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57 lines
1.8 KiB
C++
57 lines
1.8 KiB
C++
//
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// Created by Johnathon Slightham on 2025-07-15.
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//
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#include "control/Servo1Actuator.h"
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#include "AngleControlMessageBuilder.h"
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#include "SensorMessageBuilder.h"
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#include "constants/module.h"
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#include "driver/ledc.h"
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#include "flatbuffers_generated/SensorMessage_generated.h"
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#include "util/number_utils.h"
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#include "esp_log.h"
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#define LOW_DUTY 200
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#define HIGH_DUTY 1000
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#define PWM_FREQ 50 // 4khz
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Servo1Actuator::Servo1Actuator() {
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ledc_timer_config_t ledc_timer = {
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.speed_mode = LEDC_LOW_SPEED_MODE,
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.duty_resolution = LEDC_TIMER_13_BIT,
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.timer_num = LEDC_TIMER_0,
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.freq_hz = PWM_FREQ,
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.clk_cfg = LEDC_AUTO_CLK,
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};
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ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
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ledc_channel_config_t ledc_channel = {
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.gpio_num = SERVO_GPIO,
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.speed_mode = LEDC_LOW_SPEED_MODE,
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.channel = LEDC_CHANNEL_0,
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.intr_type = LEDC_INTR_DISABLE,
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.timer_sel = LEDC_TIMER_0,
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.duty = (HIGH_DUTY + LOW_DUTY) / 2, // move motor to midpoint initially
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.hpoint = 0,
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};
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ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
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}
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void Servo1Actuator::actuate(uint8_t *cmd) {
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const auto *angleControlCmd =
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Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(cmd);
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const auto newDuty =
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util::mapRange<int32_t>(angleControlCmd->angle(), 0, 180, LOW_DUTY, HIGH_DUTY);
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m_target = angleControlCmd->angle();
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ESP_LOGI("TMP", "actuating to %d", angleControlCmd->angle());
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ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, newDuty));
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ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0));
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}
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std::vector<Flatbuffers::sensor_value> Servo1Actuator::get_sensor_data() {
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return {Flatbuffers::target_angle{(int16_t)m_target}};
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}
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