piair/je-menvol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: begin working with gpio extender. TO TEST !

Browse Source
This commit is contained in:
Alessevan 2025-05-05 22:24:12 +02:00
parent 2598f523d0
commit 50cf3b3241
1 changed files with 58 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

91
prog/prog.ino
View File

@ -1,46 +1,39 @@
#include <ESP32Servo.h> #include <ESP32Servo.h>
#include <Wire.h>
#include "Adafruit_VL53L0X.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 { struct tube {
float height; float height;
float target; float target;
struct { struct {
Servo hard; Servo hard;
int pin; struct pin pin;
int last_angle; int last_angle;
int equilibrium; int equilibrium;
} servo; } servo;
struct { struct {
Adafruit_VL53L0X hard; Adafruit_VL53L0X hard;
char gpio; struct pin gpio;
char xshut; struct pin xshut;
} tof; } tof;
int id; 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 minHeight = 50;
const int maxHeight = 445; const int maxHeight = 445;
int minServo = 0; int minServo = 0;
int maxServo = 180; 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 // Replace with your network credentials
const char* ssid = "ESP_ping"; const char* ssid = "ESP_ping";
@ -63,7 +56,7 @@ const char index_html[] PROGMEM = R"rawliteral(
h2 {font-size: 3.0rem;} h2 {font-size: 3.0rem;}
p {font-size: 3.0rem;} p {font-size: 3.0rem;}
body {max-width: 600px; margin:0px auto; padding-bottom: 25px;} 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} .switch input {display: none}
.slider {background-color: #ccc; border-radius: 6px} .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} .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(); 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}; struct tube all_tubes[6] = {0};
Adafruit_VL53L0X tofs_talk_through[6] = {Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X(), Adafruit_VL53L0X()}; 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, struct pin servo_pin, struct pin gpio, struct pin xshut) {
void init_tube(struct tube *tube, char id, char servo_pin, char gpio, char xshut) {
Serial.print(" Initialiazing tube #"); Serial.print(" Initialiazing tube #");
Serial.println(id); Serial.println(id);
tube->id = 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->height = 250.0;
tube->target = 250.0; tube->target = 250.0;
digitalWrite(xshut, HIGH); change_pin(xshut, HIGH);
if (!tofs_talk_through[id].begin(0x30 + id)) { if (!tofs_talk_through[id].begin(0x30 + id)) {
Serial.println(F("Failed to boot VL53L0X")); Serial.println(F("Failed to boot VL53L0X"));
while(1); 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; const int ACTIVES = 1;
void setup_all_tubes() { void setup_all_tubes() {
const int all_xshuts[6] = {17, 0, 0, 0, 0, 0}; const int all_xshuts[6] = {
const int all_gpios[6] = {23, 22, 21, 0, 0, 0}; {.id = 17, .is_extender = 0},
const int all_servos[6] = {32, 33, 23, 16, 4, 2}; {.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) { for (int i = 0; i < ACTIVES; ++i) {
digitalWrite(all_xshuts[i], LOW); change_pin(all_xshuts[i], LOW);
} }
delay(10); delay(10);
for (int i = 0; i < ACTIVES; ++i) { for (int i = 0; i < ACTIVES; ++i) {
digitalWrite(all_xshuts[i], HIGH); change_pin(all_xshuts[i], HIGH);
} }
delay(10); delay(10);
for (int i = 0; i < ACTIVES; ++i) { 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) { for (int i = 0; i < ACTIVES; ++i) {
init_tube(all_tubes, i, all_servos[i], all_gpios[i], all_xshuts[i]); init_tube(all_tubes, i, all_servos[i], all_gpios[i], all_xshuts[i]);
@ -230,6 +253,9 @@ void setup() {
delay(1); delay(1);
} }
Wire.begin();
pcf8574.begin();
wifisetup(); wifisetup();
setup_all_tubes(); setup_all_tubes();
@ -246,7 +272,6 @@ int servoPosition(float ratio){
} }
void loop() { void loop() {
for (int i = 0; i < ACTIVES; i++) { for (int i = 0; i < ACTIVES; i++) {
struct tube tube = all_tubes[i]; struct tube tube = all_tubes[i];
tube.height = mesureHeight(tofs_talk_through[tube.id]); tube.height = mesureHeight(tofs_talk_through[tube.id]);
@ -272,4 +297,4 @@ void loop() {
} }
delay(1); delay(1);
} }