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Work on sensor

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This commit is contained in:
Johnathon Slightham
2026-01-08 15:46:39 -05:00
parent f1b7c6fced
commit c289a641df
14 changed files with 165 additions and 67 deletions
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7
main/control/Servo1Actuator.cpp
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@@ -6,7 +6,9 @@
#include "AngleControlMessageBuilder.h"
#include "constants/module.h"
#include "driver/ledc.h"
#include "flatbuffers_generated/SensorMessage_generated.h"
#include "util/number_utils.h"
#include "SensorMessageBuilder.h"
#define LOW_DUTY 200
#define HIGH_DUTY 1000
@@ -41,8 +43,13 @@ void Servo1Actuator::actuate(uint8_t *cmd) {
const auto newDuty = util::mapRange<int32_t>(angleControlCmd->angle(), 0, 180,
LOW_DUTY, HIGH_DUTY);
m_target = angleControlCmd->angle();
std::cout << "actuating to " << angleControlCmd->angle() << std::endl;
ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, newDuty));
ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0));
}
std::vector<Flatbuffers::SensorValueInstance> Servo1Actuator::get_sensor_data() {
return {{m_target}};
}