/** * @file otto_ninja_main.c * @brief OttoNinja Robot Main Control Module * * This file implements the main control logic for the OttoNinja robot, including: * - Joystick input processing (X-axis, Y-axis) * - Button input processing (A, B, X, Y buttons) * - Motion mode switching (walk mode/roll mode) * - Data point (DP) message processing * - Robot control task creation and management * * Main functions: * 1. Receive and process control commands from the cloud (joystick, buttons, mode switching) * 2. Convert control commands to robot motion control function calls * 3. Create independent task to run robot main control loop * 4. Manage motion mode state (walk mode/roll mode) * * @note This module depends on otto_ninja_app_servo module for actual servo control * @note Supports enabling/disabling arm and head servo functions via ARM_HEAD_ENABLE macro * * @copyright Copyright (c) 2021-2025 Tuya Inc. All Rights Reserved. * */ #include "tkl_pwm.h" // Include servo control header files #include "otto_ninja_app_servo.h" #include "otto_ninja_main.h" /*********************************************************** *************************micro define*********************** ***********************************************************/ #define TASK_OTTO_NINJA_PRIORITY THREAD_PRIO_2 #define TASK_OTTO_NINJA_SIZE 4096 /*********************************************************** ***********************typedef define*********************** ***********************************************************/ /*********************************************************** ***********************variable define********************** ***********************************************************/ static THREAD_HANDLE sg_otto_ninja_handle; /*********************************************************** ***********************function define********************** ***********************************************************/ // These values are assumed to be obtained from remote control or sensors /** * @brief Set joystick X-axis value * @param value: Joystick X-axis value * @return none */ int8_t joystick_x = 0; void set_joystick_x(int8_t value){ joystick_x = value; } /** * @brief Get joystick X-axis value * @return Joystick X-axis value */ int8_t get_joystick_x(void){ return joystick_x; } /** * @brief Set joystick Y-axis value * @param value: Joystick Y-axis value * @return none */ int8_t joystick_y = 0; void set_joystick_y(int8_t value){ joystick_y = value; } /** * @brief Get joystick Y-axis value * @return Joystick Y-axis value */ int8_t get_joystick_y(void){ return joystick_y; } bool sport_mode_change = false; /** * @brief Set sport mode change flag * @param value: Sport mode change flag value (true means mode switch is needed) * @return none */ void set_sport_mode_change(bool value){ sport_mode_change = value; } /** * @brief Get sport mode change flag * @return Sport mode change flag value */ bool get_sport_mode_change(void){ return sport_mode_change; } static int mode_counter = 0; // 0=walk mode, 1=roll mode void set_mode_counter(int value){ mode_counter = value; } int get_mode_counter(void){ return mode_counter; } #define DPID_JOYSTIC 101 #define SPORT_MODE 102 // roll or walk mode #define DPID_JOYSTICK_X 103 //joystick_x #define DPID_JOYSTICK_Y 104 //joystick_y #define DPID_DIRECTION 105 //direction OPERATE_RET otto_ninja_dp_obj_proc(dp_obj_recv_t *dpobj) { uint32_t index = 0; for (index = 0; index < dpobj->dpscnt; index++) { dp_obj_t *dp = dpobj->dps + index; PR_DEBUG("idx:%d dpid:%d type:%d ts:%u", index, dp->id, dp->type, dp->time_stamp); switch (dp->id) { case SPORT_MODE:{ set_sport_mode_change(true);//Trigger mode switch if(dp->value.dp_bool){ set_mode_counter(1); PR_DEBUG("robot_set_roll"); }else{ set_mode_counter(0); PR_DEBUG("robot_set_walk"); } break; } case DPID_JOYSTICK_X:{ int8_t joystick_x = dp->value.dp_value; set_joystick_x(joystick_x); PR_DEBUG("joystick_x:%d", joystick_x); break; } case DPID_JOYSTICK_Y:{ int8_t joystick_y = dp->value.dp_value; set_joystick_y(joystick_y); PR_DEBUG("joystick_y:%d", joystick_y); break; } case DPID_DIRECTION:{ int8_t direction = dp->value.dp_enum; if(direction == 0){ set_joystick_y(100); set_joystick_x(0); } else if(direction == 1){ set_joystick_y(-100); set_joystick_x(0); } else if(direction == 2){ set_joystick_y(0); set_joystick_x(100); } else if(direction == 3){ set_joystick_y(0); set_joystick_x(-100); } else if(direction == 4){ set_joystick_y(0); set_joystick_x(0); } PR_DEBUG("direction:%d", direction); break; } default: break; } } return OPRT_OK; } /** * @brief OttoNinja robot control task * * This task is responsible for: * 1. Initializing robot control system * 2. Running robot main control loop * 3. Processing joystick input and controlling robot motion * 4. Executing different motion control logic based on mode switching * * @param[in] param: Task parameters (unused) * @return none */ static void __example_otto_ninja_task(void *param) { PR_NOTICE("=== OttoNinja Servo Control Task Start ==="); main_init(); tal_system_sleep(1000); // Wait 1 second before starting robot_set_walk(); while (1) { main_loop(); tal_system_sleep(10); // Wait 10ms before restarting } PR_NOTICE("OttoNinja task is finished, will delete"); tal_thread_delete(sg_otto_ninja_handle); return; } /** * @brief Start OttoNinja robot control module * * Create and start the OttoNinja robot control task, which will: * - Initialize robot control system * - Enter main control loop, continuously processing joystick input and mode switching * - Execute corresponding motion control based on current mode * * @return none */ void otto_ninja_main(void) { OPERATE_RET rt = OPRT_OK; /* a otto ninja thread */ THREAD_CFG_T otto_ninja_param = {.priority = TASK_OTTO_NINJA_PRIORITY, .stackDepth = TASK_OTTO_NINJA_SIZE, .thrdname = "otto_ninja_task"}; TUYA_CALL_ERR_LOG(tal_thread_create_and_start(&sg_otto_ninja_handle, NULL, NULL, __example_otto_ninja_task, NULL, &otto_ninja_param)); return; }