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fix servo restore (#6370)

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Samuel Sieb 2024-03-13 22:08:57 -07:00 committed by Jesse Hills
parent 76c4bfbed3
commit 92fbc61c46
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GPG key ID: BEAAE804EFD8E83A
2 changed files with 35 additions and 22 deletions
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35
esphome/components/servo/servo.cpp
View file

@ -19,13 +19,28 @@ void Servo::dump_config() {
ESP_LOGCONFIG(TAG, " run duration: %" PRIu32 " ms", this->transition_length_); ESP_LOGCONFIG(TAG, " run duration: %" PRIu32 " ms", this->transition_length_);
} }
void Servo::setup() {
float v;
if (this->restore_) {
this->rtc_ = global_preferences->make_preference<float>(global_servo_id);
global_servo_id++;
if (this->rtc_.load(&v)) {
this->target_value_ = v;
this->internal_write(v);
this->state_ = STATE_ATTACHED;
this->start_millis_ = millis();
return;
}
}
this->detach();
}
void Servo::loop() { void Servo::loop() {
// check if auto_detach_time_ is set and servo reached target // check if auto_detach_time_ is set and servo reached target
if (this->auto_detach_time_ && this->state_ == STATE_TARGET_REACHED) { if (this->auto_detach_time_ && this->state_ == STATE_TARGET_REACHED) {
if (millis() - this->start_millis_ > this->auto_detach_time_) { if (millis() - this->start_millis_ > this->auto_detach_time_) {
this->detach(); this->detach();
this->start_millis_ = 0; this->start_millis_ = 0;
this->state_ = STATE_DETACHED;
ESP_LOGD(TAG, "Servo detached on auto_detach_time"); ESP_LOGD(TAG, "Servo detached on auto_detach_time");
} }
} }
@ -54,8 +69,11 @@ void Servo::loop() {
void Servo::write(float value) { void Servo::write(float value) {
value = clamp(value, -1.0f, 1.0f); value = clamp(value, -1.0f, 1.0f);
if (this->target_value_ == value) if ((this->state_ == STATE_DETACHED) && (this->target_value_ == value)) {
this->internal_write(value); this->internal_write(value);
} else {
this->save_level_(value);
}
this->target_value_ = value; this->target_value_ = value;
this->source_value_ = this->current_value_; this->source_value_ = this->current_value_;
this->state_ = STATE_ATTACHED; this->state_ = STATE_ATTACHED;
@ -72,11 +90,18 @@ void Servo::internal_write(float value) {
level = lerp(value, this->idle_level_, this->max_level_); level = lerp(value, this->idle_level_, this->max_level_);
} }
this->output_->set_level(level); this->output_->set_level(level);
if (this->target_value_ == this->current_value_) {
this->save_level_(level);
}
this->current_value_ = value; this->current_value_ = value;
} }
void Servo::detach() {
this->state_ = STATE_DETACHED;
this->output_->set_level(0.0f);
}
void Servo::save_level_(float v) {
if (this->restore_)
this->rtc_.save(&v);
}
} // namespace servo } // namespace servo
} // namespace esphome } // namespace esphome

22
esphome/components/servo/servo.h
View file

@ -17,22 +17,8 @@ class Servo : public Component {
void loop() override; void loop() override;
void write(float value); void write(float value);
void internal_write(float value); void internal_write(float value);
void detach() { void detach();
this->output_->set_level(0.0f); void setup() override;
this->save_level_(0.0f);
}
void setup() override {
float v;
if (this->restore_) {
this->rtc_ = global_preferences->make_preference<float>(global_servo_id);
global_servo_id++;
if (this->rtc_.load(&v)) {
this->output_->set_level(v);
return;
}
}
this->detach();
}
void dump_config() override; void dump_config() override;
float get_setup_priority() const override { return setup_priority::DATA; } float get_setup_priority() const override { return setup_priority::DATA; }
void set_min_level(float min_level) { min_level_ = min_level; } void set_min_level(float min_level) { min_level_ = min_level; }
@ -42,8 +28,10 @@ class Servo : public Component {
void set_auto_detach_time(uint32_t auto_detach_time) { auto_detach_time_ = auto_detach_time; } void set_auto_detach_time(uint32_t auto_detach_time) { auto_detach_time_ = auto_detach_time; }
void set_transition_length(uint32_t transition_length) { transition_length_ = transition_length; } void set_transition_length(uint32_t transition_length) { transition_length_ = transition_length; }
bool has_reached_target() { return this->current_value_ == this->target_value_; }
protected: protected:
void save_level_(float v) { this->rtc_.save(&v); } void save_level_(float v);
output::FloatOutput *output_; output::FloatOutput *output_;
float min_level_ = 0.0300f; float min_level_ = 0.0300f;