🧽 Makes servo testing and calibration easier

app/src/routes/peripherals/servo/servos.svelte

@@ -41,10 +41,11 @@
 <SettingsCard collapsible={false}>
     <MotorOutline slot="icon" class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
     <span slot="title">Servo</span>
+    {pwm}
     <input
         type="range"
-        min="200"
-        max="400"
+        min="120"
+        max="600"
         bind:value={pwm}
         on:input={updatePWM}
         class="w-full h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700"
@@ -56,7 +57,8 @@
         <div class="flex flex-col">
             <h2 class="text-lg">General servo configuration</h2>
             <span class="flex items-center gap-2">
-                <label for="servoId">Servo active{servoId}</label>
+                <label for="servoId">Servo active {servoId}</label>
+                <input type="range" min="0" max="11" step="1" bind:value={servoId} />
                 <input
                     type="checkbox"
                     class="toggle"

esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h

@@ -23,6 +23,8 @@
 #define EVENT_SERVO_CONFIGURATION_SETTINGS "servoPWM"
 #define EVENT_SERVO_STATE "servoState"
 
+enum class SERVO_CONTROL_STATE { DEACTIVATED, PWM, ANGLE };
+
 class ServoController : public StatefulService<ServoSettings> {
   public:
     ServoController()
@@ -35,10 +37,7 @@ class ServoController : public StatefulService<ServoSettings> {
         socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) { stateUpdate(root, originId); });
         _persistence.readFromFS();
 
-        _pca.begin();
-        _pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
-        _pca.setOscillatorFrequency(FACTORY_SERVO_OSCILLATOR_FREQUENCY);
-        _pca.sleep();
+        initializePCA();
         socket.onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) {
             is_active = root["active"] | false;
             is_active ? activate() : deactivate();
@@ -55,6 +54,7 @@ class ServoController : public StatefulService<ServoSettings> {
 
     void activate() {
         if (is_active) return;
+        control_state = SERVO_CONTROL_STATE::ANGLE;
         is_active = true;
         _pca.wakeup();
     }
@@ -62,6 +62,7 @@ class ServoController : public StatefulService<ServoSettings> {
     void deactivate() {
         if (!is_active) return;
         is_active = false;
+        control_state = SERVO_CONTROL_STATE::DEACTIVATED;
         _pca.sleep();
     }
 
@@ -72,8 +73,10 @@ class ServoController : public StatefulService<ServoSettings> {
     }
 
     void servoEvent(JsonObject &root, int originId) {
+        control_state = SERVO_CONTROL_STATE::PWM;
         uint8_t servo_id = root["servo_id"];
-        uint16_t pwm = root["pwm"];
+        int pwm = root["pwm"].as<int>();
+        pcaWrite(servo_id, pwm);
         ESP_LOGI("SERVO_CONTROLLER", "Setting servo %d to %d", servo_id, pwm);
     }
 
@@ -88,12 +91,13 @@ class ServoController : public StatefulService<ServoSettings> {
     void updateActiveState() { is_active ? activate() : deactivate(); }
 
     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];
         }
     }
 
-    void updateServoState() {
+    void calculatePWM() {
         for (int i = 0; i < 12; i++) {
             angles[i] = lerp(angles[i], target_angles[i], 0.2);
             auto &servo = state().servos[i];
@@ -107,13 +111,24 @@ class ServoController : public StatefulService<ServoSettings> {
         }
     }
 
+    void updateServoState() {
+        if (control_state == SERVO_CONTROL_STATE::ANGLE) calculatePWM();
+    }
+
     StatefulHttpEndpoint<ServoSettings> endpoint;
 
   private:
+    void initializePCA() {
+        _pca.begin();
+        _pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
+        _pca.setOscillatorFrequency(FACTORY_SERVO_OSCILLATOR_FREQUENCY);
+        _pca.sleep();
+    }
     FSPersistence<ServoSettings> _persistence;
 
     Adafruit_PWMServoDriver _pca;
-    uint16_t pwm[16] = {0};
+
+    SERVO_CONTROL_STATE control_state = SERVO_CONTROL_STATE::DEACTIVATED;
 
     bool is_active {false};
     float angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};