adipu/Blinds_XIAO
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Merge branch 'main' into TaskDrivenTrial

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This commit is contained in:
Aditya Pulipaka
2026-01-07 18:32:43 -06:00
committed by GitHub
parent c56e6ab5f3 3ccd1705f0
commit d77431c5a4
6 changed files with 180 additions and 79 deletions
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68
include/servo.cpp
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@@ -41,8 +41,14 @@ void servoInit() {
gpio_set_direction(servoSwitch, GPIO_MODE_OUTPUT);
gpio_set_level(servoSwitch, 0); // Start with servo power off
// Configure debug LED pin as output
gpio_reset_pin(GPIO_NUM_22);
gpio_set_direction(debugLED, GPIO_MODE_OUTPUT);
gpio_set_level(debugLED, 0); // Start with LED off
topEnc->count = servoReadPos();
if (Calibration::getCalibrated()) initMainLoop();
debugLEDSwitch(1);
}
void servoOn(uint8_t dir, uint8_t manOrServer) {
@@ -65,13 +71,22 @@ void servoMainSwitch(uint8_t onOff) {
gpio_set_level(servoSwitch, onOff ? 1 : 0);
}
void debugLEDSwitch(uint8_t onOff) {
gpio_set_level(debugLED, onOff ? 1 : 0);
}
void debugLEDTgl() {
static bool onOff = false;
gpio_set_level(debugLED, onOff);
onOff = !onOff;
}
bool servoInitCalib() {
topEnc->pauseWatchdog();
// get ready for calibration by clearing all these listeners
bottomEnc->wandListen = false;
topEnc->wandListen = false;
topEnc->serverListen = false;
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 (!Calibration::clearCalibrated()) return false;
if (topEnc == nullptr || bottomEnc == nullptr) {
printf("ERROR: CALIBRATION STARTED BEFORE SERVO INITIALIZATION\n");
@@ -82,11 +97,20 @@ bool servoInitCalib() {
return true;
}
void servoCancelCalib() {
calibListen = false;
servoOff();
}
void servoCalibListen() {
int32_t effDiff = (bottomEnc->getCount() - topEnc->getCount()) - baseDiff;
if (effDiff > 1) servoOn(CCW, manual);
else if (effDiff < -1) servoOn(CW, manual);
else servoOff();
else if (effDiff < -1) {
servoOn(CW, manual);
}
else {
servoOff();
}
}
bool servoBeginDownwardCalib() {
@@ -111,7 +135,7 @@ bool servoCompleteCalib() {
void initMainLoop() {
topEnc->setupWatchdog();
servoSavePos();
bottomEnc->wandListen = true;
bottomEnc->wandListen.store(true, std::memory_order_release);
}
void IRAM_ATTR watchdogCallback(void* arg) {
@@ -123,9 +147,9 @@ void IRAM_ATTR watchdogCallback(void* arg) {
topEnc->pauseWatchdog();
// get ready for recalibration by clearing all these listeners
bottomEnc->wandListen = false;
topEnc->wandListen = false;
topEnc->serverListen = false;
bottomEnc->wandListen.store(false, std::memory_order_release);
topEnc->wandListen.store(false, std::memory_order_release);
topEnc->serverListen.store(false, std::memory_order_release);
servoOff();
}
else {
@@ -174,7 +198,7 @@ int32_t servoReadPos() {
void stopServerRun() {
// stop listener and stop running if serverRun is still active.
topEnc->serverListen = false;
topEnc->serverListen.store(false, std::memory_order_release);
if (runningServer) servoOff();
}
@@ -203,21 +227,27 @@ void servoWandListen() {
// if effective difference is 0, stop servo and servo-listener
// otherwise, run servo in whichever direction necessary and
// ensure servo-listener is active.
if (abs(topCount - upBound) <= 1 || abs(topCount - downBound) <= 1) {
if (topCount >= (MAX(upBound, downBound) - 1)
&& effDiff > 1) { // TODO: see whether these margins need to be removed.
servoOff();
topEnc->wandListen = false;
topEnc->wandListen.store(false, std::memory_order_release);
}
else if (topCount <= (MIN(upBound, downBound) + 1)
&& effDiff < -1) {
servoOff();
topEnc->wandListen.store(false, std::memory_order_release);
}
else if (effDiff > 1) {
topEnc->wandListen = true;
topEnc->wandListen.store(true, std::memory_order_release);
servoOn(CCW, manual);
}
else if (effDiff < -1) {
topEnc->wandListen = true;
topEnc->wandListen.store(true, std::memory_order_release);
servoOn(CW, manual);
}
else {
servoOff();
topEnc->wandListen = false;
topEnc->wandListen.store(false, std::memory_order_release);
}
}
@@ -234,16 +264,18 @@ void runToAppPos(uint8_t appPos) {
if (runningManual || !Calibration::getCalibrated()) return;
servoOff();
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
vTaskDelay(pdMS_TO_TICKS(500));
int32_t topCount = topEnc->getCount();
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
if (startLess) servoOn(CCW, server); // begin servo movement
else servoOn(CW, server);
topEnc->serverListen = true; // start listening for shutoff point
topEnc->serverListen.store(true, std::memory_order_release); // start listening for shutoff point
}
// Servo control task - processes encoder events and servo commands