feat: begin working with gpio extender. TO TEST !
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@ -1,46 +1,39 @@
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#include <ESP32Servo.h>
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#include <Wire.h>
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#include "Adafruit_VL53L0X.h"
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#include "PCF8574.h"
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#include <WiFi.h>
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#include <AsyncTCP.h>
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#include <ESPAsyncWebServer.h>
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struct pin {
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int id;
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int is_extender;
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};
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struct tube {
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float height;
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float target;
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struct {
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Servo hard;
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int pin;
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struct pin pin;
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int last_angle;
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int equilibrium;
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} servo;
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struct {
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Adafruit_VL53L0X hard;
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char gpio;
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char xshut;
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struct pin gpio;
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struct pin xshut;
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} tof;
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int id;
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};
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static const int servoPin = 13;
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Servo servo1;
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const int SDL = 22;
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const int SDA2 = 21; // useless in the code
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const int minHeight = 50;
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const int maxHeight = 445;
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int minServo = 0;
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int maxServo = 180;
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int lastAngle = -1;
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float curHeight = 50;
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float targetHeight = 250;
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int equilibrium = 0;
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int error = 0;
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#include <WiFi.h>
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#include <AsyncTCP.h>
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#include <ESPAsyncWebServer.h>
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// Replace with your network credentials
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const char* ssid = "ESP_ping";
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@ -63,7 +56,7 @@ const char index_html[] PROGMEM = R"rawliteral(
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h2 {font-size: 3.0rem;}
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p {font-size: 3.0rem;}
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body {max-width: 600px; margin:0px auto; padding-bottom: 25px;}
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.switch {position: relative; display: inline-block; width: 120px; height: 68px}
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.switch {position: relative; display: inline-block; width: 120px; height: 68px}
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.switch input {display: none}
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.slider {background-color: #ccc; border-radius: 6px}
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.slider:before {position: absolute; content: ""; height: 52px; width: 52px; left: 8px; bottom: 8px; background-color: #fff; -webkit-transition: .4s; transition: .4s; border-radius: 3px}
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@ -164,12 +157,21 @@ void wifisetup() {
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server.begin();
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}
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PCF8574 pcf8574(0x20);
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void change_pin(struct pin pin, int state) {
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if (pin.is_extender) {
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pcf8574.digitalWrite(pin, state);
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} else {
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digitalWrite(pin, state);
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}
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}
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struct tube all_tubes[6] = {0};
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Adafruit_VL53L0X tofs_talk_through[6] = {Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X()};
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void init_tube(struct tube *tube, char id, char servo_pin, char gpio, char xshut) {
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void init_tube(struct tube *tube, char id, struct pin servo_pin, struct pin gpio, struct pin xshut) {
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Serial.print(" Initialiazing tube #");
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Serial.println(id);
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tube->id = id;
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@ -179,7 +181,7 @@ void init_tube(struct tube *tube, char id, char servo_pin, char gpio, char xshut
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tube->height = 250.0;
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tube->target = 250.0;
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digitalWrite(xshut, HIGH);
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change_pin(xshut, HIGH);
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if (!tofs_talk_through[id].begin(0x30 + id)) {
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Serial.println(F("Failed to boot VL53L0X"));
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while(1);
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@ -205,19 +207,40 @@ void init_tube(struct tube *tube, char id, char servo_pin, char gpio, char xshut
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const int ACTIVES = 1;
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void setup_all_tubes() {
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const int all_xshuts[6] = {17, 0, 0, 0, 0, 0};
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const int all_gpios[6] = {23, 22, 21, 0, 0, 0};
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const int all_servos[6] = {32, 33, 23, 16, 4, 2};
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const int all_xshuts[6] = {
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{.id = 17, .is_extender = 0},
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{.id = P2, .is_extender = 1},
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{.id = P3, .is_extender = 1},
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{.id = P5, .is_extender = 1},
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{.id = P7, .is_extender = 1},
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{.id = P1, .is_extender = 1}
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};
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const int all_gpios[6] = {
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{.id = 5, .is_extender = 0},
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{.id = 18, .is_extender = 0},
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{.id = 19, .is_extender = 0},
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{.id = P4, .is_extender = 1},
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{.id = P6, .is_extender = 1},
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{.id = P0, .is_extender = 1}
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};
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const int all_servos[6] = {
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{.id = 32, .is_extender = 0},
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{.id = 33, .is_extender = 0},
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{.id = 23, .is_extender = 0},
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{.id = 16, .is_extender = 0},
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{.id = 14, .is_extender = 0},
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{.id = 2, .is_extender = 0}
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};
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for (int i = 0; i < ACTIVES; ++i) {
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digitalWrite(all_xshuts[i], LOW);
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change_pin(all_xshuts[i], LOW);
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}
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delay(10);
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for (int i = 0; i < ACTIVES; ++i) {
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digitalWrite(all_xshuts[i], HIGH);
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change_pin(all_xshuts[i], HIGH);
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}
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delay(10);
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for (int i = 0; i < ACTIVES; ++i) {
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digitalWrite(all_xshuts[i], LOW);
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change_pin(all_xshuts[i], LOW);
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}
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for (int i = 0; i < ACTIVES; ++i) {
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init_tube(all_tubes, i, all_servos[i], all_gpios[i], all_xshuts[i]);
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@ -230,6 +253,9 @@ void setup() {
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delay(1);
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}
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Wire.begin();
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pcf8574.begin();
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wifisetup();
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setup_all_tubes();
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@ -246,7 +272,6 @@ int servoPosition(float ratio){
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}
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void loop() {
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for (int i = 0; i < ACTIVES; i++) {
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struct tube tube = all_tubes[i];
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tube.height = mesureHeight(tofs_talk_through[tube.id]);
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@ -272,4 +297,4 @@ void loop() {
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}
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delay(1);
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}
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}
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