107 lines
2.5 KiB
C++
107 lines
2.5 KiB
C++
#pragma once
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#include <stdint.h>
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#include <ESP32Servo.h> // To control the servo
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struct ServoConfiguration {
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/**
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* @brief The timer to use for the servo control
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* number 0-3 indicating which timer to allocate in this library
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*/
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int pwmTimer;
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/**
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* @brief The servo frequency (depending on the model used)
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*/
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int pwmFrequency;
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/**
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* @brief The pin where the servo PWM line is connected
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*/
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int pin;
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/**
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* @brief The duration (in ms) for which the button should remain pressed
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*/
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uint32_t openDuration;
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/**
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* @brief The servo value (in µs) that specifies the 'pressed' state
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*/
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int pressedValue;
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/**
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* @brief The servo value (in µs) that specifies the 'released' state
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*/
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int releasedValue;
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};
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/**
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* @brief A controller for the button control servo
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*
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* The controller simply configures the servo for operation,
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* and then sets the desired servo value for the 'pressed' and 'released' states.
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* The controller requires periodic updating through the `loop()` function
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* in order to release the button after the specified time.
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*
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*/
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class ServoController {
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public:
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/**
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* @brief Construct a new servo controller
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*
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* @param The configuration for the servo
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*/
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ServoController(ServoConfiguration configuration);
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/**
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* @brief Update the servo state periodically
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*
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* This function will be periodically called to update the servo state,
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* specifically to release the button after the opening time has elapsed.
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*
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* There is no required interval to call this function, but the accuracy of
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* the opening interval is dependent on the calling frequency.
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*/
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void loop(uint32_t millis);
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/**
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* Push the door opener button down by moving the servo arm.
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*/
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void pressButton();
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private:
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// Indicator that the door button is pushed
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bool buttonIsPressed = false;
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// Indicate that the button should be pressed
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bool shouldPressButton = false;
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uint32_t openDuration = 0;
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int pressedValue = 0;
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int releasedValue = 0;
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// The time (in ms since start) when the door opening should end
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uint32_t openingEndTime = 0;
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// Servo controller
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Servo servo;
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// PWM Module needed for the servo
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ESP32PWM pwm;
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// The task on core 1 that resets the servo
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TaskHandle_t servoResetTask;
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/**
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* Release the door opener button by moving the servo arm.
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*/
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void releaseButton();
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}; |