fix animation stability && add tolerance mechanism

mc-cat-tty · Jan 5, 2023 · 596c76c · 596c76c
1 parent b8bb72b
commit 596c76c
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Showing 2 changed files with 18 additions and 8 deletions.
diff --git a/lib/hal/rf/rf.hpp b/lib/hal/rf/rf.hpp
@@ -102,17 +102,25 @@ namespace hal::rf {
     std::vector<uint8_t> sequence;
     uint8_t currentMatch = 0;
     float currentDuty;
+    uint8_t tolerance;
 
     public:
     RxSequence(
       RxPwm receiver,
-      std::initializer_list<uint8_t> sequence) :
+      std::initializer_list<uint8_t> sequence,
+      uint8_t tolerance) :
     receiver(receiver),
-    sequence(sequence) { };
+    sequence(sequence),
+    tolerance(tolerance) { };
 
     [[nodiscard]] inline bool rcvdSequenceAsync() {
+      long currentDutyInt = lroundf(currentDuty * 10.f);
+
       if (receiver.getDutyAsync(currentDuty)) {
-        if (sequence[currentMatch] != lroundf(currentDuty * 10.f)) {
+        if (
+          currentDutyInt < sequence[currentMatch] - tolerance ||
+          currentDutyInt > sequence[currentMatch] + tolerance
+        ) {
           currentMatch = 0;
           return false;
         }

diff --git a/src/main_rx.cpp b/src/main_rx.cpp
@@ -47,7 +47,8 @@ void app_main() {
 
   auto rxSequence = RxSequence(
     rx,
-    {1, 3, 5}
+    {1, 3, 5},
+    1
   );
 
   const auto ledsConfig = (gpio_config_t) {
@@ -69,15 +70,16 @@ void app_main() {
     Led(GPIO_NUM_26, ledsConfig),
   };
 
-  auto spinnerFw = SpinnerForwardAnimation(ledRingDemux);
-  auto animator = Animator(spinnerFw, 200_ms);
   logger.log(mod, ESP_LOG_DEBUG, "First animation run");
 
   for (EVER) {
     if (rxSequence.rcvdSequenceAsync()) {
       logger.log(mod, ESP_LOG_INFO, "Sequence matched");
-      spinnerFw = SpinnerForwardAnimation(ledRingDemux);
-      animator = Animator(spinnerFw, 200_ms);
+      auto spinnerFw = new SpinnerForwardAnimation(ledRingDemux);
+      new Animator(
+        *spinnerFw,
+        200_ms
+      );
     }
 
     vTaskDelay(pdMS_TO_TICKS(1_s));