Darkages/SpotMicroESP32-Leika
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🎓 Expand servo buffers to Int16

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This commit is contained in:
Rune Harlyk
2023-08-07 22:17:08 +02:00
parent 4282055be0
commit 6017051324
4 changed files with 7 additions and 7 deletions
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app/src/components/Model/ModelView.svelte
+2 -2
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@@ -37,8 +37,8 @@ let canvas: HTMLCanvasElement, streamCanvas: HTMLCanvasElement, stream: HTMLImag
let context: CanvasRenderingContext2D, texture: CanvasTexture let context: CanvasRenderingContext2D, texture: CanvasTexture
let modelAngles:number[] | Int8Array = new Array(12).fill(0) let modelAngles:number[] | Int16Array = new Array(12).fill(0)
let modelTargetAngles:number[] | Int8Array = new Array(12).fill(0) let modelTargetAngles:number[] | Int16Array = new Array(12).fill(0)
let modelBodyAngles:EulerAngle = {omega: 0, phi: 0, psi: 0 } let modelBodyAngles:EulerAngle = {omega: 0, phi: 0, psi: 0 }
let modelTargeBodyAngles:EulerAngle = {omega: 0, phi: 0, psi: 0 } let modelTargeBodyAngles:EulerAngle = {omega: 0, phi: 0, psi: 0 }
app/src/lib/socket.ts
+2 -2
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@@ -6,7 +6,7 @@ export const isConnected = writable(false)
export const dataBuffer = writable(new Float32Array(13)) export const dataBuffer = writable(new Float32Array(13))
export const servoBuffer:Writable<Int8Array|number[]> = writable(new Int8Array(12)) export const servoBuffer:Writable<Int16Array|number[]> = writable(new Int16Array(12))
export const data = writable(); export const data = writable();
@@ -28,7 +28,7 @@ export const connect = (url:string) => {
const buffer = [] const buffer = []
buffer[0] = 1 buffer[0] = 1
buffer.push(...data) buffer.push(...data)
_socket.send(new Int8Array(buffer)) _socket.send(new Int16Array(buffer))
}) })
} }
include/servo.h
+2 -2
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@@ -24,7 +24,7 @@ class Servo : public Adafruit_PWMServoDriver {
Servo() : Adafruit_PWMServoDriver() {} Servo() : Adafruit_PWMServoDriver() {}
void SetAngles(int8_t* angle) { void SetAngles(int16_t* angle) {
for(size_t i = 0; i < 12; i++) for(size_t i = 0; i < 12; i++)
servo_angles[i] = angle[i]; servo_angles[i] = angle[i];
updateServos(); updateServos();
@@ -108,7 +108,7 @@ class Servo : public Adafruit_PWMServoDriver {
position_t spot_position = {.omega=0,.phi=0,.psi=0,.xm=-40,.ym=-170, .zm=0, .set=1}; position_t spot_position = {.omega=0,.phi=0,.psi=0,.xm=-40,.ym=-170, .zm=0, .set=1};
position_t goal_position = {0,}; position_t goal_position = {0,};
int8_t servo_angles[12]{0,}; int16_t servo_angles[12]{0,};
}; };
extern DRAM_ATTR std::unique_ptr<Servo> g_ptrServo; extern DRAM_ATTR std::unique_ptr<Servo> g_ptrServo;
src/webserver.cpp
+1 -1
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@@ -321,7 +321,7 @@ void handleWebSocketBuffer(uint8_t* data) {
if(data[0] == 0) g_ptrServo->setBody(data[1], data[2], data[3], data[4], data[5], data[6]); if(data[0] == 0) g_ptrServo->setBody(data[1], data[2], data[3], data[4], data[5], data[6]);
else if(data[0] == 1) { else if(data[0] == 1) {
log_i("About to update all servos"); log_i("About to update all servos");
int8_t* angles = (int8_t*)data+1; int16_t* angles = (int16_t*)data+1;
g_ptrServo->SetAngles(angles); g_ptrServo->SetAngles(angles);
} }