mirror of
https://github.com/esphome/esphome.git
synced 2024-12-03 12:14:13 +01:00
79 lines
2.8 KiB
C++
79 lines
2.8 KiB
C++
#include "servo.h"
|
|
#include "esphome/core/log.h"
|
|
|
|
namespace esphome {
|
|
namespace servo {
|
|
|
|
static const char *const TAG = "servo";
|
|
|
|
uint32_t global_servo_id = 1911044085ULL; // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)
|
|
|
|
void Servo::dump_config() {
|
|
ESP_LOGCONFIG(TAG, "Servo:");
|
|
ESP_LOGCONFIG(TAG, " Idle Level: %.1f%%", this->idle_level_ * 100.0f);
|
|
ESP_LOGCONFIG(TAG, " Min Level: %.1f%%", this->min_level_ * 100.0f);
|
|
ESP_LOGCONFIG(TAG, " Max Level: %.1f%%", this->max_level_ * 100.0f);
|
|
ESP_LOGCONFIG(TAG, " auto detach time: %d ms", this->auto_detach_time_);
|
|
ESP_LOGCONFIG(TAG, " run duration: %d ms", this->transition_length_);
|
|
}
|
|
|
|
void Servo::loop() {
|
|
// check if auto_detach_time_ is set and servo reached target
|
|
if (this->auto_detach_time_ && this->state_ == STATE_TARGET_REACHED) {
|
|
if (millis() - this->start_millis_ > this->auto_detach_time_) {
|
|
this->detach();
|
|
this->start_millis_ = 0;
|
|
this->state_ = STATE_DETACHED;
|
|
ESP_LOGD(TAG, "Servo detached on auto_detach_time");
|
|
}
|
|
}
|
|
if (this->target_value_ != this->current_value_ && this->state_ == STATE_ATTACHED) {
|
|
if (this->transition_length_) {
|
|
float new_value;
|
|
float travel_diff = this->target_value_ - this->source_value_;
|
|
uint32_t target_runtime = abs((int) ((travel_diff) * this->transition_length_ * 1.0f / 2.0f));
|
|
uint32_t current_runtime = millis() - this->start_millis_;
|
|
float percentage_run = current_runtime * 1.0f / target_runtime * 1.0f;
|
|
if (percentage_run > 1.0f) {
|
|
percentage_run = 1.0f;
|
|
}
|
|
new_value = this->target_value_ - (1.0f - percentage_run) * (this->target_value_ - this->source_value_);
|
|
this->internal_write(new_value);
|
|
} else {
|
|
this->internal_write(this->target_value_);
|
|
}
|
|
}
|
|
if (this->target_value_ == this->current_value_ && this->state_ == STATE_ATTACHED) {
|
|
this->state_ = STATE_TARGET_REACHED;
|
|
this->start_millis_ = millis(); // set current stamp for potential auto_detach_time_ check
|
|
ESP_LOGD(TAG, "Servo reached target");
|
|
}
|
|
}
|
|
|
|
void Servo::write(float value) {
|
|
value = clamp(value, -1.0f, 1.0f);
|
|
if (this->target_value_ == value)
|
|
this->internal_write(value);
|
|
this->target_value_ = value;
|
|
this->source_value_ = this->current_value_;
|
|
this->state_ = STATE_ATTACHED;
|
|
this->start_millis_ = millis();
|
|
ESP_LOGD(TAG, "Servo new target: %f", value);
|
|
}
|
|
|
|
void Servo::internal_write(float value) {
|
|
value = clamp(value, -1.0f, 1.0f);
|
|
float level;
|
|
if (value < 0.0)
|
|
level = lerp(-value, this->idle_level_, this->min_level_);
|
|
else
|
|
level = lerp(value, this->idle_level_, this->max_level_);
|
|
this->output_->set_level(level);
|
|
if (this->target_value_ == this->current_value_) {
|
|
this->save_level_(level);
|
|
}
|
|
this->current_value_ = value;
|
|
}
|
|
|
|
} // namespace servo
|
|
} // namespace esphome
|