⚗️ (spike): Autocharge - HappyToupie

An original suggestion from @HPezz

Co-Authored-By: Hugo Pezziardi <[email protected]>

spikes/lk_auto_charge/CMakeLists.txt

@@ -13,6 +13,7 @@ target_sources(spike_lk_auto_charge
 	PRIVATE
 	main.cpp
 	SealStrategy.cpp
+	HappyToupie.cpp
 )
 
 target_link_libraries(spike_lk_auto_charge

spikes/lk_auto_charge/HappyToupie.cpp

@@ -0,0 +1,82 @@
+// Leka - LekaOS
+// Copyright 2023 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#include "HappyToupie.h"
+
+#include "rtos/ThisThread.h"
+
+#include "MathUtils.h"
+
+using namespace leka;
+using namespace std::chrono;
+
+auto HappyToupie::convertToPwmFrom(float angle) const -> float
+{
+	auto res = utils::math::map(angle, kMinAngleInput, kMaxAngleInput, kMinPwmOutput, kMaxPwmOutput);
+	return res;
+}
+
+void HappyToupie::start()
+{
+	auto on_timeout = [this] { stop(); };
+	_timeout.onTimeout(on_timeout);
+	_timeout.start(20s);
+
+	should_stop = false;
+
+	_event_loop.registerCallback([this] { run(); });
+	_event_loop.start();
+}
+
+void HappyToupie::stop()
+{
+	should_stop = true;
+	_event_loop.stop();
+	rtos::ThisThread::sleep_for(100ms);
+	stopMotors();
+	_timeout.stop();
+}
+
+void HappyToupie::run()
+{
+	if (should_stop || _battery.isCharging()) {
+		stop();
+		return;
+	}
+
+	spinLeft(1.F, 1.F);
+
+	rtos::ThisThread::sleep_for(10ms);
+	_event_loop.start();
+}
+
+void HappyToupie::stopMotors()
+{
+	_motor_right.stop();
+	_motor_left.stop();
+}
+
+void HappyToupie::spinLeft(float left_speed, float right_speed)
+{
+	_motor_left.spin(Rotation::clockwise, left_speed);
+	_motor_right.spin(Rotation::clockwise, right_speed);
+}
+
+void HappyToupie::spinRight(float left_speed, float right_speed)
+{
+	_motor_left.spin(Rotation::counterClockwise, left_speed);
+	_motor_right.spin(Rotation::counterClockwise, right_speed);
+}
+
+void HappyToupie::moveForward(float speed)
+{
+	_motor_left.spin(Rotation::counterClockwise, speed);
+	_motor_right.spin(Rotation::clockwise, speed);
+}
+
+void HappyToupie::moveBackward(float speed)
+{
+	_motor_left.spin(Rotation::clockwise, speed);
+	_motor_right.spin(Rotation::counterClockwise, speed);
+}

spikes/lk_auto_charge/HappyToupie.h

@@ -0,0 +1,61 @@
+// Leka - LekaOS
+// Copyright 2023 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include "interface/drivers/Battery.h"
+#include "interface/drivers/Motor.h"
+#include "interface/drivers/Timeout.h"
+#include "interface/libs/EventLoop.h"
+
+namespace leka {
+
+class HappyToupie
+{
+  public:
+	HappyToupie(interface::EventLoop &event_loop, interface::Timeout &timeout, interface::Battery &battery,
+				interface::Motor &motor_left, interface::Motor &motor_right)
+		: _event_loop(event_loop),
+		  _timeout(timeout),
+		  _battery(battery),
+		  _motor_left(motor_left),
+		  _motor_right(motor_right)
+	{
+	}
+
+	~HappyToupie() = default;
+
+	void start();
+	void stop();
+
+  private:
+	[[nodiscard]] auto convertToPwmFrom(float angle) const -> float;
+
+	void run();
+
+	void stopMotors();
+	void spinRight(float left_speed, float right_speed);
+	void spinLeft(float left_speed, float right_speed);
+	void moveForward(float speed);
+	void moveBackward(float speed);
+
+	interface::EventLoop &_event_loop;
+	interface::Timeout &_timeout;
+
+	interface::Battery &_battery;
+	interface::Motor &_motor_left;
+	interface::Motor &_motor_right;
+
+	const float kMinAngleInput = 0.F;
+	const float kMaxAngleInput = 30.F;
+	const float kMinPwmOutput  = 0.15F;	  // Min to move robot
+	const float kMaxPwmOutput  = 0.70F;
+
+	const float kRollTolerance	= 3.F;	 // in degrees
+	const float kPitchTolerance = 3.F;	 // in degrees
+
+	bool should_stop = true;
+};
+
+}	// namespace leka

spikes/lk_auto_charge/main.cpp

@@ -17,6 +17,7 @@
 #include "CorePwm.h"
 #include "CoreTimeout.h"
 #include "EventLoopKit.h"
+#include "HappyToupie.h"
 #include "HelloWorld.h"
 #include "IMUKit.hpp"
 #include "LogKit.h"
@@ -100,6 +101,7 @@ auto blekit			  = BLEKit {};
 
 auto seal_strategy =
 	SealStrategy {event_loop, timeout, battery::cells, motors::left::motor, motors::right::motor, imukit};
+auto happy_toupie = HappyToupie {event_loop, timeout, battery::cells, motors::left::motor, motors::right::motor};
 
 auto last_strategy = 0x00;
 
@@ -108,8 +110,12 @@ void runStrategy(uint8_t id)
 	if (id == 0x01) {
 		seal_strategy.start();
 		last_strategy = id;
+	} else if (id == 0x02) {
+		happy_toupie.start();
+		last_strategy = id;
 	} else {
 		seal_strategy.stop();
+		happy_toupie.stop();
 	}
 }