add menu for display
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3c01e9f9b3
commit
932f4ed95a
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@ -27,3 +27,4 @@ lib_deps =
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adafruit/Adafruit BusIO@^1.11.3
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https://github.com/adafruit/Adafruit-GFX-Library
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arduino-libraries/SD@^1.2.4
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mathertel/OneButton@^2.0.3
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@ -1,6 +1,8 @@
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#include <Arduino.h>
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#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
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#include <OneButton.h>
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#include <SPI.h>
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#include <Wire.h>
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#include <Adafruit_GFX.h>
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@ -12,6 +14,15 @@
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#define OLED_RESET -1 // Reset pin # (or -1 if sharing Arduino reset pin)
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Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
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#define DISPLAYUPDATE_INTERVAL 200
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bool flag_updatedisplay=false;
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uint8_t displaymode=0;
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#define DISPLAY_STATS 0
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#define DISPLAY_STATS2 1
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#define DISPLAY_STATS3 2
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#define DISPLAY_MENU 3
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uint8_t menu_entrypos=0;
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#define MENU_ENTRIES 3 // max id is MENU_ENTRIES-1
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uint8_t error = 0;
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#define IMU_NO_CHANGE 2 //IMU values did not change for too long
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@ -23,6 +34,21 @@ ESCSerialComm esc(Serial2);
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//Serial2 = TX2=10, RX2=9
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//Serial3 = TX3=8, RX3=7
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#define PIN_BUTTON_UP 3
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#define PIN_BUTTON_INC 4
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#define PIN_BUTTON_DEC 5
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#define PIN_BUTTON_DOWN 6
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OneButton btn_up = OneButton(PIN_BUTTON_UP, true, true); // Input pin for the button, Button is active LOW, Enable internal pull-up resistor
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OneButton btn_inc = OneButton(PIN_BUTTON_INC, true, true);
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OneButton btn_dec = OneButton(PIN_BUTTON_DEC, true, true);
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OneButton btn_down = OneButton(PIN_BUTTON_DOWN, true, true);
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//flags
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bool button_up_click=false;
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bool button_inc_click=false;
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bool button_dec_click=false;
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bool button_down_click=false;
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#define PIN_GAMETRAK_LENGTH_A A6 //A6=20
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#define PIN_GAMETRAK_LENGTH_B A7 //A7=21
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@ -30,13 +56,15 @@ ESCSerialComm esc(Serial2);
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#define PIN_GAMETRAK_HORIZONTAL A9 //A9=23
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long last_adcupdated=0;
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#define ADC_UPDATEPERIOD 10 //in ms
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#define CONTROLUPDATEPERIOD 10
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long last_controlupdate = 0;
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#define FILTER_NRF_SET_SPEED 0.1 //higher value, faster response. depends on CONTROLUPDATEPERIOD
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#define FILTER_NRF_SET_STEER 0.1
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float filter_nrf_set_speed=0.1; //higher value, faster response. depends on CONTROLUPDATEPERIOD
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float filter_nrf_set_steer=0.1;
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#define GT_LENGTH_MIN 200 //minimum length for stuff to start happen
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@ -152,8 +180,12 @@ uint8_t controlmode=0;
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#define MODE_GAMETRAK 2
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void updateInputs(unsigned long loopmillis);
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void updateDisplay(unsigned long loopmillis);
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void display_show_stats();
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void display_show_stats2();
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void display_show_stats3();
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void display_show_menu();
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void setup() {
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Serial.begin(SERIAL_BAUD); //Debug and Program
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@ -166,6 +198,20 @@ void setup() {
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pinMode(PIN_GAMETRAK_VERTICAL, INPUT_PULLUP);
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pinMode(PIN_GAMETRAK_HORIZONTAL, INPUT_PULLUP);
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btn_up.attachClick([]() {
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button_up_click=true;
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});
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btn_down.attachClick([]() {
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button_down_click=true;
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});
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btn_inc.attachClick([]() {
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button_inc_click=true;
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});
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btn_dec.attachClick([]() {
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button_dec_click=true;
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});
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Wire.begin();
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// SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
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if(!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
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@ -219,7 +265,10 @@ void setup() {
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void loop() {
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unsigned long loopmillis=millis();
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btn_up.tick();
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btn_inc.tick();
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btn_dec.tick();
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btn_down.tick();
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if (loopmillis - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
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@ -343,8 +392,8 @@ void loop() {
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int16_t new_set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 );
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set_speed = set_speed*(1.0-FILTER_NRF_SET_SPEED) + new_set_speed*FILTER_NRF_SET_SPEED; //simple Filter
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set_steer = set_steer*(1.0-FILTER_NRF_SET_STEER) + new_set_steer*FILTER_NRF_SET_STEER;
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set_speed = set_speed*(1.0-filter_nrf_set_speed) + new_set_speed*filter_nrf_set_speed; //simple Filter
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set_steer = set_steer*(1.0-filter_nrf_set_steer) + new_set_steer*filter_nrf_set_steer;
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//calculate speed l and r from speed and steer
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#define SPEED_COEFFICIENT_NRF 1 // higher value == stronger
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@ -474,61 +523,196 @@ void loop() {
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esc.update(loopmillis);
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updateInputs(loopmillis);
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updateDisplay(loopmillis);
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}
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void updateInputs(unsigned long loopmillis) {
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switch (displaymode) {
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case DISPLAY_STATS: case DISPLAY_STATS2: case DISPLAY_STATS3:
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if (button_up_click) { //first button opens menu
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displaymode=DISPLAY_MENU; // go to menu
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}
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if (button_inc_click) {
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displaymode=DISPLAY_STATS;
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}
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if (button_dec_click) {
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displaymode=DISPLAY_STATS2;
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}
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if (button_down_click) {
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displaymode=DISPLAY_STATS3;
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}
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break;
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case DISPLAY_MENU:
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if (button_up_click) {
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if (menu_entrypos>0) {
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menu_entrypos--;
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}
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}
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if (button_down_click) {
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if (menu_entrypos< (MENU_ENTRIES-1)) {
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menu_entrypos++;
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}
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}
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switch(menu_entrypos) {
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case 0: //Exit
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if (button_inc_click || button_dec_click) {
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displaymode=DISPLAY_STATS;
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}
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break;
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case 1: //Filter NRF Speed
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if (button_inc_click) {
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filter_nrf_set_speed+=0.01;
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filter_nrf_set_speed = constrain(filter_nrf_set_speed, 0.01, 1.0);
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}
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if (button_dec_click) {
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filter_nrf_set_speed-=0.01;
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filter_nrf_set_speed = constrain(filter_nrf_set_speed, 0.01, 1.0);
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}
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break;
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case 2: //Filter NRF Steer
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if (button_inc_click) {
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filter_nrf_set_steer+=0.01;
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filter_nrf_set_steer = constrain(filter_nrf_set_steer, 0.01, 1.0);
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}
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if (button_dec_click) {
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filter_nrf_set_steer-=0.01;
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filter_nrf_set_steer = constrain(filter_nrf_set_steer, 0.01, 1.0);
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}
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break;
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}
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break;
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}
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if (button_up_click || button_down_click || button_inc_click || button_dec_click) { //any button was pressed
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flag_updatedisplay=true;
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button_up_click=false;
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button_down_click=false;
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button_inc_click=false;
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button_dec_click=false;
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}
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}
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void updateDisplay(unsigned long loopmillis)
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{
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static unsigned long last_updatedisplay=0;
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if (loopmillis-last_updatedisplay>DISPLAYUPDATE_INTERVAL) {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(1, 0);
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display.print(F("MODE="));
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if (loopmillis-last_updatedisplay>DISPLAYUPDATE_INTERVAL || flag_updatedisplay) {
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flag_updatedisplay=false;
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switch(controlmode) {
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case MODE_DISARMED:
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display.println(F("DISARMED"));
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break;
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case MODE_RADIONRF:
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display.println(F("RADIONRF"));
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break;
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case MODE_GAMETRAK:
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display.println(F("GAMETRAK"));
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break;
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default:
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display.println(F("UNDEF"));
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break;
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if (displaymode==DISPLAY_STATS) {
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display_show_stats();
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}else if(displaymode==DISPLAY_STATS2) {
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display_show_stats2();
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}else if(displaymode==DISPLAY_STATS3) {
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display_show_stats3();
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}else if(displaymode==DISPLAY_MENU) {
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display_show_menu();
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}
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static float maxcurL=0;
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static float maxcurR=0;
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maxcurL=max(maxcurL,esc.getFiltered_curL());
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maxcurR=max(maxcurR,esc.getFiltered_curR());
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static float mincurL=0;
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static float mincurR=0;
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mincurL=min(mincurL,esc.getFiltered_curL());
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mincurR=min(mincurR,esc.getFiltered_curR());
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static float maxspdL=0;
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display.print(F("Bat=")); display.print(esc.getFeedback_batVoltage()); display.print(F(" Temp=")); display.println(esc.getFeedback_boardTemp());
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display.print(F("nrf_delay=")); display.print(last_nrfreceive_delay); display.print(F(" L=")); display.println(gt_length);
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display.print(F("maxdiff=")); display.println(raw_length_maxdiff);
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display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.print(esc.getCmdR());
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//display.print(F("FBC=")); display.print(esc.getFeedback_cmd1()); display.print(F(", ")); display.print(esc.getFeedback_cmd2());
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display.print(F(" spd=")); display.print(esc.getFeedback_speedL_meas()); display.print(F(", ")); display.println(esc.getFeedback_speedR_meas());
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display.print(F("DC max=")); display.print(maxcurL,1); display.print(F("/")); display.println(maxcurR,1); // display.print(F(" min=")); display.print(mincurL,1); display.print(F("/")); display.println(mincurR,1);
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display.print(F("trip=")); display.print(esc.getTrip(),0); display.print(F(",")); display.print(esc.getCurrentConsumed(),3); display.println(F("Ah"));
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/*
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display.print(F("H=")); display.print(gt_horizontal); display.print(F(" V=")); display.println(gt_vertical);
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display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());*/
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display.display(); // Show initial text
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last_updatedisplay=loopmillis;
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}
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}
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void display_show_stats() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.print(F("MODE="));
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switch(controlmode) {
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case MODE_DISARMED:
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display.println(F("DISARMED"));
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break;
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case MODE_RADIONRF:
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display.println(F("RADIONRF"));
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break;
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case MODE_GAMETRAK:
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display.println(F("GAMETRAK"));
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break;
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default:
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display.println(F("UNDEF"));
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break;
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}
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//updates only when display active
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static float maxcurL=0;
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static float maxcurR=0;
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maxcurL=max(maxcurL,esc.getFiltered_curL());
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maxcurR=max(maxcurR,esc.getFiltered_curR());
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static float mincurL=0;
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static float mincurR=0;
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mincurL=min(mincurL,esc.getFiltered_curL());
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mincurR=min(mincurR,esc.getFiltered_curR());
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display.print(F("Bat=")); display.print(esc.getFeedback_batVoltage()); display.print(F(" Temp=")); display.println(esc.getFeedback_boardTemp());
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display.print(F("nrf_delay=")); display.print(last_nrfreceive_delay);
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display.print(F("maxdiff=")); display.println(raw_length_maxdiff);
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display.print(F("DC max=")); display.print(maxcurL,1); display.print(F("/")); display.println(maxcurR,1); // display.print(F(" min=")); display.print(mincurL,1); display.print(F("/")); display.println(mincurR,1);
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display.print(F("trip=")); display.print(esc.getTrip(),0); display.print(F(",")); display.print(esc.getCurrentConsumed(),3); display.println(F("Ah"));
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display.display(); // Show initial text
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}
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void display_show_stats2() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
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display.print(F("FBC=")); display.print(esc.getFeedback_cmd1()); display.print(F(", ")); display.println(esc.getFeedback_cmd2());
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display.print(F("Speed=")); display.print(esc.getFeedback_speedL_meas()); display.print(F(", ")); display.println(esc.getFeedback_speedR_meas());
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display.print(F("Length=")); display.println(gt_length);
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display.print(F("H=")); display.print(gt_horizontal); display.print(F(" V=")); display.println(gt_vertical);
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display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
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display.display(); // Show initial text
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}
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void display_show_stats3() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.display(); // Show initial text
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}
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void display_show_menu() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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for (uint8_t i=0;i<MENU_ENTRIES;i++) {
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if (i==menu_entrypos) {
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display.print(F(">"));
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}else{
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display.print(F(" "));
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}
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switch(i) {
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case 0:
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display.print(F("EXIT")); display.println();
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break;
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case 1:
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display.print(F("Fltr spd=")); display.println(filter_nrf_set_speed);
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break;
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case 2:
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display.print(F("Fltr str=")); display.println(filter_nrf_set_steer);
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break;
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}
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}
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display.display(); // Show initial text
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}
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