Rune Harlyk
49 lines
2.1 KiB
C++
49 lines
2.1 KiB
C++
#pragma once
|
|
|
|
#include <ArduinoJson.h>
|
|
#include <template/state_result.h>
|
|
|
|
typedef struct {
|
|
float centerPwm;
|
|
float direction;
|
|
float centerAngle;
|
|
float conversion;
|
|
const char *name;
|
|
// bool enable;
|
|
} servo_settings_t;
|
|
|
|
class ServoSettings {
|
|
public:
|
|
servo_settings_t servos[12] = {
|
|
{306, -1, 0, 2.2, "Servo1"}, {306, 1, -45, 2.1055555, "Servo2"}, {306, 1, 90, 1.96923, "Servo3"},
|
|
{306, -1, 0, 2.2, "Servo4"}, {306, -1, 45, 2.1055555, "Servo5"}, {306, -1, -90, 1.96923, "Servo6"},
|
|
{306, 1, 0, 2.2, "Servo7"}, {306, 1, -45, 2.1055555, "Servo8"}, {306, 1, 90, 1.96923, "Servo9"},
|
|
{306, 1, 0, 2.2, "Servo10"}, {306, -1, 45, 2.1055555, "Servo11"}, {306, -1, -90, 1.96923, "Servo12"}};
|
|
static void read(ServoSettings &settings, JsonVariant &root) {
|
|
JsonArray servos = root["servos"].to<JsonArray>();
|
|
for (auto &servo : settings.servos) {
|
|
JsonVariant newServo = servos.add<JsonVariant>();
|
|
newServo["center_pwm"] = servo.centerPwm;
|
|
newServo["direction"] = servo.direction;
|
|
newServo["center_angle"] = servo.centerAngle;
|
|
newServo["conversion"] = servo.conversion;
|
|
}
|
|
}
|
|
static StateUpdateResult update(JsonVariant &root, ServoSettings &settings) {
|
|
if (root["servos"].is<JsonArray>()) {
|
|
JsonArray servosJson = root["servos"];
|
|
int i = 0;
|
|
for (auto servo : servosJson) {
|
|
JsonVariant servoObject = servo.as<JsonVariant>();
|
|
uint8_t servoId = i; // servoObject["id"].as<uint8_t>();
|
|
settings.servos[servoId].centerPwm = servoObject["center_pwm"].as<float>();
|
|
settings.servos[servoId].centerAngle = servoObject["center_angle"].as<float>();
|
|
settings.servos[servoId].direction = servoObject["direction"].as<float>();
|
|
settings.servos[servoId].conversion = servoObject["conversion"].as<float>();
|
|
i++;
|
|
}
|
|
}
|
|
ESP_LOGI("ServoController", "Updating servo data");
|
|
return StateUpdateResult::CHANGED;
|
|
};
|
|
}; |