Fix Bug unexpected movement MASSAGE; Adjustments

Fix bug where armchair moved too long every once in a while (especially
at start).
Minor adjustments of parameters.

main.cpp:
  - set individual task priorities for each task e.g. fan or buzzer task has very low priority (did not have any immediate effect though while testing)
  - increase handle interval of motorctl
    change from 20 to 10 (same frequency as generation of massage
    commands)
    -> this fixed the bug with unexpected movement (motorctl could not
    process every command from massage mode)

control.cpp:
  - decrease delay in massage mode for more detail/levels at joystick
    radius (from 20 to 10ms)
  - increase fading in massage mode (400ms to 500ms) for slightly less hard
    shaking

joystick.cpp:
  - reduce max shaking amount
  - swap modes
     - top left shake backward
     - top right shake forward
     - bottom left/right shake rotating

main/control.cpp

@@ -93,7 +93,7 @@ void controlledArmchair::startHandleLoop() {
 
 
             case controlMode_t::MASSAGE:
-                vTaskDelay(20 / portTICK_PERIOD_MS);
+                vTaskDelay(10 / portTICK_PERIOD_MS);
                 //--- read joystick ---
                 //only update joystick data when input not frozen
                 if (!freezeInput){
@@ -313,7 +313,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
 
         case controlMode_t::MASSAGE:
             ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading");
-            uint32_t shake_msFadeAccel = 400; //TODO: move this to config
+            uint32_t shake_msFadeAccel = 500; //TODO: move this to config
 
             //disable downfading (max. deceleration)
             motorLeft->setFade(fadeType_t::DECEL, false);

main/joystick.cpp

@@ -381,8 +381,8 @@ joystickPos_t lastStickPos = joystickPos_t::CENTER;
 joystickPos_t stickQuadrant = joystickPos_t::CENTER;
 
 //--- configure shake mode --- TODO: move this to config
-uint32_t shake_msOffMax = 90;
-uint32_t shake_msOnMax = 180;
+uint32_t shake_msOffMax = 80;
+uint32_t shake_msOnMax = 120;
 float dutyShake = 60;
 
 //function that generates commands for both motors from the joystick data
@@ -498,15 +498,15 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
             commands.right.state = motorstate_t::FWD;
             break;
         case joystickPos_t::TOP_LEFT:
-            commands.left.state = motorstate_t::FWD;
+            commands.left.state = motorstate_t::REV;
             commands.right.state = motorstate_t::REV;
             break;
         case joystickPos_t::BOTTOM_LEFT:
             commands.left.state = motorstate_t::REV;
             commands.right.state = motorstate_t::FWD;
             break;
         case joystickPos_t::BOTTOM_RIGHT:
-            commands.left.state = motorstate_t::REV;
+            commands.left.state = motorstate_t::FWD;
             commands.right.state = motorstate_t::REV;
             break;
     }

main/main.cpp

@@ -38,7 +38,7 @@ void task_motorctl( void * pvParameters ){
         motorRight.handle();
         motorLeft.handle();
         //10khz -> T=100us
-        vTaskDelay(20 / portTICK_PERIOD_MS);
+        vTaskDelay(10 / portTICK_PERIOD_MS);
     }
 }
 
@@ -148,7 +148,7 @@ extern "C" void app_main(void) {
     //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
     //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
     esp_log_level_set("button", ESP_LOG_INFO);
-    esp_log_level_set("control", ESP_LOG_DEBUG);
+    esp_log_level_set("control", ESP_LOG_INFO);
     esp_log_level_set("fan-control", ESP_LOG_INFO);
     esp_log_level_set("wifi", ESP_LOG_INFO);
     esp_log_level_set("http", ESP_LOG_INFO);
@@ -158,12 +158,12 @@ extern "C" void app_main(void) {
     //--- create task for controlling the motors ---
     //----------------------------------------------
     //task that receives commands, handles ramp and current limit and executes commands using the motordriver function
-    xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 5, NULL);
+    xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
 
     //------------------------------
     //--- create task for buzzer ---
     //------------------------------
-    xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 5, NULL);
+    xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
 
     //-------------------------------
     //--- create task for control ---
@@ -175,13 +175,13 @@ extern "C" void app_main(void) {
     //--- create task for button ---
     //------------------------------
     //task that evaluates and processes the button input and runs the configured commands
-    xTaskCreate(&task_button, "task_button", 2048, NULL, 5, NULL);
+    xTaskCreate(&task_button, "task_button", 2048, NULL, 4, NULL);
 
     //-----------------------------------
     //--- create task for fan control ---
     //-----------------------------------
     //task that evaluates and processes the button input and runs the configured commands
-    xTaskCreate(&task_fans, "task_fans", 2048, NULL, 5, NULL);
+    xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
 
 
     //beep at startup