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Initial PlatformIO code.

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This commit is contained in:
Piv
2020-09-08 21:23:21 +09:30
parent 756e2741be
commit b72781e322
2 changed files with 26 additions and 7 deletions
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1
esp32/README.md
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@@ -16,7 +16,6 @@ The table below describes the byte format for calibrating a servo. This array of
| :---------- | ----------: | | :---------- | ----------: |
| 0 | Servo channel to set (this will be byte 0 when setting duty cycle, so don't use 0). | | 0 | Servo channel to set (this will be byte 0 when setting duty cycle, so don't use 0). |
| 1 | The pin number to setup | | 1 | The pin number to setup |
| 2 | The frequency for the pin |
The min/max pulse widths are hardcoded to 1000us/2000us respectively. The min/max pulse widths are hardcoded to 1000us/2000us respectively.

32
esp32/src/main.cpp
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@@ -3,7 +3,14 @@
#include <map> #include <map>
#include "Servo.h" #include "Servo.h"
std::map<uint8_t, Servo> servos; // Min/max widths, used to calculate min/max duty cycles.
#define MIN_PULSE_WIDTH 1000
#define MAX_PULSE_WIDTH 2000
#define MIN_ANGLE 0
#define MAX_ANGLE 255
std::map<uint8_t, Servo *> servos;
void setup() void setup()
{ {
@@ -15,13 +22,22 @@ void setupServos(uint8_t size, uint8_t *calibrationValues)
// We assume there are 3 bytes per servo. Ignore if there aren't. // We assume there are 3 bytes per servo. Ignore if there aren't.
if (size % 3 == 0) if (size % 3 == 0)
{ {
for (int i = 0; i < size; i += 3) for (int i = 0; i < size; i += 2)
{ {
servos.insert(std::make_pair(calibrationValues[i], new Servo())); Servo *newServo = new Servo();
newServo->attach(calibrationValues[i + 1], calibrationValues[i], MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
servos.insert(std::make_pair(calibrationValues[i], newServo));
} }
} }
} }
void modifyServo(uint8_t channel, uint8_t newAngle)
{
if(servos.count(channel) > 0){
servos[channel]->write(newAngle);
}
}
void loop() void loop()
{ {
uint8_t *header = new uint8_t[2]; uint8_t *header = new uint8_t[2];
@@ -29,11 +45,15 @@ void loop()
if (header[0] == 0) if (header[0] == 0)
{ {
uint8_t *calibration = new uint8_t[3 * header[1]]; uint8_t *calibration = new uint8_t[2 * header[1]];
Serial.readBytes(calibration, header[1]); Serial.readBytes(calibration, header[1]);
setupServos(header[1], calibration); setupServos(header[1], calibration);
delete calibration; delete [] calibration;
}
else
{
modifyServo(header[0], header[1]);
} }
delete header; delete [] header;
} }