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Code Issues Releases Wiki Activity

added slow mode and detach time to servo (#1413)

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* added slow mode and detach time to servo

* tidy

* and again tidy

* add change requests

* tidy

* tidy

* tidy

Co-authored-by: Andreas Hergert <andreas.hergert@otrs.com>
This commit is contained in:
Andreas Hergert
2021-01-03 21:57:30 +01:00
committed by GitHub
parent e49b568fd4
commit 16d11be213
3 changed files with 81 additions and 13 deletions
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58
esphome/components/servo/servo.cpp
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@@ -13,6 +13,64 @@ void Servo::dump_config() {
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 = 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);
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