adipu/Blinds_XIAO
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add bottom encoder stuff

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This commit is contained in:
pulipakaa24
2026-01-08 17:59:33 -06:00
parent 254b7aec7b
commit e437c32c28
1 changed files with 24 additions and 11 deletions
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35
include/servo.cpp
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@@ -292,23 +292,16 @@ void servoControlTask(void* arg) {
// Handle calibration listening // Handle calibration listening
if (calibListen) { if (calibListen) {
int32_t effDiff = (bottomEnc->getCount() - topEnc->getCount()) - baseDiff; servoCalibListen();
if (effDiff > 1) {
servoOn(CCW, manual);
}
else if (effDiff < -1) {
servoOn(CW, manual);
}
else {
servoOff();
}
} }
// Only process top encoder events for watchdog and listeners // Only process top encoder events for watchdog and listeners
if (enc_event.is_top_encoder) { if (enc_event.is_top_encoder) {
// Feed watchdog in task context (not ISR) // Feed watchdog in task context (not ISR)
if (topEnc->feedWDog) { if (topEnc->feedWDog) {
esp_timer_restart(topEnc->watchdog_handle, 500000); esp_timer_stop(topEnc->watchdog_handle);
esp_timer_start_once(topEnc->watchdog_handle, 500000);
debugLEDTgl();
} }
// Check wand listener - now safe in task context // Check wand listener - now safe in task context
@@ -321,6 +314,26 @@ void servoControlTask(void* arg) {
servoServerListen(); servoServerListen();
} }
} }
// Only process top encoder events for watchdog and listeners
else {
// Feed watchdog in task context (not ISR)
if (bottomEnc->feedWDog) {
esp_timer_stop(bottomEnc->watchdog_handle);
esp_timer_start_once(bottomEnc->watchdog_handle, 500000);
debugLEDTgl();
}
// Check wand listener - now safe in task context
if (bottomEnc->wandListen) {
servoWandListen();
}
// Check server listener - now safe in task context
if (bottomEnc->serverListen) {
servoServerListen();
}
}
} }
// Check for direct servo commands (lower priority) // Check for direct servo commands (lower priority)