Rune Harlyk
97 lines
3.5 KiB
C++
97 lines
3.5 KiB
C++
#ifndef ServoController_h
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#define ServoController_h
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#include <Adafruit_PWMServoDriver.h>
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#include <EventEndpoint.h>
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#include <FSPersistence.h>
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#include <HttpEndpoint.h>
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#include <SecurityManager.h>
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#include <StatefulService.h>
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#include <MathUtils.h>
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#include <Timing.h>
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#define EVENT_SERVO_CONFIGURATION_SETTINGS "servoPWM"
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#define EVENT_SERVO_STATE "servoState"
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class ServoController {
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public:
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ServoController(PsychicHttpServer *server, FS *fs, SecurityManager *securityManager, Peripherals *peripherals,
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EventSocket *socket)
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: _server(server), _securityManager(securityManager), _peripherals(peripherals), _socket(socket) {}
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void begin() {
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_socket->onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
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[&](JsonObject &root, int originId) { servoEvent(root, originId); });
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_socket->onEvent(EVENT_SERVO_STATE, [&](JsonObject &root, int originId) { stateUpdate(root, originId); });
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}
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void stateUpdate(JsonObject &root, int originId) {
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bool active = root["active"].as<bool>();
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ESP_LOGI("SERVOCONTROLLER", "Setting state %d", active);
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active ? activate() : deactivate();
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}
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void servoEvent(JsonObject &root, int originId) {
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uint8_t servo_id = root["servo_id"];
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uint16_t pwm = root["pwm"];
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center[servo_id] = pwm;
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ESP_LOGI("SERVO_CONTROLLER", "Setting servo %d to %d", servo_id, pwm);
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}
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void syncAngles(const String &originId) {
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char output[100];
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snprintf(output, sizeof(output), "[%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f]", angles[0],
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angles[1], angles[2], angles[3], angles[4], angles[5], angles[6], angles[7], angles[8], angles[9],
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angles[10], angles[11]);
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_socket->emit("angles", output, String(originId).c_str());
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}
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void deactivate() { _peripherals->pcaDeactivate(); }
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void activate() { _peripherals->pcaActivate(); }
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void updateActiveState() { is_active ? activate() : deactivate(); }
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void setAngles(float new_angles[12]) {
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for (int i = 0; i < 12; i++) {
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target_angles[i] = new_angles[i];
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}
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}
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void updateServoState() {
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for (int i = 0; i < 12; i++) {
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angles[i] = lerp(angles[i], target_angles[i], 0.2);
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float angle = dir[i] * angles[i] + center_angle_deg[i];
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uint16_t pwm = angle * servo_conversion[i] + center[i];
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if (pwm < 125 || pwm > 600) {
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ESP_LOGE("ServoController", "Servo %d, Invalid PWM value %d", i, pwm);
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continue;
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}
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_peripherals->pcaWrite(i, pwm);
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}
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}
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void loop() {
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EXECUTE_EVERY_N_MS(ServoInterval, { updateServoState(); });
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}
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private:
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PsychicHttpServer *_server;
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SecurityManager *_securityManager;
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Peripherals *_peripherals;
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EventSocket *_socket;
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bool is_active {true};
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constexpr static int ServoInterval = 2;
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float center[12] = {306, 306, 306, 306, 306, 306, 306, 306, 306, 306, 306, 306};
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float dir[12] = {-1, 1, 1, -1, -1, -1, 1, 1, 1, 1, -1, -1};
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float center_angle_deg[12] = {0, -45, 90, 0, 45, -90, 0, -45, 90, 0, 45, -90};
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float angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
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float target_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
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const float servo_conversion[12] {2.2, 2.1055555, 1.96923, 2.2, 2.1055555, 1.96923,
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2.2, 2.1055555, 1.96923, 2.2, 2.1055555, 1.96923};
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};
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#endif |