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86 lines
2.2 KiB
C++
86 lines
2.2 KiB
C++
#pragma once
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#include "esphome/core/component.h"
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#include "esphome/core/automation.h"
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#include "esphome/core/helpers.h"
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#include "esphome/core/preferences.h"
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#include "esphome/components/output/float_output.h"
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namespace esphome {
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namespace servo {
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extern uint32_t global_servo_id;
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class Servo : public Component {
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public:
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void set_output(output::FloatOutput *output) { output_ = output; }
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void write(float value) {
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value = clamp(value, -1.0f, 1.0f);
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float level;
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if (value < 0.0)
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level = lerp(-value, this->idle_level_, this->min_level_);
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else
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level = lerp(value, this->idle_level_, this->max_level_);
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this->output_->set_level(level);
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this->save_level_(level);
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}
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void detach() {
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this->output_->set_level(0.0f);
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this->save_level_(0.0f);
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}
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void setup() override {
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float v;
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if (this->restore_) {
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this->rtc_ = global_preferences.make_preference<float>(global_servo_id);
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global_servo_id++;
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if (this->rtc_.load(&v)) {
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this->output_->set_level(v);
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return;
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}
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}
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this->detach();
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}
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void dump_config() override;
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float get_setup_priority() const override { return setup_priority::DATA; }
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void set_min_level(float min_level) { min_level_ = min_level; }
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void set_idle_level(float idle_level) { idle_level_ = idle_level; }
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void set_max_level(float max_level) { max_level_ = max_level; }
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void set_restore(bool restore) { restore_ = restore; }
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protected:
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void save_level_(float v) { this->rtc_.save(&v); }
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output::FloatOutput *output_;
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float min_level_ = 0.0300f;
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float idle_level_ = 0.0750f;
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float max_level_ = 0.1200f;
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bool restore_{false};
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ESPPreferenceObject rtc_;
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};
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template<typename... Ts> class ServoWriteAction : public Action<Ts...> {
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public:
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ServoWriteAction(Servo *servo) : servo_(servo) {}
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TEMPLATABLE_VALUE(float, value)
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void play(Ts... x) override { this->servo_->write(this->value_.value(x...)); }
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protected:
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Servo *servo_;
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};
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template<typename... Ts> class ServoDetachAction : public Action<Ts...> {
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public:
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ServoDetachAction(Servo *servo) : servo_(servo) {}
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void play(Ts... x) override { this->servo_->detach(); }
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protected:
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Servo *servo_;
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};
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} // namespace servo
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} // namespace esphome
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