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mechanical-dog-bot
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更新舵机库，外放函数

This commit is contained in:
Luthics 2022-11-12 19:36:48 +08:00
parent 86e240d375
commit 6de4a33e5c
3 changed files with 47 additions and 18 deletions
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3
include/servo.h
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@ -1,2 +1,3 @@
void servo_init();
void servo_loop();
void servo_loop();
void servo_deg(int servoid, int deg);

1
src/bt.cpp
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@ -1,4 +1,5 @@
#include <NimBLEDevice.h>
#include <bt.h>
#define SERVICE_UUID "4fafc201-1fb5-459e-8fcc-c5c9c331914b"
#define CHARACTERISTIC_UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8"

61
src/servo.cpp
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@ -1,5 +1,6 @@
#include <Arduino.h>
#include <ESP32Servo.h>
#include <servo.h>
Servo servo[8];
ESP32PWM pwm;
@ -16,29 +17,55 @@ void servo_init() {
ESP32PWM::allocateTimer(i);
servo[i].setPeriodHertz(50);
}
}
void servo_loop() {
for (int i = 0; i < 8; i++) {
servo[i].attach(servoPin[i], minUs, maxUs);
}
pwm.attachPin(27, 10000);
}
// for (int j = 0; j < 8; j++) {
// for (pos = 0; pos <= 180; pos += 1) {
// servo[j].write(pos);
// Serial.println(pos);
// delay(5);
// }
// for (pos = 0; pos <= 180; pos += 1) {
// servo[j].write(180 - pos);
// Serial.println(180 - pos);
// delay(5);
// }
void servo_loop() {
// servo_deg(8, 0);
// delay(5000);
// servo_deg(8, 180);
// delay(5000);
// for (int i = 0; i < 8; i++) {
// servo[i].attach(servoPin[i], minUs, maxUs);
// }
// pwm.attachPin(27, 10000);
// for (int j = 0; j < 8; j++) {
// for (pos = 0; pos <= 180; pos += 1) {
// servo[j].write(pos);
// Serial.println(pos);
// delay(5);
// }
// for (pos = 0; pos <= 180; pos += 1) {
// servo[j].write(180 - pos);
// Serial.println(180 - pos);
// delay(5);
// }
// }
for (int i = 0; i < 8; i++) {
servo[i].detach();
// for (int i = 0; i < 8; i++) {
// servo[i].detach();
// }
// pwm.detachPin(27);
}
void servo_deg(int servoid, int deg) {
if (deg < 0) {
deg = 0;
}
if (deg > 180) {
deg = 180;
}
if (servoid >= 8) {
for (int i = 0; i < 8; i++) {
servo[i].write(deg);
Serial.println(deg);
}
} else {
servo[servoid].write(deg);
Serial.println(deg);
}
pwm.detachPin(27);
}