servo

main/gps.h

@@ -14,7 +14,8 @@
 #include "HardwareSerial.h"
 
 #include "esp_log.h"
-#include <Adafruit_GPS.h> #include <cmath>
+#include <Adafruit_GPS.h>
+#include <cmath>
 #include <ctime>
 #include <optional>
 

main/servo.cpp

@@ -0,0 +1,61 @@
+
+#include "driver/ledc.h"
+#include "esp_log_level.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include <stdio.h>
+
+#include "esp_log.h"
+
+#define SERVO_PIN 7
+#define LEDC_TIMER LEDC_TIMER_0
+#define LEDC_MODE LEDC_LOW_SPEED_MODE
+#define LEDC_CHANNEL LEDC_CHANNEL_0
+#define LEDC_DUTY_RES LEDC_TIMER_13_BIT
+#define LEDC_FREQUENCY 50
+
+uint32_t us_to_duty(int us) {
+  // 20000 is the period in microseconds (50Hz)
+  // 8191 is the max duty cycle for 13-bit resolution
+  return (uint32_t)((float)us / 20000.0f * 8191.0f);
+}
+
+ledc_timer_config_t ledc_timer = {.speed_mode = LEDC_MODE,
+                                  .duty_resolution = LEDC_DUTY_RES,
+                                  .timer_num = LEDC_TIMER,
+                                  .freq_hz = LEDC_FREQUENCY,
+                                  .clk_cfg = LEDC_AUTO_CLK};
+
+ledc_channel_config_t ledc_channel = {.gpio_num = SERVO_PIN,
+                                      .speed_mode = LEDC_MODE,
+                                      .channel = LEDC_CHANNEL,
+                                      .timer_sel = LEDC_TIMER,
+                                      .duty = 0};
+void servo_init() {
+  ledc_timer_config(&ledc_timer);
+  ledc_channel_config(&ledc_channel);
+}
+
+#define DUTY_CYCLE_DOWN 2000
+#define DUTY_CYCLE_UP 850
+
+enum SERVO_OPTIONS {
+  UP,
+  DOWN,
+  OFF,
+};
+
+void set_servo(SERVO_OPTIONS opt) {
+  switch (opt) {
+  case UP:
+    ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, us_to_duty(DUTY_CYCLE_UP));
+    ledc_update_duty(LEDC_MODE, LEDC_CHANNEL);
+    break;
+  case DOWN:
+    ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, us_to_duty(DUTY_CYCLE_DOWN));
+    ledc_update_duty(LEDC_MODE, LEDC_CHANNEL);
+  case OFF:
+    ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, 0);
+    ledc_update_duty(LEDC_MODE, LEDC_CHANNEL);
+  }
+}