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44 lines
1009 B
44 lines
1009 B
#include <Arduino.h>
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#include "esp32-hal-ledc.h"
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#include "semaphore.h"
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#include "driver/ledc.h"
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#include "hardware.h"
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#include "pusher.h"
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using namespace std;
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Pusher::Pusher(void) {
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xSemaphore = xSemaphoreCreateMutex();
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}
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void Pusher::setup(void) {
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ledcSetup(channel, 50, TIMER_WIDTH);
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for(int pin : SERVO_PINS) {
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if (xSemaphoreTake(xSemaphore, TIMEOUT) == pdTRUE) {
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ledcAttachPin(pin, channel);
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ledcWrite(channel, MAX_PULSE_WIDTH);
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delay(500);
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ledcDetachPin(pin);
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xSemaphoreGive(xSemaphore);
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Serial.print("configured pin ");
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Serial.println(pin);
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}
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}
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}
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void Pusher::push(int num) {
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if (xSemaphoreTake(xSemaphore, TIMEOUT) == pdTRUE) {
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int pin = SERVO_PINS[num];
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// ledcSetup(channel, 50, TIMER_WIDTH);
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ledcAttachPin(pin, channel);
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ledcWrite(channel, MIN_PULSE_WIDTH);
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delay(1000);
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ledcWrite(channel, MAX_PULSE_WIDTH);
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delay(1000);
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ledcDetachPin(pin);
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xSemaphoreGive(xSemaphore);
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} else {
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return;
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}
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}
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