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Address brent PR

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This commit is contained in:
brentru 2025-04-24 11:50:32 -04:00
parent 7589b78a94
commit 8c3dbdd14c
3 changed files with 38 additions and 25 deletions
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23
src/components/servo/controller.cpp
View file

@ -53,13 +53,13 @@ ServoController::~ServoController() {
*/
/**************************************************************************/
bool ServoController::Handle_Servo_Add(pb_istream_t *stream) {
if (!_servo_model->DecodeServoAdd(stream)) {
WS_DEBUG_PRINTLN("[servo] Error: Failed to decode ServoAdd message!");
if (_active_servo_pins >= MAX_SERVOS) {
WS_DEBUG_PRINTLN("[servo] Error: Maximum number of servos reached!");
return false;
}
if (_active_servo_pins >= MAX_SERVOS) {
WS_DEBUG_PRINTLN("[servo] Error: Maximum number of servos reached!");
if (!_servo_model->DecodeServoAdd(stream)) {
WS_DEBUG_PRINTLN("[servo] Error: Failed to decode ServoAdd message!");
return false;
}
@ -72,7 +72,7 @@ bool ServoController::Handle_Servo_Add(pb_istream_t *stream) {
bool did_attach = false;
did_attach = _servo_hardware[_active_servo_pins]->ServoAttach();
// Write the default minimum to a servo
// Write the pulse width to the servo
if (did_attach) {
_servo_hardware[_active_servo_pins]->ServoWrite(
(int)msg_add->min_pulse_width);
@ -80,7 +80,8 @@ bool ServoController::Handle_Servo_Add(pb_istream_t *stream) {
WS_DEBUG_PRINTLN(msg_add->servo_pin);
_active_servo_pins++;
} else {
WS_DEBUG_PRINTLN("[servo] Error: Failed to attach servo to pin!");
WS_DEBUG_PRINT("[servo] Error: Failed to attach servo to pin !");
WS_DEBUG_PRINT(msg_add->servo_pin);
delete _servo_hardware[_active_servo_pins];
_servo_hardware[_active_servo_pins] = nullptr;
}
@ -129,6 +130,11 @@ bool ServoController::Handle_Servo_Write(pb_istream_t *stream) {
*/
/**************************************************************************/
bool ServoController::Handle_Servo_Remove(pb_istream_t *stream) {
if (_active_servo_pins <= 0) {
WS_DEBUG_PRINTLN("[servo] Error: No active servos!");
return false;
}
if (!_servo_model->DecodeServoRemove(stream)) {
WS_DEBUG_PRINTLN("[servo] Error: Failed to decode ServoRemove message!");
return false;
@ -142,11 +148,6 @@ bool ServoController::Handle_Servo_Remove(pb_istream_t *stream) {
return false;
}
if (_active_servo_pins <= 0) {
WS_DEBUG_PRINTLN("[servo] Error: No active servos!");
return false;
}
// The destructor of ServoHardware will handle proper detachment
delete _servo_hardware[servo_idx];
_servo_hardware[servo_idx] = nullptr;

37
src/components/servo/hardware.cpp
View file

@ -86,12 +86,12 @@ bool ServoHardware::ServoDetach() {
*/
/**************************************************************************/
bool ServoHardware::ServoAttach() {
uint16_t rc = 255;
uint16_t rc;
// Attach the servo to the pin
#ifdef ARDUINO_ARCH_ESP32
if (!ledcAttach(_pin, _frequency, LEDC_TIMER_WIDTH)) {
rc = 255;
rc = ERROR_SERVO_ATTACH;
} else {
WS_DEBUG_PRINTLN("[servo:hw:L99] Servo attached to pin");
rc = 1;
@ -105,7 +105,7 @@ bool ServoHardware::ServoAttach() {
rc = _servo->attach(_pin, _min_pulse_width, _max_pulse_width);
#endif
if (rc == 255) {
if (rc == ERROR_SERVO_ATTACH) {
WS_DEBUG_PRINT("[servo] Error: Failed to attach servo to pin: ");
WS_DEBUG_PRINTLN(_pin);
return false;
@ -122,6 +122,24 @@ bool ServoHardware::ServoAttach() {
/**************************************************************************/
uint8_t ServoHardware::GetPin() { return _pin; }
/**************************************************************************/
/*!
@brief Clamps the pulse width to the min/max range
@param value
The value to clamp
@returns The clamped value
*/
/**************************************************************************/
int ServoHardware::ClampPulseWidth(int value) {
if (value < _min_pulse_width) {
value = _min_pulse_width;
}
if (value > _max_pulse_width) {
value = _max_pulse_width;
}
return value;
}
/**************************************************************************/
/*!
@brief Writes a value to the servo pin
@ -141,11 +159,7 @@ void ServoHardware::ServoWrite(int value) {
WS_DEBUG_PRINTLN("[servo] Error: Servo not attached!");
return;
}
// Clamp value to a valid pulse_width range
if (value < _min_pulse_width)
value = _min_pulse_width;
if (value > _max_pulse_width)
value = _max_pulse_width;
value = ClampPulseWidth(value);
_servo->writeMicroseconds(value);
WS_DEBUG_PRINT("[servo] Set Pulse Width: ");
WS_DEBUG_PRINT(value);
@ -164,11 +178,8 @@ void ServoHardware::ServoWrite(int value) {
*/
/**************************************************************************/
void ServoHardware::writeMicroseconds(int value) {
// Clamp value to a valid pulse_width range
if (value < _min_pulse_width)
value = _min_pulse_width;
if (value > _max_pulse_width)
value = _max_pulse_width;
// Clamp the value to the min/max range
value = ClampPulseWidth(value);
// Formula from ESP32Servo library
// https://github.com/madhephaestus/ESP32Servo/blob/master/src/ESP32Servo.cpp

3
src/components/servo/hardware.h
View file

@ -26,7 +26,7 @@
#include <Servo.h>
#endif
#define MIN_SERVO_PULSE_WIDTH 500 ///< Default min. servo pulse width of 500uS
#define ERROR_SERVO_ATTACH 255 ///< Error code for servo attach failure
/**************************************************************************/
/*!
@ -44,6 +44,7 @@ public:
private:
bool ServoDetach();
int ClampPulseWidth(int value);
#ifdef ARDUINO_ARCH_ESP32
// Mocks Servo library API for ESP32x's LEDC manager
// https://github.com/arduino-libraries/Servo/blob/master/src/Servo.h