You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
|
|
|
|
#ifndef _PUSHER_H
|
|
|
|
|
#define _PUSHER_H
|
|
|
|
|
|
|
|
|
|
#include <cstdint>
|
|
|
|
|
#include "driver/ledc.h"
|
|
|
|
|
#include "semaphore.h"
|
|
|
|
|
|
|
|
|
|
static constexpr uint16_t MIN_PULSE_MS = 544; // the shortest pulse sent to a servo
|
|
|
|
|
static constexpr uint16_t MAX_PULSE_MS = 2400; // the longest pulse sent to a servo
|
|
|
|
|
static constexpr uint16_t DEFAULT_PULSE_MS = 1500; // default pulse width
|
|
|
|
|
|
|
|
|
|
static constexpr int TIMER_WIDTH = LEDC_TIMER_15_BIT;
|
|
|
|
|
static constexpr uint16_t MIN_PULSE_WIDTH = (1 << TIMER_WIDTH) * MIN_PULSE_MS / 20000; // the shortest pulse sent to a servo
|
|
|
|
|
static constexpr uint16_t MAX_PULSE_WIDTH = (1 << TIMER_WIDTH) * MAX_PULSE_MS / 20000; // the longest pulse sent to a servo
|
|
|
|
|
static constexpr uint16_t DEFAULT_PULSE_WIDTH = (1 << TIMER_WIDTH) * DEFAULT_PULSE_MS / 20000; // default pulse width
|
|
|
|
|
|
|
|
|
|
static constexpr uint8_t LEDC_NUM_CHANNELS = 8; // default pulse width
|
|
|
|
|
|
|
|
|
|
static constexpr TickType_t TIMEOUT = portMAX_DELAY;
|
|
|
|
|
|
|
|
|
|
class Pusher {
|
|
|
|
|
public:
|
|
|
|
|
Pusher(void);
|
|
|
|
|
void setup(void);
|
|
|
|
|
void push(int);
|
|
|
|
|
private:
|
|
|
|
|
volatile SemaphoreHandle_t xSemaphore;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
#endif /* _PUSHER_H */
|
