Darkages/SpotMicroESP32-Leika
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♻️ Major clean up of project structure

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This commit is contained in:
Rune Harlyk
2025-09-11 17:14:31 +02:00
committed by Rune Harlyk
parent 26c36b8302
commit 7fd35f3f48
25 changed files with 370 additions and 890 deletions
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esp32/include/peripherals/gesture.h
+1 -1
View File
@@ -161,7 +161,7 @@ class GestureSensor {
gesture_t getGesture() { return msg.gesture; }
gesture_t takeGesture() {
gesture_t const takeGesture() {
const auto g = msg.gesture;
msg.gesture = eGestureNone;
return g;
esp32/include/peripherals/peripherals.h
+19 -12
View File
@@ -49,15 +49,15 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
_eventEndpoint.begin();
_persistence.readFromFS();
socket.onEvent(EVENT_I2C_SCAN, [&](JsonVariant &root, int originId) {
scanI2C();
emitI2C();
});
// socket.onEvent(EVENT_I2C_SCAN, [&](JsonVariant &root, int originId) {
// scanI2C();
// emitI2C();
// });
socket.onSubscribe(EVENT_I2C_SCAN, [&](const String &originId, bool sync) {
scanI2C();
emitI2C(originId, sync);
});
// socket.onSubscribe(EVENT_I2C_SCAN, [&](const String &originId, bool sync) {
// scanI2C();
// emitI2C(originId, sync);
// });
updatePins();
@@ -79,6 +79,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
#endif
};
void update() {
readIMU();
readMag();
// _peripherals.readBMP();
EXECUTE_EVERY_N_MS(100, { readGesture(); });
}
void loop() {
EXECUTE_EVERY_N_MS(_updateInterval, {
beginTransaction();
@@ -112,7 +119,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
}
ESP_LOGI("Peripherals", "Emitting I2C scan results, %s %d", originId.c_str(), sync);
JsonVariant data = doc.as<JsonVariant>();
socket.emit(EVENT_I2C_SCAN, data, originId.c_str(), sync);
// socket.emit(EVENT_I2C_SCAN, data, originId.c_str(), sync);
}
void scanI2C(uint8_t lower = 1, uint8_t higher = 127) {
@@ -197,7 +204,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
// float angleZ() { return _imu.getAngleZ(); }
gesture_t takeGesture() {
gesture_t const takeGesture() {
return
#if FT_ENABLED(USE_PAJ7620U2)
_gesture.takeGesture();
@@ -225,7 +232,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
#endif
#if FT_ENABLED(USE_MPU6050 || USE_BNO055) || FT_ENABLED(USE_HMC5883)
JsonVariant data = doc.as<JsonVariant>();
socket.emit(EVENT_IMU, data);
// socket.emit(EVENT_IMU, data);
#endif
}
@@ -235,7 +242,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
JsonArray root = doc.to<JsonArray>();
root[0] = _left_distance, root[1] = _right_distance;
JsonVariant data = doc.as<JsonVariant>();
socket.emit("sonar", data);
// socket.emit("sonar", data);
#endif
}
esp32/include/peripherals/servo_controller.h
+8 -8
View File
@@ -32,16 +32,16 @@ class ServoController : public StatefulService<ServoSettings> {
_persistence(ServoSettings::read, ServoSettings::update, this, SERVO_SETTINGS_FILE) {}
void begin() {
socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
[&](JsonVariant &root, int originId) { servoEvent(root, originId); });
socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) { stateUpdate(root, originId); });
// socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
// [&](JsonVariant &root, int originId) { servoEvent(root, originId); });
// socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) { stateUpdate(root, originId); });
_persistence.readFromFS();
initializePCA();
socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) {
is_active = root["active"] | false;
is_active ? activate() : deactivate();
});
// socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) {
// is_active = root["active"] | false;
// is_active ? activate() : deactivate();
// });
}
void pcaWrite(int index, int value) {
@@ -110,7 +110,7 @@ class ServoController : public StatefulService<ServoSettings> {
_pca.setMultiplePWM(pwms, 12);
}
void updateServoState() {
void update() {
if (control_state == SERVO_CONTROL_STATE::ANGLE) calculatePWM();
}