botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

Servo control

Browse Source
This commit is contained in:
Johnathon Slightham
2025-07-15 10:59:48 -04:00
parent 219467fc1a
commit 4b968c0544
20 changed files with 309 additions and 531 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
main/LoopManager.cpp
View File

@@ -10,19 +10,16 @@
#include "esp_log.h"
#define ACTUATOR_CMD_TAG 5
[[noreturn]] void LoopManager::control_loop() {
const auto messaging_interface = std::make_unique<MessagingInterface>(std::make_unique<WifiManager>());
char buffer[512];
const auto actuator = ActuatorFactory::create_actuator(ConfigManager::get_module_type());
uint8_t buffer[512];
while (true) {
messaging_interface->recv(buffer, 512, 0, 1);
//std::cout << buffer << std::endl;
std::string s = std::format("num {} bo", ConfigManager::get_module_id());
messaging_interface->send(s.data(), s.size(), 0, 2, true);
ESP_LOGI("MEM", "Free internal RAM: %d", heap_caps_get_free_size(MALLOC_CAP_8BIT));
ESP_LOGI("MEM", "Free PSRAM: %d", heap_caps_get_free_size(MALLOC_CAP_SPIRAM));
messaging_interface->recv(reinterpret_cast<char *>(buffer), 512, PC_ADDR, ACTUATOR_CMD_TAG);
actuator->actuate(buffer);
}
}