Darkages/SpotMicroESP32-Leika
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🎨 Improves mode handling

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This commit is contained in:
Rune Harlyk
2025-10-11 15:29:18 +02:00
parent f2ee454b89
commit aee29c47e4
2 changed files with 8 additions and 9 deletions
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esp32/include/peripherals/servo_controller.h
+2 -1
View File
@@ -78,8 +78,9 @@ class ServoController : public StatefulService<ServoSettings> {
void updateActiveState() { is_active ? activate() : deactivate(); }
void setMode(SERVO_CONTROL_STATE newMode) { control_state = newMode; }
void setAngles(float new_angles[12]) {
control_state = SERVO_CONTROL_STATE::ANGLE;
for (int i = 0; i < 12; i++) {
target_angles[i] = new_angles[i];
}
esp32/src/main.cpp
+6 -8
View File
@@ -39,7 +39,7 @@ WiFiService wifiService;
APService apService;
void setupServer() {
server.config.max_uri_handlers = 5 + WWW_ASSETS_COUNT;
server.config.max_uri_handlers = 10 + WWW_ASSETS_COUNT;
server.maxUploadSize = 1000000; // 1 MB;
server.listen(80);
server.serveStatic("/api/config/", ESP_FS, "/config/");
@@ -87,7 +87,11 @@ void setupEventSocket() {
// Motion events
socket.onEvent(INPUT_EVENT, [&](JsonVariant &root, int originId) { motionService.handleInput(root, originId); });
socket.onEvent(MODE_EVENT, [&](JsonVariant &root, int originId) { motionService.handleMode(root, originId); });
socket.onEvent(MODE_EVENT, [&](JsonVariant &root, int originId) {
servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
motionService.handleMode(root, originId);
motionService.isActive() ? servoController.activate() : servoController.deactivate();
});
socket.onEvent(WALK_GAIT_EVENT,
[&](JsonVariant &root, int originId) { motionService.handleWalkGait(root, originId); });
@@ -108,11 +112,6 @@ void setupEventSocket() {
[&](JsonVariant &root, int originId) { servoController.servoEvent(root, originId); });
socket.onEvent(EVENT_SERVO_STATE,
[&](JsonVariant &root, int originId) { servoController.stateUpdate(root, originId); });
socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) {
const bool is_active = root["active"] | false;
is_active ? servoController.activate() : servoController.deactivate();
});
}
void IRAM_ATTR SpotControlLoopEntry(void *) {
@@ -129,7 +128,6 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
peripherals.update();
motionService.update(&peripherals);
servoController.setAngles(motionService.getAngles());
motionService.isActive() ? servoController.activate() : servoController.deactivate();
servoController.update();
#if FT_ENABLED(USE_WS2812)
ledService.loop();