130 lines
3.2 KiB
C++
130 lines
3.2 KiB
C++
//--------------------------------------------------------------
|
|
//-- Oscillator.pde
|
|
//-- Generate sinusoidal oscillations in the servos
|
|
//--------------------------------------------------------------
|
|
//-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011
|
|
//-- GPL license
|
|
//--------------------------------------------------------------
|
|
#if defined(ARDUINO) && ARDUINO >= 100
|
|
#include "Arduino.h"
|
|
#else
|
|
#include "WProgram.h"
|
|
#include <pins_arduino.h>
|
|
#endif
|
|
#include "Oscillator.h"
|
|
#include <ESP32_Servo.h>
|
|
|
|
//-- This function returns true if another sample
|
|
//-- should be taken (i.e. the TS time has passed since
|
|
//-- the last sample was taken
|
|
bool Oscillator::next_sample()
|
|
{
|
|
|
|
//-- Read current time
|
|
_currentMillis = millis();
|
|
|
|
//-- Check if the timeout has passed
|
|
if(_currentMillis - _previousMillis > _TS) {
|
|
_previousMillis = _currentMillis;
|
|
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
//-- Attach an oscillator to a servo
|
|
//-- Input: pin is the arduino pin were the servo
|
|
//-- is connected
|
|
void Oscillator::attach(int pin, bool rev)
|
|
{
|
|
//-- If the oscillator is detached, attach it.
|
|
//Serial.println("PANIIIIIIIIIIIIIIIIIC");
|
|
// Serial.println(!_servo.attached());
|
|
//if(!_servo.attached()){
|
|
|
|
//-- Attach the servo and move it to the home position
|
|
_servo.attach(pin);
|
|
_servo.write(90);
|
|
|
|
//-- Initialization of oscilaltor parameters
|
|
_TS=30;
|
|
_T=2000;
|
|
__N = _T/_TS;
|
|
_inc = 2*M_PI/__N;
|
|
|
|
_previousMillis=0;
|
|
|
|
//-- Default parameters
|
|
_A=45;
|
|
_phase=0;
|
|
_phase0=0;
|
|
_O=0;
|
|
_stop=false;
|
|
|
|
//-- Reverse mode
|
|
_rev = rev;
|
|
//}
|
|
|
|
}
|
|
|
|
//-- Detach an oscillator from his servo
|
|
void Oscillator::detach()
|
|
{
|
|
//-- If the oscillator is attached, detach it.
|
|
if(_servo.attached())
|
|
_servo.detach();
|
|
|
|
}
|
|
|
|
/*************************************/
|
|
/* Set the oscillator period, in ms */
|
|
/*************************************/
|
|
void Oscillator::SetT(unsigned int T)
|
|
{
|
|
//-- Assign the new period
|
|
_T=T;
|
|
|
|
//-- Recalculate the parameters
|
|
__N = _T/_TS;
|
|
_inc = 2*M_PI/__N;
|
|
};
|
|
|
|
/*******************************/
|
|
/* Manual set of the position */
|
|
/******************************/
|
|
|
|
void Oscillator::SetPosition(int position)
|
|
{
|
|
_servo.write(position+_trim);
|
|
};
|
|
|
|
|
|
/*******************************************************************/
|
|
/* This function should be periodically called */
|
|
/* in order to maintain the oscillations. It calculates */
|
|
/* if another sample should be taken and position the servo if so */
|
|
/*******************************************************************/
|
|
void Oscillator::refresh()
|
|
{
|
|
|
|
//-- Only When TS milliseconds have passed, the new sample is obtained
|
|
if (next_sample()) {
|
|
|
|
//-- If the oscillator is not stopped, calculate the servo position
|
|
if (!_stop) {
|
|
//-- Sample the sine function and set the servo pos
|
|
_pos = round(_A * sin(_phase + _phase0) + _O);
|
|
if (_rev) _pos=-_pos;
|
|
Serial.println(_pos+90+_trim);
|
|
_servo.write(_pos+90+_trim);
|
|
}
|
|
|
|
//-- Increment the phase
|
|
//-- It is always increased, even when the oscillator is stop
|
|
//-- so that the coordination is always kept
|
|
_phase = _phase + _inc;
|
|
|
|
}
|
|
}
|