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Refactor some more

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osiu97
2026-07-08 20:29:07 +02:00
parent 33436fafc4
commit 75ce38daf7
4 changed files with 119 additions and 94 deletions
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gemini.md
+1
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@@ -112,6 +112,7 @@ esp32c3-wiji/
├── src/
│ ├── Config.h # Pins, Constants, UUIDs
│ ├── BleManager.cpp # BLE setup, callbacks, notifications
│ ├── CommandParser.cpp # Parses BLE string commands
│ ├── MotorController.cpp # AccelStepper wrap, homing state, idle timeout
│ ├── StatusLed.cpp # Onboard LED feedback logic
│ └── main.cpp # Main app glue, command router
src/CommandParser.cpp
+76
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@@ -0,0 +1,76 @@
#include "CommandParser.h"
CommandParser::CommandParser(MotorController& motorCtrl, BleManager& bleMgr)
: motorController(motorCtrl), bleManager(bleMgr) {}
void CommandParser::parse(const String& cmd) {
// S1+<n> or S1-<n> (Relative)
if (cmd.startsWith("S1") && cmd.length() > 2) {
long steps = cmd.substring(2).toInt();
motorController.moveRelative1(steps);
return;
}
// S2+<n> or S2-<n> (Relative)
if (cmd.startsWith("S2") && cmd.length() > 2) {
long steps = cmd.substring(2).toInt();
motorController.moveRelative2(steps);
return;
}
// X:<n1>,<n2> (Absolute combined)
if (cmd.startsWith("X:")) {
int commaIdx = cmd.indexOf(',');
if (commaIdx != -1) {
long target1 = cmd.substring(2, commaIdx).toInt();
long target2 = cmd.substring(commaIdx + 1).toInt();
motorController.moveAbsolute(target1, target2);
}
return;
}
// SPD:<n>
if (cmd.startsWith("SPD:")) {
float spd = cmd.substring(4).toFloat();
motorController.setMaxSpeed(spd);
return;
}
// ACC:<n>
if (cmd.startsWith("ACC:")) {
float acc = cmd.substring(4).toFloat();
motorController.setAcceleration(acc);
return;
}
// HOME1
if (cmd == "HOME1") {
motorController.home1();
bleManager.notifyPosition(motorController.getPositionString());
return;
}
// HOME2
if (cmd == "HOME2") {
motorController.home2();
bleManager.notifyPosition(motorController.getPositionString());
return;
}
// HOMEALL
if (cmd == "HOMEALL") {
motorController.homeAll();
bleManager.notifyPosition(motorController.getPositionString());
return;
}
// ZEROALL
if (cmd == "ZEROALL") {
motorController.zeroAll();
bleManager.notifyPosition(motorController.getPositionString());
return;
}
// DISABLE
if (cmd == "DISABLE") {
motorController.disableMotors();
return;
}
// POS – explicit position request
if (cmd == "POS") {
bleManager.notifyPosition(motorController.getPositionString());
return;
}
Serial.printf("[CMD] Unknown command: '%s'\n", cmd.c_str());
}
src/CommandParser.h
+14
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@@ -0,0 +1,14 @@
#pragma once
#include <Arduino.h>
#include "MotorController.h"
#include "BleManager.h"
class CommandParser {
public:
CommandParser(MotorController& motorCtrl, BleManager& bleMgr);
void parse(const String& cmd);
private:
MotorController& motorController;
BleManager& bleManager;
};
src/main.cpp
+28 -94
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@@ -10,83 +10,17 @@
#include "BleManager.h"
#include "MotorController.h"
#include "StatusLed.h"
#include "CommandParser.h"
BleManager bleManager;
MotorController motorController;
StatusLed statusLed;
CommandParser commandParser(motorController, bleManager);
unsigned long lastNotify = 0;
void onCommandReceived(const String &cmd) {
// S1+<n> or S1-<n> (Relative)
if (cmd.startsWith("S1") && cmd.length() > 2) {
long steps = cmd.substring(2).toInt();
motorController.moveRelative1(steps);
return;
}
// S2+<n> or S2-<n> (Relative)
if (cmd.startsWith("S2") && cmd.length() > 2) {
long steps = cmd.substring(2).toInt();
motorController.moveRelative2(steps);
return;
}
// X:<n1>,<n2> (Absolute combined)
if (cmd.startsWith("X:")) {
int commaIdx = cmd.indexOf(',');
if (commaIdx != -1) {
long target1 = cmd.substring(2, commaIdx).toInt();
long target2 = cmd.substring(commaIdx + 1).toInt();
motorController.moveAbsolute(target1, target2);
}
return;
}
// SPD:<n>
if (cmd.startsWith("SPD:")) {
float spd = cmd.substring(4).toFloat();
motorController.setMaxSpeed(spd);
return;
}
// ACC:<n>
if (cmd.startsWith("ACC:")) {
float acc = cmd.substring(4).toFloat();
motorController.setAcceleration(acc);
return;
}
// HOME1
if (cmd == "HOME1") {
motorController.home1();
bleManager.notifyPosition(motorController.getPositionString());
return;
}
// HOME2
if (cmd == "HOME2") {
motorController.home2();
bleManager.notifyPosition(motorController.getPositionString());
return;
}
// HOMEALL
if (cmd == "HOMEALL") {
motorController.homeAll();
bleManager.notifyPosition(motorController.getPositionString());
return;
}
// ZEROALL
if (cmd == "ZEROALL") {
motorController.zeroAll();
bleManager.notifyPosition(motorController.getPositionString());
return;
}
// DISABLE
if (cmd == "DISABLE") {
motorController.disableMotors();
return;
}
// POS – explicit position request
if (cmd == "POS") {
bleManager.notifyPosition(motorController.getPositionString());
return;
}
Serial.printf("[CMD] Unknown command: '%s'\n", cmd.c_str());
commandParser.parse(cmd);
}
void onIdleTimeout() {
@@ -94,35 +28,35 @@ void onIdleTimeout() {
}
void setup() {
Serial.setTxTimeoutMs(0);
Serial.begin(115200);
delay(1000); // Wait for USB CDC to enumerate
Serial.println("\n[BOOT] WijiBoard Stepper Controller");
Serial.setTxTimeoutMs(0);
Serial.begin(115200);
delay(1000); // Wait for USB CDC to enumerate
Serial.println("\n[BOOT] WijiBoard Stepper Controller");
statusLed.init();
motorController.init();
motorController.setOnTimeoutCallback(onIdleTimeout);
bleManager.init(onCommandReceived);
statusLed.init();
motorController.init();
motorController.setOnTimeoutCallback(onIdleTimeout);
bleManager.init(onCommandReceived);
}
void loop() {
static bool wasMoving = false;
motorController.update();
bool isMoving = motorController.isMoving();
statusLed.update(bleManager.isConnected(), isMoving);
static bool wasMoving = false;
motorController.update();
bool isMoving = motorController.isMoving();
statusLed.update(bleManager.isConnected(), isMoving);
if (bleManager.isConnected()) {
unsigned long now = millis();
// Notify periodically while moving, or once when stopping
if (isMoving && (now - lastNotify >= NOTIFY_INTERVAL_MS)) {
lastNotify = now;
bleManager.notifyPosition(motorController.getPositionString());
} else if (wasMoving && !isMoving) {
// Just stopped moving
bleManager.notifyPosition(motorController.getPositionString());
if (bleManager.isConnected()) {
unsigned long now = millis();
// Notify periodically while moving, or once when stopping
if (isMoving && (now - lastNotify >= NOTIFY_INTERVAL_MS)) {
lastNotify = now;
bleManager.notifyPosition(motorController.getPositionString());
} else if (wasMoving && !isMoving) {
// Just stopped moving
bleManager.notifyPosition(motorController.getPositionString());
}
}
}
wasMoving = isMoving;
wasMoving = isMoving;
}