital_IO1(PbHubController::Channel::
CHANNEL_1);

return SensorMeasurement(!value); // Button is inverted
});

Sensor* red_button_right = new Sensor("RED_BUTTON_RIGHT", [&]()
{
bool value =
hardware_low_level_controller_.pb_hub_controller_1.read_digital_IO1(PbHubController::Channel::
CHANNEL_5);
hardware_low_level_controller_.pb_hub_controller_2.read_digital_IO1(PbHubController::Channel::
CHANNEL_1);

return SensorMeasurement(!value); // Button is inverted
});
Expand Down Expand Up @@ -258,31 +258,32 @@ struct TaskBoardDriver_v1 :
// Initialize actuators
Actuator* goal_1_led = new Actuator("GOAL_1_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_0, state == Actuator::State::ON);
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO0(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
});
Actuator* goal_2_led = new Actuator("GOAL_2_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_1, state == Actuator::State::ON);
ESP_LOGI("app_main", "setting value goal_2_led");
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO1(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
});
Actuator* goal_3_led = new Actuator("GOAL_3_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_2, state == Actuator::State::ON);
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO0(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
});
Actuator* goal_4_led = new Actuator("GOAL_4_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_3, state == Actuator::State::ON);
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO1(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
});

Actuator* ball_drop_solenoid = new Actuator("BALL_DROP_SOLENOID", [&](Actuator::State state)
{
gpio_set_level(GPIO_NUM_27, state == Actuator::State::ON);
});
Actuator* all_goal_leds = new Actuator("ALL_GOAL_LEDS", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_0, state == Actuator::State::ON);
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_1, state == Actuator::State::ON);
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_2, state == Actuator::State::ON);
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_3, state == Actuator::State::ON);
ESP_LOGI("app_main", "setting values to all goal_leds");
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO0(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO1(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO0(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO1(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
});

actuators_.push_back(goal_1_led);
Expand Down Expand Up @@ -339,37 +340,39 @@ struct TaskBoardDriver_v1 :
new TaskStepActuator(*all_goal_leds, Actuator::State::OFF),
new TaskStepActuator(*ball_drop_solenoid, Actuator::State::OFF),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_1"), SensorMeasurement(true)),
new TaskStepEqual(*get_sensor_by_name("BLUE_BUTTON_RIGHT"), SensorMeasurement(true)),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_4"), SensorMeasurement(true)),
new TaskStepEqual(*get_sensor_by_name("RED_BUTTON_RIGHT"), SensorMeasurement(true)),
};

default_precondition_task_ = new SimultaneousConditionTask(*precondition_steps, "Precondition Task");

std::vector<const TaskStepBase*>* main_steps = new std::vector<const TaskStepBase*>
{
new TaskStepActuator(*all_goal_leds, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("BLUE_BUTTON_LEFT"), SensorMeasurement(true)),
new TaskStepEqual(*get_sensor_by_name("BLUE_BUTTON_LEFT"), SensorMeasurement(false)),
new TaskStepEqual(*get_sensor_by_name("BLUE_BUTTON_RIGHT"), SensorMeasurement(true)),
new TaskStepActuator(*all_goal_leds, Actuator::State::OFF),
new TaskStepTraceShapeFromPool(*get_sensor_by_name("TOUCH_SCREEN"), shape_pool),
new TaskStepTraceShapeFromPool(*get_sensor_by_name("TOUCH_SCREEN"), shape_pool),
new TaskStepTraceShapeFromPool(*get_sensor_by_name("TOUCH_SCREEN"), shape_pool),
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool),
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool),
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool),
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool),
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool),
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool), // PS: task needs to be fixed touches aren't registered
new TaskStepActuator(*goal_2_led, Actuator::State::ON),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_2"), SensorMeasurement(true)),
new TaskStepActuator(*goal_2_led, Actuator::State::OFF),
new TaskStepActuator(*ball_drop_solenoid, Actuator::State::ON),
new TaskStepEqualDuringRandom(*get_sensor_by_name("BLUE_BUTTON_LEFT"), SensorMeasurement(true), 0.0, 3000L, 8000L),
new TaskStepActuator(*ball_drop_solenoid, Actuator::State::OFF),
new TaskStepActuator(*all_goal_leds, Actuator::State::ON),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_1"), SensorMeasurement(true)),
new TaskStepActuator(*goal_1_led, Actuator::State::OFF),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_2"), SensorMeasurement(true)),
new TaskStepActuator(*goal_2_led, Actuator::State::OFF),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_3"), SensorMeasurement(true)),
new TaskStepActuator(*goal_3_led, Actuator::State::OFF),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_4"), SensorMeasurement(true)),
new TaskStepActuator(*goal_4_led, Actuator::State::OFF),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_2"), SensorMeasurement(true)),
new TaskStepActuator(*goal_2_led, Actuator::State::OFF),

};

default_task_ = new SequentialTask(*main_steps, "Default Task");
Expand Down
50 changes: 50 additions & 0 deletions idf/taskboard/main/main_core0.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,30 @@ void websockets_task(
extern "C" void app_main(
void)
{
// Cycle the solenoid at start up
esp_err_t ret_output;
ret_output = gpio_reset_pin(GPIO_NUM_19);
if (ret_output != ESP_OK) {
ESP_LOGE("GPIO", "Failed to reset pin 19");
return;
}
ret_output = gpio_set_direction(GPIO_NUM_19, GPIO_MODE_OUTPUT);
if (ret_output != ESP_OK) {
ESP_LOGE("GPIO", "Failed to set pin 19 direction");
return;
}
ret_output = gpio_set_level(GPIO_NUM_19, 1);
if (ret_output != ESP_OK) {
ESP_LOGE("GPIO", "Failed to set pin 19 level");
return;
}
vTaskDelay(pdMS_TO_TICKS(1000));
ret_output = gpio_set_level(GPIO_NUM_19, 0);
if (ret_output != ESP_OK) {
ESP_LOGE("GPIO", "Failed to set pin 19 level");
return;
}

// ------------------------
// System Initialization
// ------------------------
Expand Down Expand Up @@ -101,6 +125,10 @@ extern "C" void app_main(
screen_controller.clear();
screen_controller.print("-> TaskExecutor started");

screen_controller.turn_on_gate_LED_clue();
vTaskDelay(pdMS_TO_TICKS(1000));
screen_controller.turn_off_gate_LED_clue();

// Initialize micro-ROS for ROS communication
MicroROSController micro_ros_controller;

Expand All @@ -117,6 +145,7 @@ extern "C" void app_main(
// Get references to buttons
const SensorReader& BUTTON_A = *task_board_driver.get_sensor_by_name("ON_BOARD_BUTTON_A");
const SensorReader& BUTTON_B = *task_board_driver.get_sensor_by_name("ON_BOARD_BUTTON_B");
const SensorReader& BUTTON_C = *task_board_driver.get_sensor_by_name("ON_BOARD_BUTTON_C");
const SensorReader& BUTTON_PWR = *task_board_driver.get_sensor_by_name("ON_BOARD_BUTTON_PWR");
const SensorReader& RED_BUTTON = nullptr != task_board_driver.get_sensor_by_name("RED_BUTTON") ?
*task_board_driver.get_sensor_by_name("RED_BUTTON") :
Expand Down Expand Up @@ -343,6 +372,7 @@ extern "C" void app_main(
{
ESP_LOGI("app_main", "Button A pressed, cancelling current task");
task_executor.cancel_task();
gpio_set_level(GPIO_NUM_19, 0); // force off the solenoid

// Update screen with cancellation message
screen_controller.clear();
Expand All @@ -368,6 +398,26 @@ extern "C" void app_main(
task_board_driver.update();
}
}
// Handle Button C press - Toggle solenoid
else if (BUTTON_C.read() == true)
{
ESP_LOGI("app_main", "Button C pressed, toggle solenoid");
if (!gpio_get_level(GPIO_NUM_19))
{
gpio_set_level(GPIO_NUM_19, 1);
// TAKE CARE THAT THE SOLENOID IS NOT LEFT ON LONGER THAN 5 SECONDS OR IT GETS VERY HOT
// TODO: ADD TIMER TO TURN SOLENOID OFF AFTER TURNING IT ON.
} else {
gpio_set_level(GPIO_NUM_19, 0);
}

// Button debounce delay
while (BUTTON_C.read() == true)
{
vTaskDelay(pdMS_TO_TICKS(10));
task_board_driver.update();
}
}

// If notifed by Micro-ROS task, cancel current task
uint32_t value;
Expand Down
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