Run servo movement on different core

include/servo.h

@@ -65,7 +65,7 @@ public:
     /**
      * @brief Update the servo state periodically
      * 
-     * This function should be periodically called to update the servo state,
+     * This function will be periodically called to update the servo state,
      * specifically to release the button after the opening time has elapsed.
      * 
      * There is no required interval to call this function, but the accuracy of
@@ -78,16 +78,14 @@ public:
      */
     void pressButton();
 
-    /**
-     * Release the door opener button by moving the servo arm.
-     */
-    void releaseButton();
-
 private:
 
     // Indicator that the door button is pushed
     bool buttonIsPressed = false;
 
+    // Indicate that the button should be pressed
+    bool shouldPressButton = false;
+
     uint32_t openDuration = 0;
 
     int pressedValue = 0;
@@ -103,4 +101,12 @@ private:
     // PWM Module needed for the servo
     ESP32PWM pwm;
 
+    // The task on core 1 that resets the servo
+    TaskHandle_t servoResetTask;
+
+    /**
+     * Release the door opener button by moving the servo arm.
+     */
+    void releaseButton();
+
 };

src/controller.cpp

@@ -64,7 +64,6 @@ void SesameController::configure(ServoConfiguration servoConfig, ServerConfigura
 void SesameController::loop(uint32_t millis) {
     currentTime = millis;
     server.loop(millis);
-    servo.loop(millis);
 }
 
 // MARK: Local

src/servo.cpp

@@ -4,7 +4,28 @@
 
 ServoController::ServoController() { }
 
+void performReset(void * pvParameters) {
+    ServoController* servo = (ServoController *) pvParameters;
+    for(;;){
+        servo->loop(millis());
+        delay(50);
+    }
+}
+
 void ServoController::configure(ServoConfiguration configuration) {
+
+    // Create a task that runs on a different core,
+    // So that it's always executed
+    xTaskCreatePinnedToCore(
+                    performReset,   /* Task function. */
+                    "Servo",     /* name of task. */
+                    1000,       /* Stack size of task */
+                    this,        /* parameter of the task */
+                    1,           /* priority of the task */
+                    &servoResetTask,
+                    1);          /* pin task to core 1 */
+
+
     openDuration = configuration.openDuration;
     pressedValue = configuration.pressedValue;
     releasedValue = configuration.releasedValue;
@@ -15,9 +36,7 @@ void ServoController::configure(ServoConfiguration configuration) {
 }
 
 void ServoController::pressButton() {
-    servo.write(pressedValue);
+    shouldPressButton = true;
-    buttonIsPressed = true;
-    openingEndTime = millis() + openDuration;
 }
 
 void ServoController::releaseButton() {
@@ -26,7 +45,12 @@ void ServoController::releaseButton() {
 }
 
 void ServoController::loop(uint32_t millis) {
-    if (buttonIsPressed && millis > openingEndTime) {
+    if (shouldPressButton) {
+        servo.write(pressedValue);
+        openingEndTime = millis + openDuration;
+        buttonIsPressed = true;
+        shouldPressButton = false;
+    } else if (buttonIsPressed && millis > openingEndTime) {
         releaseButton();
     }
 }