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Remove pingpong mode completely

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- Remove pingpong method declarations and member variables from motor.h
- Remove pingpong implementation (startPingpong, stopPingpong, updatePingpong, etc.) from motor.cpp
- Remove pingpong UI section, handlers, and routes from webserver.cpp
- Remove stopPingpong call from stall callback in main.cpp
This commit is contained in:
devdesk
2026-02-05 22:01:50 +02:00
parent ca37f1939e
commit c8d990b1cd
4 changed files with 1 additions and 293 deletions
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22
include/motor.h
View File

@@ -26,15 +26,6 @@ public:
void setStallCallback(StallCallback callback);
void resetStallDetection();
// Pingpong mode (time-based only)
void startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent);
void stopPingpong();
bool isPingpongActive();
int getPingpongSpeed();
int getPingpongTime();
int getPingpongSpeedRandom();
int getPingpongTimeRandom();
private:
int _speed = 0;
int _direction = 0;
@@ -45,17 +36,6 @@ private:
int _adcOffsetRight = 0;
int _adcOffsetLeft = 0;
// Pingpong state
bool _pingpongActive = false;
int _pingpongBaseSpeed = 50;
int _pingpongBaseTime = 2000;
int _pingpongSpeedRandomPercent = 0;
int _pingpongTimeRandomPercent = 0;
int _pingpongCurrentSpeed = 50;
int _pingpongCurrentTime = 2000;
unsigned long _pingpongLastSwitch = 0;
int _pingpongDirection = 1;
// Stall detection state
bool _stalled = false;
int _stallConfirmCount = 0;
@@ -65,8 +45,6 @@ private:
void applyMotorState();
float readCurrentSense(int pin);
void calibrateCurrentOffset();
void updatePingpong();
int applyRandomness(int baseValue, int randomPercent);
void checkStall();
};

1
src/main.cpp
View File

@@ -8,7 +8,6 @@
void onMotorStall() {
Serial.println("Stall callback triggered - stopping motor!");
motor.stop();
motor.stopPingpong();
}
void setupWiFi() {

88
src/motor.cpp
View File

@@ -86,9 +86,6 @@ void MotorController::update() {
// Check for stall condition
checkStall();
#endif
// Update pingpong mode
updatePingpong();
}
int MotorController::getSpeed() {
@@ -245,88 +242,3 @@ void MotorController::calibrateCurrentOffset() {
_adcOffsetRight, _adcOffsetLeft);
#endif
}
// Pingpong mode implementation (time-based only)
void MotorController::startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent) {
_pingpongBaseSpeed = constrain(speed, 0, 100);
_pingpongBaseTime = constrain(timeMs, 100, 30000);
_pingpongSpeedRandomPercent = constrain(speedRandomPercent, 0, 100);
_pingpongTimeRandomPercent = constrain(timeRandomPercent, 0, 100);
_pingpongDirection = 1;
_pingpongCurrentSpeed = applyRandomness(_pingpongBaseSpeed, _pingpongSpeedRandomPercent);
_pingpongCurrentTime = applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
_pingpongLastSwitch = millis();
_pingpongActive = true;
// Apply initial state
_speed = _pingpongCurrentSpeed;
_direction = _pingpongDirection;
applyMotorState();
Serial.printf("Pingpong started: speed=%d%% (base=%d, rand=%d%%), time=%dms (base=%d, rand=%d%%)\n",
_pingpongCurrentSpeed, _pingpongBaseSpeed, _pingpongSpeedRandomPercent,
_pingpongCurrentTime, _pingpongBaseTime, _pingpongTimeRandomPercent);
}
void MotorController::stopPingpong() {
_pingpongActive = false;
stop();
Serial.println("Pingpong stopped");
}
bool MotorController::isPingpongActive() {
return _pingpongActive;
}
int MotorController::getPingpongSpeed() {
return _pingpongBaseSpeed;
}
int MotorController::getPingpongTime() {
return _pingpongBaseTime;
}
int MotorController::getPingpongSpeedRandom() {
return _pingpongSpeedRandomPercent;
}
int MotorController::getPingpongTimeRandom() {
return _pingpongTimeRandomPercent;
}
void MotorController::updatePingpong() {
if (!_pingpongActive) return;
unsigned long now = millis();
// Time-based switching
if ((now - _pingpongLastSwitch) >= (unsigned long)_pingpongCurrentTime) {
// Switch direction
_pingpongDirection = -_pingpongDirection;
// Apply randomness for next cycle
_pingpongCurrentSpeed = applyRandomness(_pingpongBaseSpeed, _pingpongSpeedRandomPercent);
_pingpongCurrentTime = applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
_pingpongLastSwitch = now;
// Apply new state
_speed = _pingpongCurrentSpeed;
_direction = _pingpongDirection;
applyMotorState();
Serial.printf("Pingpong switch: dir=%d, speed=%d%%, next_time=%dms\n",
_pingpongDirection, _pingpongCurrentSpeed, _pingpongCurrentTime);
}
}
int MotorController::applyRandomness(int baseValue, int randomPercent) {
if (randomPercent == 0) return baseValue;
int maxVariation = (baseValue * randomPercent) / 100;
int variation = random(-maxVariation, maxVariation + 1);
int result = baseValue + variation;
// Ensure result stays positive and reasonable
return max(1, result);
}

183
src/webserver.cpp
View File

@@ -122,60 +122,6 @@ const char index_html[] PROGMEM = R"rawliteral(
.stall-warning.active {
display: block;
}
.pingpong-section {
background: #16213e;
padding: 20px;
border-radius: 10px;
margin-bottom: 20px;
}
.pingpong-status {
padding: 10px;
border-radius: 5px;
margin-bottom: 15px;
font-weight: bold;
}
.pingpong-status.active {
background: #00c853;
color: white;
}
.pingpong-status.inactive {
background: #444;
color: #aaa;
}
.setting-row {
display: flex;
justify-content: space-between;
align-items: center;
margin-bottom: 10px;
}
.setting-row label {
text-align: left;
flex: 1;
}
.setting-row .value {
color: #00d9ff;
font-weight: bold;
min-width: 60px;
}
.setting-slider {
width: 100%;
height: 20px;
-webkit-appearance: none;
background: #0f3460;
border-radius: 10px;
outline: none;
margin-top: 5px;
}
.setting-slider::-webkit-slider-thumb {
-webkit-appearance: none;
width: 25px;
height: 25px;
background: #00d9ff;
border-radius: 50%;
cursor: pointer;
}
.btn-pingpong-start { background: #9c27b0; color: white; }
.btn-pingpong-stop { background: #607d8b; color: white; }
</style>
</head>
<body>
@@ -210,43 +156,6 @@ const char index_html[] PROGMEM = R"rawliteral(
<button class="btn btn-reverse" onclick="setDir(-1)">REVERSE</button>
<button class="btn btn-stop" onclick="stopMotor()">STOP</button>
</div>
<div class="section-divider"></div>
<h2>🏓 Pingpong Mode</h2>
<div class="pingpong-section">
<div class="pingpong-status inactive" id="pingpongStatus">INACTIVE</div>
<div class="setting-row">
<label>Speed</label>
<span class="value"><span id="ppSpeedVal">50</span>%</span>
</div>
<input type="range" class="setting-slider" id="ppSpeed" min="20" max="100" value="50">
<div class="setting-row" style="margin-top:15px;">
<label>Time before return</label>
<span class="value"><span id="ppTimeVal">2.0</span>s</span>
</div>
<input type="range" class="setting-slider" id="ppTime" min="500" max="10000" value="2000" step="100">
<div class="setting-row" style="margin-top:15px;">
<label>Speed randomness</label>
<span class="value"><span id="ppSpeedRandVal">0</span>%</span>
</div>
<input type="range" class="setting-slider" id="ppSpeedRand" min="0" max="50" value="0">
<div class="setting-row" style="margin-top:15px;">
<label>Time randomness</label>
<span class="value"><span id="ppTimeRandVal">0</span>%</span>
</div>
<input type="range" class="setting-slider" id="ppTimeRand" min="0" max="50" value="0">
</div>
<div class="buttons">
<button class="btn btn-pingpong-start" onclick="startPingpong()">START PINGPONG</button>
<button class="btn btn-pingpong-stop" onclick="stopPingpong()">STOP PINGPONG</button>
</div>
</div>
<script>
@@ -255,17 +164,6 @@ const char index_html[] PROGMEM = R"rawliteral(
const dirStatus = document.getElementById('dirStatus');
let currentDir = 0;
// Pingpong controls
const ppSpeed = document.getElementById('ppSpeed');
const ppTime = document.getElementById('ppTime');
const ppSpeedRand = document.getElementById('ppSpeedRand');
const ppTimeRand = document.getElementById('ppTimeRand');
const ppSpeedVal = document.getElementById('ppSpeedVal');
const ppTimeVal = document.getElementById('ppTimeVal');
const ppSpeedRandVal = document.getElementById('ppSpeedRandVal');
const ppTimeRandVal = document.getElementById('ppTimeRandVal');
const ppStatus = document.getElementById('pingpongStatus');
slider.oninput = function() {
speedVal.textContent = this.value;
};
@@ -276,12 +174,6 @@ const char index_html[] PROGMEM = R"rawliteral(
.then(console.log);
};
// Pingpong slider handlers
ppSpeed.oninput = function() { ppSpeedVal.textContent = this.value; };
ppTime.oninput = function() { ppTimeVal.textContent = (this.value / 1000).toFixed(1); };
ppSpeedRand.oninput = function() { ppSpeedRandVal.textContent = this.value; };
ppTimeRand.oninput = function() { ppTimeRandVal.textContent = this.value; };
function setDir(dir) {
currentDir = dir;
fetch('/direction?value=' + dir)
@@ -297,24 +189,6 @@ const char index_html[] PROGMEM = R"rawliteral(
.then(() => updateStatus());
}
function startPingpong() {
const params = new URLSearchParams({
speed: ppSpeed.value,
time: ppTime.value,
speedRand: ppSpeedRand.value,
timeRand: ppTimeRand.value
});
fetch('/pingpong/start?' + params)
.then(r => r.text())
.then(console.log);
}
function stopPingpong() {
fetch('/pingpong/stop')
.then(r => r.text())
.then(console.log);
}
function updateStatus() {
if (currentDir > 0) dirStatus.textContent = 'FORWARD';
else if (currentDir < 0) dirStatus.textContent = 'REVERSE';
@@ -345,26 +219,6 @@ const char index_html[] PROGMEM = R"rawliteral(
} else {
stallWarning.classList.remove('active');
}
// Update pingpong status
if (data.pingpong) {
ppStatus.textContent = 'ACTIVE';
ppStatus.classList.remove('inactive');
ppStatus.classList.add('active');
// Update sliders to match current settings
ppSpeed.value = data.ppSpeed;
ppSpeedVal.textContent = data.ppSpeed;
ppTime.value = data.ppTime;
ppTimeVal.textContent = (data.ppTime / 1000).toFixed(1);
ppSpeedRand.value = data.ppSpeedRand;
ppSpeedRandVal.textContent = data.ppSpeedRand;
ppTimeRand.value = data.ppTimeRand;
ppTimeRandVal.textContent = data.ppTimeRand;
} else {
ppStatus.textContent = 'INACTIVE';
ppStatus.classList.remove('active');
ppStatus.classList.add('inactive');
}
});
}
@@ -410,51 +264,16 @@ void handleStatus() {
",\"direction\":" + String(motor.getDirection()) +
",\"currentR\":" + String(motor.getCurrentRight(), 2) +
",\"currentL\":" + String(motor.getCurrentLeft(), 2) +
",\"stalled\":" + (motor.isStalled() ? "true" : "false") +
",\"pingpong\":" + (motor.isPingpongActive() ? "true" : "false") +
",\"ppSpeed\":" + String(motor.getPingpongSpeed()) +
",\"ppTime\":" + String(motor.getPingpongTime()) +
",\"ppSpeedRand\":" + String(motor.getPingpongSpeedRandom()) +
",\"ppTimeRand\":" + String(motor.getPingpongTimeRandom()) + "}";
",\"stalled\":" + (motor.isStalled() ? "true" : "false") + "}";
server.send(200, "application/json", json);
}
void handlePingpongStart() {
int speed = 50;
int time = 2000;
int speedRand = 0;
int timeRand = 0;
if (server.hasArg("speed")) {
speed = server.arg("speed").toInt();
}
if (server.hasArg("time")) {
time = server.arg("time").toInt();
}
if (server.hasArg("speedRand")) {
speedRand = server.arg("speedRand").toInt();
}
if (server.hasArg("timeRand")) {
timeRand = server.arg("timeRand").toInt();
}
motor.startPingpong(speed, time, speedRand, timeRand);
server.send(200, "text/plain", "OK");
}
void handlePingpongStop() {
motor.stopPingpong();
server.send(200, "text/plain", "OK");
}
void setupWebServer() {
server.on("/", handleRoot);
server.on("/speed", handleSpeed);
server.on("/direction", handleDirection);
server.on("/stop", handleStop);
server.on("/status", handleStatus);
server.on("/pingpong/start", handlePingpongStart);
server.on("/pingpong/stop", handlePingpongStop);
server.begin();
Serial.println("Web server started on port 80");