Merge pull request #75 from senseshift/feature/og-ffb

feat(OpenGloves): add force-feedback
senseshift · Aug 6, 2023 · faddc24 · faddc24 · github-actions · Aug 6, 2023
2 parents 7dc118f + 9d926eb
commit faddc24
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Showing 18 changed files with 780 additions and 120 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -66,6 +66,28 @@ jobs:
         run: |
           ./.github/scripts/get_firmware_name.sh ${{ matrix.target }} ${{ matrix.serial_plotter_flag }} ${{ matrix.battery_flag }} ${{ matrix.nimble_flag }}
 
+      - name: Enable coverage (non-macOS)
+        if: runner.os != 'macOS' && matrix.coverage
+        run: |
+          sed -i '/__OH_FIRMWARE__/p; s/-D __OH_FIRMWARE__/-lgcov --coverage/' platformio.ini
+      - name: Enable coverage (macOS)
+        if: runner.os == 'macOS' && matrix.coverage
+        run: |
+          sed -i '' '/__OH_FIRMWARE__/p; s/-D __OH_FIRMWARE__/-lgcov --coverage/' platformio.ini
+
+      - name: Update build flags (non-macOS)
+        if: runner.os != 'macOS'
+        run: |
+          sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.battery_flag }}/' platformio.ini
+          sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.serial_plotter_flag }}/' platformio.ini
+          sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.nimble_flag }}/' platformio.ini
+      - name: Update build flags (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.battery_flag }}/' platformio.ini
+          sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.serial_plotter_flag }}/' platformio.ini
+          sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.nimble_flag }}/' platformio.ini
+
       - name: Speedup package installation
         if: matrix.coverage
         uses: abbbi/github-actions-tune@v1
@@ -88,7 +110,7 @@ jobs:
           path: |
             ~/.platformio/.cache
             ./.pio
-          key: ${{ runner.os }}-pio-${{ matrix.target }}-${{ hashFiles('platformio.ini') }}
+          key: ${{ runner.os }}-pio-${{ matrix.target }}-${{ hashFiles('**/*.ini') }}
           restore-keys: |
             ${{ runner.os }}-pio-${{ matrix.target }}-
             ${{ runner.os }}-pio-
@@ -98,28 +120,6 @@ jobs:
         with:
           python-version: '3.9'
 
-      - name: Enable coverage (non-macOS)
-        if: runner.os != 'macOS' && matrix.coverage
-        run: |
-          sed -i '/__OH_FIRMWARE__/p; s/-D __OH_FIRMWARE__/-lgcov --coverage/' platformio.ini
-      - name: Enable coverage (macOS)
-        if: runner.os == 'macOS' && matrix.coverage
-        run: |
-          sed -i '' '/__OH_FIRMWARE__/p; s/-D __OH_FIRMWARE__/-lgcov --coverage/' platformio.ini
-
-      - name: Update build flags (non-macOS)
-        if: runner.os != 'macOS'
-        run: |
-          sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.battery_flag }}/' platformio.ini
-          sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.serial_plotter_flag }}/' platformio.ini
-          sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.nimble_flag }}/' platformio.ini
-      - name: Update build flags (macOS)
-        if: runner.os == 'macOS'
-        run: |
-          sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.battery_flag }}/' platformio.ini
-          sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.serial_plotter_flag }}/' platformio.ini
-          sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.nimble_flag }}/' platformio.ini
-
       - name: Install PlatformIO
         run: |
           python -m pip install --upgrade pip
@@ -165,31 +165,31 @@ jobs:
         target:
           - lucidgloves-prototype3
           - lucidgloves-prototype4
+          - indexer-c
+          - indexer-cf
+          - indexer-cs
+          - indexer-csf
         comm_flag:
-          - COMMUNICATION_PROTOCOL=COMMUNICATION_PROTOCOL_SERIAL
-          - COMMUNICATION_PROTOCOL=COMMUNICATION_PROTOCOL_BLE
+          - COMMUNICATION_PROTOCOL=OPENGLOVES_COMM_SERIAL
+          - COMMUNICATION_PROTOCOL=OPENGLOVES_COMM_BTSERIAL
         coverage: [ false ]
 
         include:
           - os: ubuntu-latest
-            target: lucidgloves-prototype4
+            target: lucidgloves-prototype4-ffb
             curl_calibration_flag: CALIBRATION_CURL="OH::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>"
             coverage: true
           - os: ubuntu-latest
-            target: lucidgloves-prototype4
+            target: lucidgloves-prototype4-ffb
             curl_calibration_flag: CALIBRATION_CURL="OH::CenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
             coverage: true
           - os: ubuntu-latest
-            target: lucidgloves-prototype4
+            target: lucidgloves-prototype4-ffb
             curl_calibration_flag: CALIBRATION_CURL="OH::FixedCenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
             coverage: true
           - os: ubuntu-latest
-            target: indexer-c
-            comm_flag: COMMUNICATION_PROTOCOL=COMMUNICATION_PROTOCOL_SERIAL
-            coverage: true
-          - os: ubuntu-latest
-            target: indexer-cs
-            comm_flag: COMMUNICATION_PROTOCOL=COMMUNICATION_PROTOCOL_SERIAL
+            target: indexer-csf
+            comm_flag: COMMUNICATION_PROTOCOL=OPENGLOVES_COMM_BTSERIAL
             coverage: true
 
     steps:

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -124,8 +124,11 @@ jobs:
         target:
           - lucidgloves-prototype3
           - lucidgloves-prototype4
+          - lucidgloves-prototype4-ffb
           - indexer-c
+          - indexer-cf
           - indexer-cs
+          - indexer-csf
         comm_flag:
           - OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_SERIAL
           - OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_BTSERIAL
@@ -137,6 +140,15 @@ jobs:
         run: |
           ./.github/scripts/get_firmware_name.sh ${{ matrix.target }} ${{ matrix.comm_flag }}
 
+      - name: Update build command (non-Windows)
+        run: |
+          sed -i '/\[env\]/p; s/\[env\]/upload_protocol = custom/' platformio.ini
+          sed -i '/\[env\]/p; s/\[env\]/upload_command = \$PYTHONEXE .\/scripts\/ci\/create-archive.py \$FLASH_EXTRA_IMAGES \$ESP32_APP_OFFSET \$SOURCE/' platformio.ini
+
+      - name: Update build flags (non-macOS)
+        run: |
+          sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.comm_flag }}/' platformio.ini
+
       - name: Cache pip
         uses: actions/cache@v3
         with:
@@ -168,15 +180,6 @@ jobs:
           pio upgrade --dev
           pio pkg update --global
 
-      - name: Update build command (non-Windows)
-        run: |
-          sed -i '/\[env\]/p; s/\[env\]/upload_protocol = custom/' platformio.ini
-          sed -i '/\[env\]/p; s/\[env\]/upload_command = \$PYTHONEXE .\/scripts\/ci\/create-archive.py \$FLASH_EXTRA_IMAGES \$ESP32_APP_OFFSET \$SOURCE/' platformio.ini
-
-      - name: Update build flags (non-macOS)
-        run: |
-          sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.comm_flag }}/' platformio.ini
-
       - name: Build
         run: |
           mkdir build

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -58,7 +58,8 @@
         "xmemory": "cpp",
         "xtree": "cpp",
         "xhash": "cpp",
-        "xlocnum": "cpp"
+        "xlocnum": "cpp",
+        "ledc.h": "c"
     },
     "files.eol": "\n",
     "files.insertFinalNewline": true,

diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -1,7 +1,8 @@
 #include <calibration.hpp>
 #include <og_constants.hpp>
-#include <og_serial_commmunications.hpp>
+#include <og_serial_communication.hpp>
 #include <opengloves_task.hpp>
+#include <output_writers/servo.hpp>
 #include <sensor.hpp>
 #include <sensor/analog.hpp>
 #include <sensor/digital.hpp>
@@ -122,6 +123,15 @@
 #define UPDATE_RATE 90
 #endif
 
+#define FFB_THUMB_ENABLED (defined(PIN_FFB_THUMB) && (PIN_FFB_THUMB != -1))
+#define FFB_INDEX_ENABLED (defined(PIN_FFB_INDEX) && (PIN_FFB_INDEX != -1))
+#define FFB_MIDDLE_ENABLED (defined(PIN_FFB_MIDDLE) && (PIN_FFB_MIDDLE != -1))
+#define FFB_RING_ENABLED (defined(PIN_FFB_RING) && (PIN_FFB_RING != -1))
+#define FFB_PINKY_ENABLED (defined(PIN_FFB_PINKY) && (PIN_FFB_PINKY != -1))
+
+#define FFB_ENABLED \
+    (FFB_THUMB_ENABLED || FFB_INDEX_ENABLED || FFB_MIDDLE_ENABLED || FFB_RING_ENABLED || FFB_PINKY_ENABLED)
+
 using namespace OpenGloves;
 
 HandSensors handSensors = {
@@ -268,9 +278,35 @@ std::vector<StringEncodedMemoizedSensor<uint16_t>*> joysticks = {
 
 std::vector<IStringEncodedMemoizedSensor*> otherSensors = std::vector<IStringEncodedMemoizedSensor*>();
 
-OpenGlovesConfig config = OpenGlovesConfig(UPDATE_RATE, CALIBRATION_DURATION, CALIBRATION_ALWAYS_CALIBRATE);
+OpenGlovesTrackingTaskConfig config =
+  OpenGlovesTrackingTaskConfig(UPDATE_RATE, CALIBRATION_DURATION, CALIBRATION_ALWAYS_CALIBRATE);
 OpenGlovesTrackingTask* trackingTask;
 
+#if FFB_ENABLED
+HandActuators handActuators = {
+#if FFB_THUMB_ENABLED
+    .thumb = new OH::ServoActuator(PIN_FFB_THUMB),
+#endif
+
+#if FFB_INDEX_ENABLED
+    .index = new OH::ServoActuator(PIN_FFB_INDEX),
+#endif
+
+#if FFB_MIDDLE_ENABLED
+    .middle = new OH::ServoActuator(PIN_FFB_MIDDLE),
+#endif
+
+#if FFB_RING_ENABLED
+    .ring = new OH::ServoActuator(PIN_FFB_RING),
+#endif
+
+#if FFB_PINKY_ENABLED
+    .pinky = new OH::ServoActuator(PIN_FFB_PINKY),
+#endif
+};
+OpenGlovesForceFeedbackTask* ffbTask;
+#endif
+
 void setupMode()
 {
 #if OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_SERIAL
@@ -302,6 +338,21 @@ void setupMode()
         .priority = OPENGLOVES_FINGERS_TASK_PRIORITY,
       }
     );
+
+#if FFB_ENABLED
+    ffbTask = new OpenGlovesForceFeedbackTask(
+      *communication,
+      handActuators,
+      UPDATE_RATE,
+      {
+        .name = "OpenGlovesForceFeedbackTask",
+        .stackDepth = 8192,
+        .priority = OPENGLOVES_FINGERS_TASK_PRIORITY,
+      }
+    );
+    ffbTask->begin();
+#endif
+
     trackingTask->begin();
 }