Completed LedPin() and ServoPin()
Both classes check that total number of combined instantiations does not exceed 16. ServoPin() has additional limit of only 8 instantiations. DEPRECATED: PwmPin(). Keep for backwards compatibility only. TO DO: Update Tutorial Examples to replace PwmPin with LedPin, and update Extras.h documentations with LedPin and ServoPin.
This commit is contained in:
Gregg
parent
a8dff0a7de
commit
d49bca9bbe
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@ -1,97 +1,10 @@
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#include "PwmPin.h"
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PwmPin::PwmPin(uint8_t channel, uint8_t pin){
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this->channel=channel & 0x0F;
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this->pin=pin;
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ledc_timer_config_t ledTimer;
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ledTimer.timer_num=LEDC_TIMER_0;
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ledTimer.speed_mode=(this->channel)<8?LEDC_HIGH_SPEED_MODE:LEDC_LOW_SPEED_MODE;
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ledTimer.duty_resolution=LEDC_TIMER_10_BIT;
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ledTimer.freq_hz=5000;
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ledc_timer_config(&ledTimer);
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ledChannel.gpio_num=pin;
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ledChannel.speed_mode=(this->channel)<8?LEDC_HIGH_SPEED_MODE:LEDC_LOW_SPEED_MODE;
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ledChannel.channel=(ledc_channel_t)(this->channel&0x07);
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ledChannel.intr_type=LEDC_INTR_DISABLE;
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ledChannel.timer_sel=LEDC_TIMER_0;
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ledChannel.duty=0;
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ledChannel.hpoint=0;
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ledc_channel_config(&ledChannel);
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}
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void PwmPin::set(uint8_t level){
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ledChannel.duty=level*1023;
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ledChannel.duty/=100;
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ledChannel.duty&=0x03FF;
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ledc_channel_config(&ledChannel);
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}
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///////////////////
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void PwmPin::HSVtoRGB(float h, float s, float v, float *r, float *g, float *b ){
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// The algorithm below was provided on the web at https://www.cs.rit.edu/~ncs/color/t_convert.html
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// h = [0,360]
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// s = [0,1]
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// v = [0,1]
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int i;
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float f, p, q, t;
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if( s == 0 ){
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*r = *g = *b = v;
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return;
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}
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h /= 60;
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i = floor( h ) ;
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f = h - i;
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p = v * ( 1 - s );
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q = v * ( 1 - s * f );
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t = v * ( 1 - s * ( 1 - f ) );
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switch( i % 6 ) {
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case 0:
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*r = v;
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*g = t;
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*b = p;
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break;
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case 1:
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*r = q;
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*g = v;
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*b = p;
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break;
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case 2:
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*r = p;
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*g = v;
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*b = t;
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break;
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case 3:
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*r = p;
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*g = q;
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*b = v;
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break;
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case 4:
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*r = t;
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*g = p;
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*b = v;
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break;
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case 5:
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*r = v;
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*g = p;
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*b = q;
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break;
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}
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}
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///////////////////
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LedPin::LedPin(uint8_t pin, uint8_t level){
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if(numChannels>15){
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if(numChannels+ServoPin::numChannels>15){
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Serial.printf("\n*** ERROR: Can't create LedPin(%d) - no open PWM channels ***\n\n",pin);
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return;
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}
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@ -127,6 +40,7 @@ LedPin::LedPin(uint8_t pin, uint8_t level){
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ledChannel.hpoint=0;
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ledc_channel_config(&ledChannel);
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set(level);
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//Serial.printf("Configured LED on Pin %d using Channel %d in Speed Mode %d\n",ledChannel.gpio_num,ledChannel.channel,ledChannel.speed_mode);
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}
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///////////////////
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@ -201,9 +115,14 @@ void LedPin::HSVtoRGB(float h, float s, float v, float *r, float *g, float *b ){
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////////////////////////////
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ServoPin::ServoPin(uint8_t channel, uint8_t pin, double initDegrees, uint16_t minMicros, uint16_t maxMicros, double minDegrees, double maxDegrees){
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this->channel=channel & 0x07;
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this->pin=pin;
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ServoPin::ServoPin(uint8_t pin, double initDegrees, uint16_t minMicros, uint16_t maxMicros, double minDegrees, double maxDegrees){
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if(numChannels>7 || numChannels>(15-LedPin::numChannels)){
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Serial.printf("\n*** ERROR: Can't create ServoPin(%d) - no open PWM channels ***\n\n",pin);
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return;
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}
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enabled=true;
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this->minMicros=minMicros;
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this->maxMicros=maxMicros;
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this->minDegrees=minDegrees;
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@ -216,27 +135,129 @@ ServoPin::ServoPin(uint8_t channel, uint8_t pin, double initDegrees, uint16_t mi
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ledTimer.freq_hz=50;
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ledc_timer_config(&ledTimer);
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ledChannel.gpio_num=pin;
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ledChannel.speed_mode=LEDC_HIGH_SPEED_MODE;
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ledChannel.channel=(ledc_channel_t)(this->channel);
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ledChannel.intr_type=LEDC_INTR_DISABLE;
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ledChannel.timer_sel=LEDC_TIMER_1;
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ledChannel.hpoint=0;
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ledChannel.duty*=micros2duty;
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servoChannel.gpio_num=pin;
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servoChannel.speed_mode=LEDC_HIGH_SPEED_MODE;
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servoChannel.channel=(ledc_channel_t)numChannels++;
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servoChannel.intr_type=LEDC_INTR_DISABLE;
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servoChannel.timer_sel=LEDC_TIMER_1;
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servoChannel.hpoint=0;
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servoChannel.duty*=micros2duty;
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set(initDegrees);
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//Serial.printf("Configured Servo on Pin %d using Channel %d in Speed Mode %d\n",servoChannel.gpio_num,servoChannel.channel,servoChannel.speed_mode);
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}
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///////////////////
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void ServoPin::set(double degrees){
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ledChannel.duty=(degrees-minDegrees)*microsPerDegree+minMicros;
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if(!enabled)
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return;
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if(ledChannel.duty<minMicros)
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ledChannel.duty=minMicros;
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else if(ledChannel.duty>maxMicros)
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ledChannel.duty=maxMicros;
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servoChannel.duty=(degrees-minDegrees)*microsPerDegree+minMicros;
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ledChannel.duty*=micros2duty;
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ledc_channel_config(&ledChannel);
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if(servoChannel.duty<minMicros)
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servoChannel.duty=minMicros;
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else if(servoChannel.duty>maxMicros)
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servoChannel.duty=maxMicros;
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servoChannel.duty*=micros2duty;
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ledc_channel_config(&servoChannel);
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}
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////////////////////////////
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const double ServoPin::micros2duty=65535.0/20000.0;
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uint8_t LedPin::numChannels=0;
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uint8_t ServoPin::numChannels=0;
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//*******************************************************
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// DEPRECATED - INCLUDED FOR BACKWARDS COMPATIBILITY ONLY
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//*******************************************************
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PwmPin::PwmPin(uint8_t channel, uint8_t pin){
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this->channel=channel & 0x0F;
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this->pin=pin;
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ledc_timer_config_t ledTimer;
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ledTimer.timer_num=LEDC_TIMER_0;
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ledTimer.speed_mode=(this->channel)<8?LEDC_HIGH_SPEED_MODE:LEDC_LOW_SPEED_MODE;
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ledTimer.duty_resolution=LEDC_TIMER_10_BIT;
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ledTimer.freq_hz=5000;
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ledc_timer_config(&ledTimer);
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ledChannel.gpio_num=pin;
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ledChannel.speed_mode=(this->channel)<8?LEDC_HIGH_SPEED_MODE:LEDC_LOW_SPEED_MODE;
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ledChannel.channel=(ledc_channel_t)(this->channel&0x07);
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ledChannel.intr_type=LEDC_INTR_DISABLE;
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ledChannel.timer_sel=LEDC_TIMER_0;
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ledChannel.duty=0;
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ledChannel.hpoint=0;
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ledc_channel_config(&ledChannel);
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}
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///////////////////
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void PwmPin::set(uint8_t channel, uint8_t level){
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ledChannel.duty=level*1023;
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ledChannel.duty/=100;
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ledChannel.duty&=0x03FF;
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ledc_channel_config(&ledChannel);
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}
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///////////////////
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void PwmPin::HSVtoRGB(float h, float s, float v, float *r, float *g, float *b ){
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// The algorithm below was provided on the web at https://www.cs.rit.edu/~ncs/color/t_convert.html
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// h = [0,360]
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// s = [0,1]
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// v = [0,1]
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int i;
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float f, p, q, t;
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if( s == 0 ){
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*r = *g = *b = v;
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return;
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}
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h /= 60;
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i = floor( h ) ;
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f = h - i;
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p = v * ( 1 - s );
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q = v * ( 1 - s * f );
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t = v * ( 1 - s * ( 1 - f ) );
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switch( i % 6 ) {
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case 0:
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*r = v;
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*g = t;
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*b = p;
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break;
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case 1:
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*r = q;
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*g = v;
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*b = p;
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break;
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case 2:
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*r = p;
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*g = v;
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*b = t;
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break;
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case 3:
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*r = p;
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*g = q;
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*b = v;
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break;
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case 4:
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*r = t;
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*g = p;
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*b = v;
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break;
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case 5:
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*r = v;
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*g = p;
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*b = q;
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break;
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}
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}
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@ -1,16 +1,69 @@
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/////////////////////////////////////
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// PWM Pin Control //
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/////////////////////////////////////
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// A wrapper around the ESP-IDF ledc library to easily set the brightness of an LED from 0-100%.
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// Can be used for any device requiring a PWM output (not just an LED). Frequency of PWM
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// is hardcoded to 5000 Hz and either High-Speed Timer-0 (for channels 0-7) or Low-Speed Timer-0
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// for channels (8-15) is configured and selected automatically.
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/////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// ----- PWM Pin Control -----
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/////////////////////////////////////////////////////////////////////////////////////////////////////////////
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//
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// Wrappers around the ESP-IDF ledc library to control PWM-based devices:
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//
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// LedPin(pin) - controls a Dimmable LED on specified pin with frequency=5000 Hz
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// - use set(level) to set brightness from 0-100%
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//
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// ServoPin(pin) - controls a Servo Motor on specified pin with frequency=50 Hz
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// - use set(degrees) to set position to degrees
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//
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// Max number of LedPin instantiations: 16
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// Max number of ServoPin instantiatons: 8
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// Max combined limit (LedPins+ServoPins): 16
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//
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// Instantiation of an LedPin or ServoPin that causes any of the maximums above to be exceeded throws
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// an error message. The object will still be created, but calls to set(level) or set(degrees) are ignored.
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//
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/////////////////////////////////////////////////////////////////////////////////////////////////////////////
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#include <Arduino.h>
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#include <driver/ledc.h>
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/////////////////////////////////////
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class LedPin {
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boolean enabled=false;
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ledc_channel_config_t ledChannel;
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public:
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LedPin(uint8_t pin, uint8_t level=0); // assigns pin to be output of one of 16 PWM channels within initial level
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void set(uint8_t level); // sets the PWM duty to level (0-100)
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int getPin(){return ledChannel.gpio_num;} // returns the pin number
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static uint8_t numChannels;
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static void HSVtoRGB(float h, float s, float v, float *r, float *g, float *b ); // converts Hue/Saturation/Brightness to R/G/B
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};
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/////////////////////////////////////
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class ServoPin {
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boolean enabled=false;
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uint16_t minMicros;
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uint16_t maxMicros;
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double minDegrees;
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double microsPerDegree;
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ledc_channel_config_t servoChannel;
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static const double micros2duty;
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public:
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ServoPin(uint8_t pin, double initDegrees, uint16_t minMicros, uint16_t maxMicros, double minDegrees, double maxDegrees);
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ServoPin(uint8_t pin, double initDegrees=0) : ServoPin(pin,initDegrees,1000,2000,-90,90) {};
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void set(double degrees); // sets the Servo to degrees, where degrees is bounded by [minDegrees,maxDegrees]
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int getPin(){return servoChannel.gpio_num;} // returns the pin number
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static uint8_t numChannels;
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};
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//*******************************************************
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// DEPRECATED - INCLUDED FOR BACKWARDS COMPATIBILITY ONLY
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//*******************************************************
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class PwmPin {
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uint8_t channel;
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uint8_t pin;
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@ -18,48 +71,8 @@ class PwmPin {
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public:
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PwmPin(uint8_t channel, uint8_t pin); // assigns pin to be output of one of 16 PWM channels (0-15)
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void set(uint8_t level); // sets the PWM duty to level (0-100)
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void set(uint8_t channel, uint8_t level){set(level);} // sets the PWM duty to level (0-100) - deprecated, but defined for backwards compatibility
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void set(uint8_t channel, uint8_t level); // sets the PWM duty to level (0-100)
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int getPin(){return pin;} // returns the pin number
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static void HSVtoRGB(float h, float s, float v, float *r, float *g, float *b ); // converts Hue/Saturation/Brightness to R/G/B
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};
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/////////////////////////////////////
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class LedPin {
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boolean enabled=false;
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ledc_channel_config_t ledChannel;
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static uint8_t numChannels;
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public:
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LedPin(uint8_t pin, uint8_t level=0); // assigns pin to be output of one of 16 PWM channels within initial level
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void set(uint8_t level); // sets the PWM duty to level (0-100)
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int getPin(){return ledChannel.gpio_num;} // returns the pin number
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static void HSVtoRGB(float h, float s, float v, float *r, float *g, float *b ); // converts Hue/Saturation/Brightness to R/G/B
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};
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/////////////////////////////////////
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class ServoPin {
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uint8_t channel; // channel must be in range [0,7] (only HighSpeed Channels will be used)
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uint8_t pin;
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uint16_t minMicros;
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uint16_t maxMicros;
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double minDegrees;
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double microsPerDegree;
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ledc_channel_config_t ledChannel;
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static const double micros2duty;
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public:
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ServoPin(uint8_t channel, uint8_t pin, double initDegrees, uint16_t minMicros, uint16_t maxMicros, double minDegrees, double maxDegrees);
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ServoPin(uint8_t channel, uint8_t pin, double initDegrees=0) : ServoPin(channel,pin,initDegrees,1000,2000,-90,90) {};
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void set(double degrees); // sets the Servo to degrees, where degrees is bounded by [minDegrees,maxDegrees]
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int getPin(){return pin;} // returns the pin number
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};
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@ -5,7 +5,7 @@
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#include "PwmPin.h"
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//ServoPin servo(3,18,-90);
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ServoPin servo(3,18,0,500,2200,-90,90);
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//ServoPin servo(18,0,500,2200,-90,90);
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void setup(){
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@ -17,7 +17,7 @@ void setup(){
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Serial.println("Starting...");
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LedPin yellow(16);
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LedPin yellow(16,10);
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LedPin d1(19);
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LedPin d2(19);
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LedPin d3(19);
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@ -30,13 +30,14 @@ void setup(){
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LedPin d10(19);
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LedPin d11(19);
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LedPin d12(19);
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LedPin d13(19);
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LedPin d14(19);
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LedPin d15(19);
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LedPin d16(19);
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LedPin red(17);
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LedPin red(17,100);
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while(1){
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// ServoPin servo(18,0,500,2200,-90,90);
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ServoPin s0(19);
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ServoPin servo(18,45);
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ServoPin s1(19);
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while(0){
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for(int i=0;i<100;i++){
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yellow.set(i);
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delay(10);
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@ -48,24 +49,21 @@ void setup(){
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}
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}
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while(1){
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double STEP=1;
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for(int i=-100*STEP;i<=100*STEP;i++){
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servo.set((double)i/STEP);
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delay(10);
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}
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for(int i=100*STEP;i>=-100*STEP;i--){
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servo.set((double)i/STEP);
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delay(10);
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}
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}
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}
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void loop(){
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// double STEP=1;
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//
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// for(int i=-100*STEP;i<=100*STEP;i++){
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// servo.set((double)i/STEP);
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||||
// delay(10);
|
||||
// }
|
||||
//
|
||||
// for(int i=100*STEP;i>=-100*STEP;i--){
|
||||
// servo.set((double)i/STEP);
|
||||
// delay(10);
|
||||
// }
|
||||
|
||||
// return;
|
||||
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue