43 lines
989 B
C++
43 lines
989 B
C++
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#ifndef SERVO_H
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#define SERVO_H
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#include <atomic>
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#include "calibration.hpp"
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#include "encoder.hpp"
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#define CCW 1
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#define CW 0
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#define server 1
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#define manual 0
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extern Encoder* topEnc;
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extern Encoder* bottomEnc;
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extern std::atomic<bool> calibListen;
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extern std::atomic<bool> runningManual;
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extern std::atomic<bool> runningServer;
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extern std::atomic<bool> clearCalibFlag;
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extern std::atomic<bool> savePosFlag;
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extern std::atomic<bool> startLess;
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extern std::atomic<int32_t> baseDiff;
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extern std::atomic<int32_t> target;
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void servoInit(Encoder& bottom, Encoder& top);
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void servoOn(uint8_t dir, uint8_t manOrServer);
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void servoOff();
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void servoMainSwitch(uint8_t onOff);
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void servoSavePos();
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void servoCalibListen();
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bool servoInitCalib();
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bool servoBeginDownwardCalib();
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bool servoCompleteCalib();
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void initMainLoop();
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void watchdogCallback(void* arg);
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void servoSavePos();
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int32_t servoReadPos();
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void stopServerRun();
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void servoWandListen();
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void runToAppPos(uint8_t appPos);
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#endif
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