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.
46 lines
1000 B
46 lines
1000 B
#include <Arduino.h>
|
|
#include "esp32-hal-ledc.h"
|
|
#include "semaphore.h"
|
|
|
|
#include "hardware.h"
|
|
#include "pusher.h"
|
|
|
|
using namespace std;
|
|
|
|
Pusher::Pusher(void) {
|
|
xSemaphore = xSemaphoreCreateMutex();
|
|
}
|
|
|
|
void Pusher::setup(void) {
|
|
int channel = 1;
|
|
int pin = 22;
|
|
for(auto pin : SERVO_PINS) {
|
|
if (xSemaphoreTake(xSemaphore, TIMEOUT) == pdTRUE) {
|
|
ledcSetup(channel, 50, TIMER_WIDTH);
|
|
ledcAttachPin(pin, channel);
|
|
ledcWrite(channel, MAX_PULSE_WIDTH);
|
|
ledcDetachPin(pin);
|
|
xSemaphoreGive(xSemaphore);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Pusher::dispense(int num) {
|
|
if (xSemaphoreTake(xSemaphore, TIMEOUT) == pdTRUE) {
|
|
int channel = 1;
|
|
int pin = SERVO_PINS[num];
|
|
if (channel >= LEDC_NUM_CHANNELS) {
|
|
return;
|
|
}
|
|
|
|
ledcSetup(channel, 50, TIMER_WIDTH);
|
|
ledcAttachPin(pin, channel);
|
|
ledcWrite(channel, MIN_PULSE_WIDTH);
|
|
delay(1000);
|
|
ledcWrite(channel, MAX_PULSE_WIDTH);
|
|
delay(1000);
|
|
xSemaphoreGive(xSemaphore);
|
|
} else {
|
|
return;
|
|
}
|
|
}
|
|
|