From 57c07b07db54dcaf6a78ff66393926ba1cda7940 Mon Sep 17 00:00:00 2001
From: cheykrym <cheykrym@cheykrym.cheykrym>
Date: Mon, 30 Mar 2026 03:30:06 +0300
Subject: [PATCH] add init joy

---
 src/core/display/body/body.cpp | 19 +------------------
 src/core/display/body/body.h   |  3 ---
 src/core/joystick/joystick.cpp | 14 ++++++++++++--
 src/core/joystick/joystick.h   |  2 +-
 src/main.cpp                   | 32 ++++++++++++++++----------------
 5 files changed, 30 insertions(+), 40 deletions(-)

diff --git a/src/core/display/body/body.cpp b/src/core/display/body/body.cpp
index 2915dd8..adbd90d 100644
--- a/src/core/display/body/body.cpp
+++ b/src/core/display/body/body.cpp
@@ -4,7 +4,6 @@
 #include <Adafruit_SSD1306.h>
 #include "body.h"
 #include "../../../config.h"
-#include "../../joystick/joystick.h"
 
 // ===== OLED CONFIG =====
 // ESP32 ESP-WROOM-32D с OLED 0.96" (SSD1306)
@@ -96,26 +95,10 @@ void oledShowMain(const char* line1, const char* line2, const char* line3, const
   
   // Подвал
   drawFooter();
-  
+
   display.display();
 }
 
-// ===== Device Checks =====
-
-bool oledCheckJoystick() {
-  // Проверяем наличие джойстика по значениям ADC
-  int x = analogRead(JOY_X_PIN);
-  int y = analogRead(JOY_Y_PIN);
-  
-  // Если значения в разумных пределах (не 0 и не 4095) - джойстик подключен
-  bool connected = (x > 100 && x < 4000) && (y > 100 && y < 4000);
-  
-  Serial.printf("[CHECK] Joystick: %s (X=%d, Y=%d)\n", 
-                connected ? "OK" : "NOT FOUND", x, y);
-  
-  return connected;
-}
-
 void oledInit() {
   Wire.begin(SDA_PIN, SCL_PIN);
 
diff --git a/src/core/display/body/body.h b/src/core/display/body/body.h
index 124c2f0..fc08320 100644
--- a/src/core/display/body/body.h
+++ b/src/core/display/body/body.h
@@ -20,6 +20,3 @@ void oledShowMain(const char* line1, const char* line2, const char* line3, const
 // состояние системы
 void oledSetSystemReady(bool ready);
 bool oledIsSystemReady();
-
-// проверка устройств
-bool oledCheckJoystick();
diff --git a/src/core/joystick/joystick.cpp b/src/core/joystick/joystick.cpp
index b85f626..e300abd 100644
--- a/src/core/joystick/joystick.cpp
+++ b/src/core/joystick/joystick.cpp
@@ -26,19 +26,29 @@ static int lastLoggedXNorm = 0;
 static int lastLoggedYNorm = 0;
 static bool lastLoggedSw = false;
 
-void joyInit() {
+bool joyInit() {
   pinMode(JOY_SW_PIN, INPUT_PULLUP);
   
   // ADC1 каналы (пины 34, 35)
   analogReadResolution(12);  // 12 бит (0-4095)
   analogSetAttenuation(ADC_11db);  // 0-3.3V
   
+  // Проверяем наличие джойстика
+  int x = analogRead(JOY_X_PIN);
+  int y = analogRead(JOY_Y_PIN);
+  
+  // Если значения в разумных пределах - джойстик подключен
+  bool connected = (x > 100 && x < 4000) && (y > 100 && y < 4000);
+  
   Serial.println("Joystick initialized");
   Serial.printf("  VRX → GPIO%d (ADC1_CH6)\n", JOY_X_PIN);
   Serial.printf("  VRY → GPIO%d (ADC1_CH7)\n", JOY_Y_PIN);
   Serial.printf("  SW  → GPIO%d\n", JOY_SW_PIN);
   Serial.printf("  Center: X=%d, Y=%d\n", ADC_CENTER_X, ADC_CENTER_Y);
-  Serial.println("  Move stick to calibrate if needed");
+  Serial.printf("  Status: %s (X=%d, Y=%d)\n", 
+                connected ? "OK" : "NOT FOUND", x, y);
+  
+  return connected;
 }
 
 void joyUpdate() {
diff --git a/src/core/joystick/joystick.h b/src/core/joystick/joystick.h
index 5cb1795..df325f1 100644
--- a/src/core/joystick/joystick.h
+++ b/src/core/joystick/joystick.h
@@ -1,6 +1,6 @@
 #pragma once
 
-void joyInit();
+bool joyInit();
 void joyUpdate();
 
 // возвращает значения 0-4095
diff --git a/src/main.cpp b/src/main.cpp
index bda3a67..0a3b451 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -14,29 +14,30 @@
 // #include "core/deprecate/ir_input/ir_input.h"
 
 #define TOTAL_STAGES 5
+#define DELAY_FOR_STARTUP_CHECKS 1000
 
 void runStartupChecks() {
+  delay(DELAY_FOR_STARTUP_CHECKS);
+
   // Этап 1: Проверка джойстика
   oledSetStage(1, TOTAL_STAGES);
-  bool joyOk = oledCheckJoystick();
-  oledShowMain(joyOk ? "Joystick: OK" : "Joystick: NOT FOUND", "IR: NOT FOUND", 
-               "",
-               "");
-  delay(500);
-  
+  bool joyOk = joyInit();
+  oledShowMain(joyOk ? "Joystick: OK" : "Joystick: NOT FOUND", "IR: NOT FOUND", "", "");
+  delay(DELAY_FOR_STARTUP_CHECKS);
+
   // TODO: Этап 2-5 (другие проверки)
   oledSetStage(2, TOTAL_STAGES);
-  delay(500);
-  
+  delay(DELAY_FOR_STARTUP_CHECKS);
+
   oledSetStage(3, TOTAL_STAGES);
-  delay(500);
-  
+  delay(DELAY_FOR_STARTUP_CHECKS);
+
   oledSetStage(4, TOTAL_STAGES);
-  delay(500);
-  
+  delay(DELAY_FOR_STARTUP_CHECKS);
+
   oledSetStage(5, TOTAL_STAGES);
-  delay(500);
-  
+  delay(DELAY_FOR_STARTUP_CHECKS);
+
   // Все проверки пройдены
   oledSetSystemReady(joyOk);  // пока только джойстик влияет
 }
@@ -51,13 +52,12 @@ void setup() {
 
   servoInit();
   ultrasonicInit();
-  joyInit();
   // faceInit();
   actuatorsInit();
   webServerInit();
   wsInit();
   // irInit();
-  
+
   robot.lastCmdMs = millis();
 }