Darkages/SpotMicroESP32-Leika
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⚡ Moves rest of events to event bus

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This commit is contained in:
Rune Harlyk
2026-02-01 00:44:24 +01:00
parent 57e0aac2aa
commit 0c0ef0ac40
9 changed files with 110 additions and 30 deletions
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esp32/include/peripherals/servo_controller.h
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@@ -5,6 +5,7 @@
#include <event_bus/event_bus.h>
#include <utils/math_utils.h>
#include <platform_shared/api.pb.h>
#include <platform_shared/message.pb.h>
#include <esp_http_server.h>
#ifndef FACTORY_SERVO_PWM_FREQUENCY
@@ -41,6 +42,12 @@ class ServoController {
_settingsHandle = EventBus::subscribe<api_ServoSettings>(
[this](const api_ServoSettings &settings) { onSettingsChanged(settings); });
_pwmHandle = EventBus::subscribe<socket_message_ServoPWMData>(
[this](const socket_message_ServoPWMData &data) { setServoPWM(data.servo_id, data.servo_pwm); });
_stateHandle = EventBus::subscribe<socket_message_ServoStateData>(
[this](const socket_message_ServoStateData &data) { data.active ? activate() : deactivate(); });
api_ServoSettings initialSettings;
if (EventBus::peek(initialSettings)) {
onSettingsChanged(initialSettings);
@@ -125,6 +132,8 @@ class ServoController {
api_ServoSettings _settings = ServoSettings_defaults();
EventBus::Handle<api_ServoSettings> _settingsHandle;
EventBus::Handle<socket_message_ServoPWMData> _pwmHandle;
EventBus::Handle<socket_message_ServoStateData> _stateHandle;
PCA9685Driver _pca;