From 50cf3b3241692b6e6ddc7fe8fc741db93ec14651 Mon Sep 17 00:00:00 2001
From: Alessevan <alessevan@duck.com>
Date: Mon, 5 May 2025 22:24:12 +0200
Subject: [PATCH] feat: begin working with gpio extender. TO TEST !

---
 prog/prog.ino | 91 ++++++++++++++++++++++++++++++++-------------------
 1 file changed, 58 insertions(+), 33 deletions(-)

diff --git a/prog/prog.ino b/prog/prog.ino
index 062d622..262b449 100644
--- a/prog/prog.ino
+++ b/prog/prog.ino
@@ -1,46 +1,39 @@
 #include <ESP32Servo.h>
+#include <Wire.h>
 #include "Adafruit_VL53L0X.h"
+#include "PCF8574.h"
+
+#include <WiFi.h>
+#include <AsyncTCP.h>
+#include <ESPAsyncWebServer.h>
+
+struct pin {
+    int id;
+    int is_extender;
+};
 
 struct tube {
   float height;
   float target;
   struct {
     Servo hard;
-    int pin;
+    struct pin pin;
     int last_angle;
     int equilibrium;
   } servo;
   struct {
     Adafruit_VL53L0X hard;
-    char gpio;
-    char xshut;
+    struct pin gpio;
+    struct pin xshut;
   } tof;
   int id;
 };
 
-static const int servoPin = 13;
-
-Servo servo1;
-const int SDL = 22;
-const int SDA2 = 21; // useless in the code
-
 const int minHeight = 50;
 const int maxHeight = 445;
 
 int minServo = 0;
 int maxServo = 180;
-int lastAngle = -1;
-
-
-float curHeight = 50;
-float targetHeight = 250;
-
-int equilibrium = 0;
-int error = 0;
-
-#include <WiFi.h>
-#include <AsyncTCP.h>
-#include <ESPAsyncWebServer.h>
 
 // Replace with your network credentials
 const char* ssid = "ESP_ping";
@@ -63,7 +56,7 @@ const char index_html[] PROGMEM = R"rawliteral(
     h2 {font-size: 3.0rem;}
     p {font-size: 3.0rem;}
     body {max-width: 600px; margin:0px auto; padding-bottom: 25px;}
-    .switch {position: relative; display: inline-block; width: 120px; height: 68px} 
+    .switch {position: relative; display: inline-block; width: 120px; height: 68px}
     .switch input {display: none}
     .slider {background-color: #ccc; border-radius: 6px}
     .slider:before {position: absolute; content: ""; height: 52px; width: 52px; left: 8px; bottom: 8px; background-color: #fff; -webkit-transition: .4s; transition: .4s; border-radius: 3px}
@@ -164,12 +157,21 @@ void wifisetup() {
   server.begin();
 }
 
+PCF8574 pcf8574(0x20);
+
+void change_pin(struct pin pin, int state) {
+    if (pin.is_extender) {
+        pcf8574.digitalWrite(pin, state);
+    } else {
+        digitalWrite(pin, state);
+    }
+}
+
 struct tube all_tubes[6] = {0};
 
 Adafruit_VL53L0X tofs_talk_through[6] = {Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X()};
 
-
-void init_tube(struct tube *tube, char id, char servo_pin, char gpio, char xshut) {
+void init_tube(struct tube *tube, char id, struct pin servo_pin, struct pin gpio, struct pin xshut) {
   Serial.print(" Initialiazing tube #");
   Serial.println(id);
   tube->id = id;
@@ -179,7 +181,7 @@ void init_tube(struct tube *tube, char id, char servo_pin, char gpio, char xshut
   tube->height = 250.0;
   tube->target = 250.0;
 
-  digitalWrite(xshut, HIGH);
+  change_pin(xshut, HIGH);
   if (!tofs_talk_through[id].begin(0x30 + id)) {
     Serial.println(F("Failed to boot VL53L0X"));
     while(1);
@@ -205,19 +207,40 @@ void init_tube(struct tube *tube, char id, char servo_pin, char gpio, char xshut
 const int ACTIVES = 1;
 
 void setup_all_tubes() {
-  const int all_xshuts[6] = {17, 0, 0, 0, 0, 0};
-  const int all_gpios[6] = {23, 22, 21, 0, 0, 0};
-  const int all_servos[6] = {32, 33, 23, 16, 4, 2};
+  const int all_xshuts[6] = {
+      {.id = 17, .is_extender = 0},
+      {.id = P2, .is_extender = 1},
+      {.id = P3, .is_extender = 1},
+      {.id = P5, .is_extender = 1},
+      {.id = P7, .is_extender = 1},
+      {.id = P1, .is_extender = 1}
+  };
+  const int all_gpios[6] = {
+      {.id = 5, .is_extender = 0},
+      {.id = 18, .is_extender = 0},
+      {.id = 19, .is_extender = 0},
+      {.id = P4, .is_extender = 1},
+      {.id = P6, .is_extender = 1},
+      {.id = P0, .is_extender = 1}
+  };
+  const int all_servos[6] = {
+      {.id = 32, .is_extender = 0},
+      {.id = 33, .is_extender = 0},
+      {.id = 23, .is_extender = 0},
+      {.id = 16, .is_extender = 0},
+      {.id = 14, .is_extender = 0},
+      {.id = 2, .is_extender = 0}
+  };
   for (int i = 0; i < ACTIVES; ++i) {
-    digitalWrite(all_xshuts[i], LOW);
+    change_pin(all_xshuts[i], LOW);
   }
   delay(10);
   for (int i = 0; i < ACTIVES; ++i) {
-    digitalWrite(all_xshuts[i], HIGH);
+    change_pin(all_xshuts[i], HIGH);
   }
   delay(10);
   for (int i = 0; i < ACTIVES; ++i) {
-    digitalWrite(all_xshuts[i], LOW);
+    change_pin(all_xshuts[i], LOW);
   }
   for (int i = 0; i < ACTIVES; ++i) {
     init_tube(all_tubes, i, all_servos[i], all_gpios[i], all_xshuts[i]);
@@ -230,6 +253,9 @@ void setup() {
     delay(1);
   }
 
+  Wire.begin();
+  pcf8574.begin();
+
   wifisetup();
 
   setup_all_tubes();
@@ -246,7 +272,6 @@ int servoPosition(float ratio){
 }
 
 void loop() {
-   
   for (int i = 0; i < ACTIVES; i++) {
     struct tube tube = all_tubes[i];
     tube.height = mesureHeight(tofs_talk_through[tube.id]);
@@ -272,4 +297,4 @@ void loop() {
   }
 
   delay(1);
-}
\ No newline at end of file
+}