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🪄 Major refactoring to use ESP32 template

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This includes the change to use https://github.com/runeharlyk/ESP32-rapid-development-template.git as a freeRTos template
This commit is contained in:
Rune Harlyk
2023-08-02 22:26:09 +02:00
committed by Rune Daugaard Harlyk
parent 4c7b8954eb
commit 4282055be0
42 changed files with 2169 additions and 1065 deletions
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src/servo.cpp
+2 -37
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@@ -1,38 +1,3 @@
#include <Adafruit_PWMServoDriver.h>
#include <servo.h>
#include "servo.h"
#include "config.h"
#include "servo_config.h"
static const char* TAG = "SERVO";
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
const int16_t servo_min[12] = {153,118,138,121,116,125,131,150,148,130,158,165};
const float servo_conversion[12] = {2.011111,2.011111,2.000000,2.050000,1.966667,2.027778,2.038889,1.677778,1.622222,2.027778,1.927778,1.650000};
const int8_t servo_invert[12] = {1,0,1, 0,1,0, 0,0,1, 1,1,0};
const float theta_range[3][2] = {{-M_PI / 3, M_PI/3}, {-2 * M_PI/3, M_PI/3}, {0, M_PI}};
esp_err_t disable_servos(){
ESP_LOGI(TAG, "Disabling servos");
pwm.setPWM(0, 0, 0);
return ESP_OK;
}
esp_err_t setup_pwm_controller(){
pwm.begin();
pwm.setOscillatorFrequency(SERVO_OSCILLATOR_FREQUENCY);
pwm.setPWMFreq(SERVO_FREQ);
return ESP_OK;
}
esp_err_t set_servo(uint8_t id, uint16_t angle) {
esp_err_t ret;
uint16_t pulse = (uint16_t) (0.5 + servo_min[id] + (angle * servo_conversion[id]));
ESP_LOGI(TAG, "setPWM of servo %d, %d degrees -> Pulse %d", id, angle, pulse);
ret = pwm.setPWM(id, 0, pulse);
if (ret == ESP_OK) return ESP_OK;
else return ESP_FAIL;
}
DRAM_ATTR std::unique_ptr<Servo> g_ptrServo;