added sleep mechanism

1 files changed, 35 insertions, 3 deletions

diff --git a/src/main.cpp b/src/main.cpp
index 980029f..9d60f96 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -36,6 +36,10 @@ volatile RobotEmotion currentState = E_NEUTRAL;
 volatile int fatigueLevel = 0;

 volatile bool isTired = false;

 

+

+volatile int sleepTimer = 0;

+volatile bool isSleepy = false;

+

 volatile char manualMotors = '0';

 volatile char manualRGB = '0';

 

@@ -109,17 +113,29 @@ void wifiTask(void * pvParameters) {
 

 void robotLogicTask(void * pvParameters) {

   for(;;) {

+    

+    if (currentState == MANUAL && manualMotors == '0') {

+      sleepTimer++;

+    } else {

+      sleepTimer = 0;

+    }

 

-  if (currentState == MANUAL && manualMotors != '0') {

+    if (sleepTimer >= 100) {

+      isSleepy = true;

+    } else {

+      isSleepy = false;

+    }

+

+    if (currentState == MANUAL && manualMotors != '0') {

       fatigueLevel++;

     } else {

       if (fatigueLevel > 0) fatigueLevel--;

     }

 

-    if (fatigueLevel >= 100 ) {

+    if (fatigueLevel >= 100) {

       isTired = true;

     } else if (fatigueLevel == 0) {

-       isTired = false;

+      isTired = false;

     }

 

     vTaskDelay(100 / portTICK_PERIOD_MS); 

@@ -151,6 +167,8 @@ void oledTask(void * pvParameters) {
 

   RobotEmotion lastEmotion = E_NEUTRAL; 

 

+  bool wasSleepy = false;

+

   for(;;) {

     if (currentState != lastEmotion) {

       lastEmotion = currentState;

@@ -171,6 +189,20 @@ void oledTask(void * pvParameters) {
       }

     }

     roboEyes.setSweat(isTired);

+

+    if (isSleepy != wasSleepy) {

+      wasSleepy = isSleepy;

+      if (isSleepy) {

+        roboEyes.setIdleMode(OFF);

+        roboEyes.setAutoblinker(OFF);

+        roboEyes.close(); 

+      } else {

+        roboEyes.setIdleMode(ON,2,2);

+        roboEyes.setAutoblinker(ON);

+        roboEyes.open();   

+      }

+    }

+

     roboEyes.update(); 

     vTaskDelay(20 / portTICK_PERIOD_MS); 

   }