Added missing flags from ISR, fixed include issues

include/encoder.cpp

@@ -50,6 +50,7 @@ void IRAM_ATTR Encoder::isr_handler(void* arg)
     if (calibListen) servoCalibListen();
     if (encoder->feedWDog) esp_timer_restart(encoder->watchdog_handle, 500000);
     if (encoder->wandListen) servoWandListen();
+    if (encoder->serverListen) servoServerListen();
   }
   else if (encoder->last_count_base < 0) {
     encoder->count -= 1;
@@ -57,6 +58,7 @@ void IRAM_ATTR Encoder::isr_handler(void* arg)
     if (calibListen) servoCalibListen();
     if (encoder->feedWDog) esp_timer_restart(encoder->watchdog_handle, 500000);
     if (encoder->wandListen) servoWandListen();
+    if (encoder->serverListen) servoServerListen();
   }
   
   encoder->last_state_a = current_a;

include/servo.cpp

@@ -10,16 +10,13 @@ std::atomic<bool> calibListen{false};
 std::atomic<int32_t> baseDiff{0};
 std::atomic<int32_t> target{0};
 
-Encoder* topEnc = nullptr;
-Encoder* bottomEnc = nullptr;
-
 std::atomic<bool> runningManual{false};
 std::atomic<bool> runningServer{false};
 std::atomic<bool> clearCalibFlag{false};
 std::atomic<bool> savePosFlag{false};
 std::atomic<bool> startLess{false};
 
-void servoInit(Encoder& bottom, Encoder& top) {
+void servoInit() {
   // LEDC timer configuration (C++ aggregate initialization)
   ledc_timer_config_t ledc_timer = {};
   ledc_timer.speed_mode = LEDC_LOW_SPEED_MODE;
@@ -40,9 +37,6 @@ void servoInit(Encoder& bottom, Encoder& top) {
   ledc_channel.hpoint = 0;
   ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
 
-  topEnc = &top;
-  bottomEnc = &bottom;
-
   // Configure servo power switch pin as output
   gpio_set_direction(servoSwitch, GPIO_MODE_OUTPUT);
   gpio_set_level(servoSwitch, 0); // Start with servo power off
@@ -203,12 +197,12 @@ void servoWandListen() {
     topEnc->wandListen = false;
   }
   else if (effDiff > 1) {
-    servoOn(CCW, manual);
     topEnc->wandListen = true;
+    servoOn(CCW, manual);
   }
   else if (effDiff < -1) {
-    servoOn(CW, manual);
     topEnc->wandListen = true;
+    servoOn(CW, manual);
   }
   else {
     servoOff();

include/servo.hpp

@@ -9,19 +9,14 @@
 #define server 1
 #define manual 0
 
-extern Encoder* topEnc;
-extern Encoder* bottomEnc;
 extern std::atomic<bool> calibListen;
-extern std::atomic<bool> runningManual;
-extern std::atomic<bool> runningServer;
 extern std::atomic<bool> clearCalibFlag;
 extern std::atomic<bool> savePosFlag;
-extern std::atomic<bool> startLess;
 
-extern std::atomic<int32_t> baseDiff;
+extern Encoder* topEnc;
-extern std::atomic<int32_t> target;
+extern Encoder* bottomEnc;
 
-void servoInit(Encoder& bottom, Encoder& top);
+void servoInit();
 void servoOn(uint8_t dir, uint8_t manOrServer);
 void servoOff();
 void servoMainSwitch(uint8_t onOff);
@@ -37,7 +32,7 @@ void servoSavePos();
 int32_t servoReadPos();
 void stopServerRun();
 void servoWandListen();
-
+void servoServerListen();
 void runToAppPos(uint8_t appPos);
 
 #endif

include/socketIO.cpp

@@ -296,28 +296,28 @@ static void emitSocketEvent(const char* eventName, cJSON* data) {
 }
 
 // Function to emit 'calib_done' as expected by your server
-void emitCalibDone(int port = 1) {
+void emitCalibDone(int port) {
   cJSON *data = cJSON_CreateObject();
   cJSON_AddNumberToObject(data, "port", port);
   emitSocketEvent("calib_done", data);
 }
 
 // Function to emit 'calib_stage1_ready' to notify server device is ready for tilt up
-void emitCalibStage1Ready(int port = 1) {
+void emitCalibStage1Ready(int port) {
   cJSON *data = cJSON_CreateObject();
   cJSON_AddNumberToObject(data, "port", port);
   emitSocketEvent("calib_stage1_ready", data);
 }
 
 // Function to emit 'calib_stage2_ready' to notify server device is ready for tilt down
-void emitCalibStage2Ready(int port = 1) {
+void emitCalibStage2Ready(int port) {
   cJSON *data = cJSON_CreateObject();
   cJSON_AddNumberToObject(data, "port", port);
   emitSocketEvent("calib_stage2_ready", data);
 }
 
 // Function to emit 'report_calib_status' to tell server device's actual calibration state
-void emitCalibStatus(bool calibrated, int port = 1) {
+void emitCalibStatus(bool calibrated, int port) {
   cJSON *data = cJSON_CreateObject();
   cJSON_AddNumberToObject(data, "port", port);
   cJSON_AddBoolToObject(data, "calibrated", calibrated);
@@ -325,7 +325,7 @@ void emitCalibStatus(bool calibrated, int port = 1) {
 }
 
 // Function to emit 'device_calib_error' to notify server of calibration failure
-void emitCalibError(const char* errorMessage, int port = 1) {
+void emitCalibError(const char* errorMessage, int port) {
   cJSON *data = cJSON_CreateObject();
   cJSON_AddNumberToObject(data, "port", port);
   cJSON_AddStringToObject(data, "message", errorMessage);
@@ -333,7 +333,7 @@ void emitCalibError(const char* errorMessage, int port = 1) {
 }
 
 // Function to emit 'pos_hit' to notify server of position change
-void emitPosHit(int pos, int port = 1) {
+void emitPosHit(int pos, int port) {
   cJSON *data = cJSON_CreateObject();
   cJSON_AddNumberToObject(data, "port", port);
   cJSON_AddNumberToObject(data, "pos", pos);

src/main.cpp

@@ -10,8 +10,10 @@
 #include "calibration.hpp"
 
 // Global encoder instances
-Encoder topEnc(ENCODER_PIN_A, ENCODER_PIN_B);
+Encoder* topEnc = new Encoder(ENCODER_PIN_A, ENCODER_PIN_B);
-Encoder bottomEnc(InputEnc_PIN_A, InputEnc_PIN_B);
+Encoder* bottomEnc = new Encoder(InputEnc_PIN_A, InputEnc_PIN_B);
+
+// Global encoder pointers (used by servo.cpp)
 
 // Global calibration instance
 Calibration calib;
@@ -30,15 +32,15 @@ void mainApp() {
   calib.init();
   
   // Initialize encoders
-  topEnc.init();
+  topEnc->init();
-  bottomEnc.init();
+  bottomEnc->init();
-  servoInit(bottomEnc, topEnc);
+  servoInit();
 
   setupLoop();
   
   statusResolved = false;
 
-  int32_t prevCount = topEnc.getCount();
+  int32_t prevCount = topEnc->getCount();
   
   // Main loop
   while (1) {
@@ -63,7 +65,7 @@ void mainApp() {
       savePosFlag = false;
 
       // Send position update to server
-      uint8_t currentAppPos = calib.convertToAppPos(topEnc.getCount());
+      uint8_t currentAppPos = calib.convertToAppPos(topEnc->getCount());
       emitPosHit(currentAppPos);
       
       printf("Sent pos_hit: position %d\n", currentAppPos);