mirror of
https://github.com/esphome/esphome.git
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ac0d921413
* Socket refactor and SSL * esp-idf temp * Fixes * Echo component and noise * Add noise API transport support * Updates * ESP-IDF * Complete * Fixes * Fixes * Versions update * New i2c APIs * Complete i2c refactor * SPI migration * Revert ESP Preferences migration, too complex for now * OTA support * Remove echo again * Remove ssl again * GPIOFlags updates * Rename esphal and ICACHE_RAM_ATTR * Make ESP32 arduino compilable again * Fix GPIO flags * Complete pin registry refactor and fixes * Fixes to make test1 compile * Remove sdkconfig file * Ignore sdkconfig file * Fixes in reviewing * Make test2 compile * Make test4 compile * Make test5 compile * Run clang-format * Fix lint errors * Use esp-idf APIs instead of btStart * Another round of fixes * Start implementing ESP8266 * Make test3 compile * Guard esp8266 code * Lint * Reformat * Fixes * Fixes v2 * more fixes * ESP-IDF tidy target * Convert ARDUINO_ARCH_ESPxx * Update WiFiSignalSensor * Update time ifdefs * OTA needs millis from hal * RestartSwitch needs delay from hal * ESP-IDF Uart * Fix OTA blank password * Allow setting sdkconfig * Fix idf partitions and allow setting sdkconfig from yaml * Re-add read/write compat APIs and fix esp8266 uart * Fix esp8266 store log strings in flash * Fix ESP32 arduino preferences not initialized * Update ifdefs * Change how sdkconfig change is detected * Add checks to ci-custom and fix them * Run clang-format * Add esp-idf clang-tidy target and fix errors * Fixes from clang-tidy idf round 2 * Fixes from compiling tests with esp-idf * Run clang-format * Switch test5.yaml to esp-idf * Implement ESP8266 Preferences * Lint * Re-do PIO package version selection a bit * Fix arduinoespressif32 package version * Fix unit tests * Lint * Lint fixes * Fix readv/writev not defined * Fix graphing component * Re-add all old options from core/config.py Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>
81 lines
2.8 KiB
C++
81 lines
2.8 KiB
C++
#include "servo.h"
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#include "esphome/core/log.h"
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#include "esphome/core/hal.h"
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namespace esphome {
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namespace servo {
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static const char *const TAG = "servo";
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uint32_t global_servo_id = 1911044085ULL; // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)
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void Servo::dump_config() {
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ESP_LOGCONFIG(TAG, "Servo:");
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ESP_LOGCONFIG(TAG, " Idle Level: %.1f%%", this->idle_level_ * 100.0f);
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ESP_LOGCONFIG(TAG, " Min Level: %.1f%%", this->min_level_ * 100.0f);
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ESP_LOGCONFIG(TAG, " Max Level: %.1f%%", this->max_level_ * 100.0f);
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ESP_LOGCONFIG(TAG, " auto detach time: %d ms", this->auto_detach_time_);
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ESP_LOGCONFIG(TAG, " run duration: %d ms", this->transition_length_);
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}
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void Servo::loop() {
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// check if auto_detach_time_ is set and servo reached target
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if (this->auto_detach_time_ && this->state_ == STATE_TARGET_REACHED) {
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if (millis() - this->start_millis_ > this->auto_detach_time_) {
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this->detach();
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this->start_millis_ = 0;
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this->state_ = STATE_DETACHED;
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ESP_LOGD(TAG, "Servo detached on auto_detach_time");
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}
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}
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if (this->target_value_ != this->current_value_ && this->state_ == STATE_ATTACHED) {
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if (this->transition_length_) {
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float new_value;
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float travel_diff = this->target_value_ - this->source_value_;
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uint32_t target_runtime = abs((int) ((travel_diff) * this->transition_length_ * 1.0f / 2.0f));
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uint32_t current_runtime = millis() - this->start_millis_;
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float percentage_run = current_runtime * 1.0f / target_runtime * 1.0f;
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if (percentage_run > 1.0f) {
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percentage_run = 1.0f;
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}
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new_value = this->target_value_ - (1.0f - percentage_run) * (this->target_value_ - this->source_value_);
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this->internal_write(new_value);
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} else {
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this->internal_write(this->target_value_);
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}
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}
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if (this->target_value_ == this->current_value_ && this->state_ == STATE_ATTACHED) {
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this->state_ = STATE_TARGET_REACHED;
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this->start_millis_ = millis(); // set current stamp for potential auto_detach_time_ check
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ESP_LOGD(TAG, "Servo reached target");
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}
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}
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void Servo::write(float value) {
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value = clamp(value, -1.0f, 1.0f);
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if (this->target_value_ == value)
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this->internal_write(value);
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this->target_value_ = value;
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this->source_value_ = this->current_value_;
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this->state_ = STATE_ATTACHED;
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this->start_millis_ = millis();
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ESP_LOGD(TAG, "Servo new target: %f", value);
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}
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void Servo::internal_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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if (this->target_value_ == this->current_value_) {
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this->save_level_(level);
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}
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this->current_value_ = value;
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}
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} // namespace servo
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} // namespace esphome
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