From e09ec81f1d75c48e73798691592fe927e85a8394 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 15 May 2025 19:59:06 +0200
Subject: [PATCH] =?UTF-8?q?=F0=9F=A4=B9=20Adds=20option=20for=20direct=20c?=
 =?UTF-8?q?ontrol=20of=20multiple=20servos?=
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---
 .../routes/peripherals/servo/servos.svelte    | 129 ++++++++++--------
 .../peripherals/servo_controller.h            |  12 +-
 2 files changed, 79 insertions(+), 62 deletions(-)

diff --git a/app/src/routes/peripherals/servo/servos.svelte b/app/src/routes/peripherals/servo/servos.svelte
index e48a991..a3c54cb 100644
--- a/app/src/routes/peripherals/servo/servos.svelte
+++ b/app/src/routes/peripherals/servo/servos.svelte
@@ -1,75 +1,86 @@
 <script lang="ts">
-    import SettingsCard from '$lib/components/SettingsCard.svelte';
-    import type { ServoConfiguration, Servo } from '$lib/types/models';
-    import Spinner from '$lib/components/Spinner.svelte';
+  import SettingsCard from '$lib/components/SettingsCard.svelte'
+  import type { ServoConfiguration, Servo } from '$lib/types/models'
+  import Spinner from '$lib/components/Spinner.svelte'
 
-    import { socket } from '$lib/stores';
-    import { onDestroy, onMount } from 'svelte';
-    import { throttler as Throttler } from '$lib/utilities';
-    import { MotorOutline } from '$lib/components/icons';
+  import { socket } from '$lib/stores'
+  import { onDestroy, onMount } from 'svelte'
+  import { throttler as Throttler } from '$lib/utilities'
+  import { MotorOutline } from '$lib/components/icons'
 
-    let isLoading = false;
+  let isLoading = false
 
-    let active = $state(false);
+  let active = $state(false)
 
-    let servoId = $state(0);
+  let servoId = $state(0)
 
-    const throttler = new Throttler();
+  let allServos = $state(false)
 
-    const sweep = (event: any) => {
-        let channel = event.detail.channel;
-        socket.sendEvent('servoConfiguration', { servos: [{ channel, sweep: true }] });
-    };
+  const throttler = new Throttler()
 
-    const activateServo = (event: any) => {
-        socket.sendEvent('servoState', { active: 1 });
-    };
+  const sweep = (event: any) => {
+    let channel = event.detail.channel
+    socket.sendEvent('servoConfiguration', { servos: [{ channel, sweep: true }] })
+  }
 
-    const deactivateServo = (event: any) => {
-        socket.sendEvent('servoState', { active: 0 });
-    };
+  const activateServo = (event: any) => {
+    socket.sendEvent('servoState', { active: 1 })
+  }
 
-    let pwm = $state(306);
+  const deactivateServo = (event: any) => {
+    socket.sendEvent('servoState', { active: 0 })
+  }
 
-    const updatePWM = () => {
-        throttler.throttle(() => {
-            socket.sendEvent('servoPWM', { servo_id: servoId, pwm });
-        }, 10);
-    };
+  let pwm = $state(306)
+
+  const updatePWM = () => {
+    throttler.throttle(() => {
+      socket.sendEvent('servoPWM', { servo_id: servoId, pwm })
+    }, 10)
+  }
+
+  const toggleMode = () => {
+    servoId = allServos ? -1 : 0
+  }
 </script>
 
 <SettingsCard collapsible={false}>
-    {#snippet icon()}
-        <MotorOutline  class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
-    {/snippet}
-    {#snippet title()}
-        <span >Servo</span>
-    {/snippet}
-    {pwm}
-    <input
-        type="range"
-        min="80"
-        max="600"
-        bind:value={pwm}
-        oninput={updatePWM}
-        class="w-full h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700"
-    />
+  {#snippet icon()}
+    <MotorOutline class="lex-shrink-0 mr-2 h-6 w-6 self-end" />
+  {/snippet}
+  {#snippet title()}
+    <span>Servo</span>
+  {/snippet}
+  {pwm}
+  <input
+    type="range"
+    min="80"
+    max="600"
+    bind:value={pwm}
+    oninput={updatePWM}
+    class="w-full h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer dark:bg-gray-700" />
 
-    {#if isLoading}
-        <Spinner />
-    {:else}
-        <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>
-                <input type="range" min="0" max="11" step="1" bind:value={servoId} />
-                <input
-                    type="checkbox"
-                    class="toggle"
-                    bind:checked={active}
-                    onchange={active ? activateServo : deactivateServo}
-                />
-            </span>
-        </div>
-    {/if}
+  {#if isLoading}
+    <Spinner />
+  {:else}
+    <div class="flex flex-col">
+      <h2 class="text-lg">General servo configuration</h2>
+      <span>
+        <label for="mode">All servoes</label>
+        <input type="checkbox" class="toggle" bind:checked={allServos} onchange={toggleMode} />
+      </span>
+      <span>
+        <label for="active">Active</label>
+        <input
+          type="checkbox"
+          class="toggle"
+          bind:checked={active}
+          onchange={active ? activateServo : deactivateServo} />
+      </span>
+      <span class="flex items-center gap-2">
+        <label for="servoId">Servo active {servoId}</label>
+        <input type="range" min="0" max="11" step="1" bind:value={servoId} />
+      </span>
+    </div>
+  {/if}
 </SettingsCard>
diff --git a/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h b/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
index 3683fed..5b68a33 100644
--- a/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
+++ b/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
@@ -74,9 +74,15 @@ class ServoController : public StatefulService<ServoSettings> {
 
     void servoEvent(JsonObject &root, int originId) {
         control_state = SERVO_CONTROL_STATE::PWM;
-        uint8_t servo_id = root["servo_id"];
-        int pwm = root["pwm"].as<int>();
-        pcaWrite(servo_id, pwm);
+        int8_t servo_id = root["servo_id"];
+        uint16_t pwm = root["pwm"].as<uint16_t>();
+        if (servo_id < 0) {
+            uint16_t pwms[12];
+            std::fill_n(pwms, 12, pwm);
+            _pca.setMultiplePWM(pwms, 12);
+        } else {
+            _pca.setPWM(servo_id, 0, pwm);
+        }
         ESP_LOGI("SERVO_CONTROLLER", "Setting servo %d to %d", servo_id, pwm);
     }