adipu/Blinds_XIAO
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Static classes, enterprise networks properly handled

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This commit is contained in:
pulipakaa24
2026-01-04 11:43:23 -06:00
parent daced162ba
commit 636aaf64f8
8 changed files with 52 additions and 42 deletions
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16
include/servo.cpp
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@@ -42,7 +42,7 @@ void servoInit() {
gpio_set_level(servoSwitch, 0); // Start with servo power off
topEnc->count = servoReadPos();
if (calib.getCalibrated()) initMainLoop();
if (Calibration::getCalibrated()) initMainLoop();
}
void servoOn(uint8_t dir, uint8_t manOrServer) {
@@ -72,7 +72,7 @@ bool servoInitCalib() {
bottomEnc->wandListen = false;
topEnc->wandListen = false;
topEnc->serverListen = false;
if (!calib.clearCalibrated()) return false;
if (!Calibration::clearCalibrated()) return false;
if (topEnc == nullptr || bottomEnc == nullptr) {
printf("ERROR: CALIBRATION STARTED BEFORE SERVO INITIALIZATION\n");
return false;
@@ -93,7 +93,7 @@ bool servoBeginDownwardCalib() {
calibListen = false;
servoOff();
vTaskDelay(pdMS_TO_TICKS(1000));
if (!calib.beginDownwardCalib(*topEnc)) return false;
if (!Calibration::beginDownwardCalib(*topEnc)) return false;
baseDiff = bottomEnc->getCount() - topEnc->getCount();
calibListen = true;
return true;
@@ -103,7 +103,7 @@ bool servoCompleteCalib() {
calibListen = false;
servoOff();
vTaskDelay(pdMS_TO_TICKS(1000));
if (!calib.completeCalib(*topEnc)) return false;
if (!Calibration::completeCalib(*topEnc)) return false;
initMainLoop();
return true;
}
@@ -183,8 +183,8 @@ void servoWandListen() {
stopServerRun();
// freeze atomic values
int32_t upBound = calib.UpTicks;
int32_t downBound = calib.DownTicks;
int32_t upBound = Calibration::UpTicks;
int32_t downBound = Calibration::DownTicks;
int32_t bottomCount = bottomEnc->getCount();
int32_t topCount = topEnc->getCount();
@@ -231,13 +231,13 @@ void servoServerListen() {
void runToAppPos(uint8_t appPos) {
// manual control takes precedence over remote control, always.
// also do not begin operation if not calibrated;
if (runningManual || !calib.getCalibrated()) return;
if (runningManual || !Calibration::getCalibrated()) return;
servoOff();
// allow servo position to settle
vTaskDelay(pdMS_TO_TICKS(500));
int32_t topCount = topEnc->getCount();
target = calib.convertToTicks(appPos); // calculate target encoder position
target = Calibration::convertToTicks(appPos); // calculate target encoder position
if (abs(topCount - target) <= 1) return;
startLess = topCount < target;
if (runningManual) return; // check again before starting remote control