135 lines
2.8 KiB
C++
135 lines
2.8 KiB
C++
#ifndef Servo_ESP32_h
|
|
#define Servo_ESP32_h
|
|
|
|
#include <Arduino.h>
|
|
|
|
class Servo_ESP32 {
|
|
|
|
private:
|
|
|
|
uint8_t servoPin;
|
|
uint8_t pwmChannel;
|
|
int minPulseWidth;
|
|
int maxPulseWidth;
|
|
int currentAngle;
|
|
const int freq = 50; // 50Hz for standard servos
|
|
const int resolution = 16; // 16-bit resolution for smoother control
|
|
bool _invert = false;
|
|
uint8_t _min_pos = 0;
|
|
uint8_t _max_pos = 180;
|
|
uint8_t _init_pos = 90;
|
|
uint8_t _prv_pos = 0;
|
|
|
|
bool verify(uint8_t input) {
|
|
if (input != _prv_pos) {
|
|
_prv_pos = input;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
public:
|
|
|
|
Servo_ESP32() {}
|
|
|
|
Servo_ESP32(uint8_t pin, uint8_t channel, int minPulse = 500, int maxPulse = 2500) :
|
|
servoPin(pin), pwmChannel(channel), minPulseWidth(minPulse), maxPulseWidth(maxPulse), currentAngle(0) {}
|
|
|
|
void begin() {
|
|
ledcAttachChannel(servoPin, freq, resolution, pwmChannel);
|
|
write(_init_pos);
|
|
}
|
|
|
|
void setPin(uint8_t pin) {
|
|
servoPin = pin;
|
|
}
|
|
|
|
void invert() {
|
|
_invert = !_invert;
|
|
}
|
|
|
|
void setMin(uint8_t start) {
|
|
_min_pos = start;
|
|
}
|
|
|
|
void setMax(uint8_t stop) {
|
|
_max_pos = stop;
|
|
}
|
|
|
|
void setInit(uint8_t init) {
|
|
_init_pos = init;
|
|
}
|
|
|
|
void goMax() {
|
|
write(_max_pos);
|
|
}
|
|
|
|
void goMin() {
|
|
write(_min_pos);
|
|
}
|
|
|
|
void goInit() {
|
|
write(_init_pos);
|
|
}
|
|
|
|
void write(int angle) {
|
|
if (!verify(angle)) return;
|
|
|
|
currentAngle = _invert ? 180 - angle : angle;
|
|
currentAngle = constrain(currentAngle, 0, 180);
|
|
int dutyCycle = map(currentAngle, 0, 180,
|
|
minPulseWidth * (65536 / 20000),
|
|
maxPulseWidth * (65536 / 20000));
|
|
ledcWrite(pwmChannel, dutyCycle);
|
|
}
|
|
|
|
int read() {
|
|
return currentAngle;
|
|
}
|
|
|
|
void command(Stream &serial) {
|
|
serial.print("Enter position value: ");
|
|
while (!serial.available()) {}
|
|
if (serial.available()) {
|
|
String x = serial.readStringUntil('\n');
|
|
while (serial.available()) {
|
|
serial.read();
|
|
}
|
|
serial.println();
|
|
x.trim();
|
|
serial.println(x);
|
|
write(x.toInt());
|
|
}
|
|
}
|
|
|
|
void move(uint8_t pos) {
|
|
pos = constrain(pos, _min_pos, _max_pos);
|
|
write(pos);
|
|
}
|
|
|
|
void percent(uint8_t pos) {
|
|
pos = map(pos, 0, 100, _min_pos, _max_pos);
|
|
write(pos);
|
|
}
|
|
|
|
void sweep(uint8_t start, uint8_t stop, unsigned int mDelay) {
|
|
if (start < stop) {
|
|
for (int i = start; i <= stop; i++) {
|
|
move(i);
|
|
delay(mDelay);
|
|
}
|
|
} else if (start > stop) {
|
|
for (int i = start; i >= stop; i--) {
|
|
move(i);
|
|
delay(mDelay);
|
|
}
|
|
}
|
|
}
|
|
|
|
void override(uint8_t pos) {
|
|
write(pos);
|
|
}
|
|
|
|
};
|
|
|
|
#endif |