adipu/Blinds_XIAO
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Save progress: pre-main-task, post-setup task-driven

Browse Source
This commit is contained in:
pulipakaa24
2026-01-10 22:48:24 -06:00
parent 0fd4db453d
commit a31c00ba45
10 changed files with 54 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
include/servo.cpp
View File

@@ -49,7 +49,7 @@ void servoInit() {
gpio_set_level(debugLED, 0); // Start with LED off
topEnc->count = servoReadPos();
if (calib.getCalibrated()) initMainLoop();
if (Calibration::getCalibrated()) initMainLoop();
debugLEDSwitch(1);
}
@@ -89,7 +89,7 @@ bool servoInitCalib() {
bottomEnc->wandListen.store(false, std::memory_order_release);
topEnc->wandListen.store(false, std::memory_order_release);
topEnc->serverListen.store(false, std::memory_order_release);
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;
@@ -119,7 +119,7 @@ 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;
@@ -129,7 +129,7 @@ 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;
}
@@ -205,8 +205,8 @@ 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();
@@ -259,10 +259,10 @@ 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();
target = calib.convertToTicks(appPos); // calculate target encoder position
target = Calibration::convertToTicks(appPos); // calculate target encoder position
printf("runToAppPos Called, running to %d from %d", target.load(), topEnc->getCount());
// allow servo position to settle