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Добавляем тюнинг сервы и замещаем внутренний аналог на trackingID

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This commit is contained in:
Ilya Belyakov
2023-10-15 19:55:45 +03:00
parent 400d29bcf8
commit 49cd22a5dd
2 changed files with 38 additions and 29 deletions
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51
src/modules/exec/IoTServo/IoTServo.cpp
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@@ -9,37 +9,42 @@ extern IoTGpio IoTgpio;
class IoTServo : public IoTItem {
private:
Servo servObj;
int _apin, _oldValue;
int _locmap1, _locmap2, _locmap3, _locmap4;
// int _apin, _oldValue;
int _oldValue;
// int _locmap1, _locmap2, _locmap3, _locmap4;
public:
IoTServo(String parameters): IoTItem(parameters) {
int pin;
int pin, minAngle, maxAngle, minPulseWidth, maxPulseWidth;
jsonRead(parameters, "pin", pin);
servObj.attach(pin);
jsonRead(parameters, "minAngle", minAngle);
jsonRead(parameters, "maxAngle", maxAngle);
jsonRead(parameters, "minPulseWidth", minPulseWidth);
jsonRead(parameters, "maxPulseWidth", maxPulseWidth);
servObj.attach(pin, -1, minAngle, maxAngle, minPulseWidth, maxPulseWidth);
jsonRead(parameters, "apin", _apin);
if (_apin >= 0) IoTgpio.pinMode(_apin, INPUT);
// jsonRead(parameters, "apin", _apin);
// if (_apin >= 0) IoTgpio.pinMode(_apin, INPUT);
String map;
jsonRead(parameters, F("amap"), map, false);
if (map != "") {
_locmap1 = selectFromMarkerToMarker(map, ",", 0).toInt();
_locmap2 = selectFromMarkerToMarker(map, ",", 1).toInt();
_locmap3 = selectFromMarkerToMarker(map, ",", 2).toInt();
_locmap4 = selectFromMarkerToMarker(map, ",", 3).toInt();
}
// String map;
// jsonRead(parameters, F("amap"), map, false);
// if (map != "") {
// _locmap1 = selectFromMarkerToMarker(map, ",", 0).toInt();
// _locmap2 = selectFromMarkerToMarker(map, ",", 1).toInt();
// _locmap3 = selectFromMarkerToMarker(map, ",", 2).toInt();
// _locmap4 = selectFromMarkerToMarker(map, ",", 3).toInt();
// }
}
void doByInterval() {
if (_apin >= 0) {
value.valD = map(IoTgpio.analogRead(_apin), _locmap1, _locmap2, _locmap3, _locmap4);
if (abs(_oldValue - value.valD) > 5) {
_oldValue = value.valD;
servObj.write(_oldValue);
}
}
}
// void doByInterval() {
// if (_apin >= 0) {
// value.valD = map(IoTgpio.analogRead(_apin), _locmap1, _locmap2, _locmap3, _locmap4);
// if (abs(_oldValue - value.valD) > 5) {
// _oldValue = value.valD;
// servObj.write(_oldValue);
// }
// }
// }
IoTValue execute(String command, std::vector<IoTValue> &param) {
if (command == "rotate") {