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brentrubrentru
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Init. Servo
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7 files changed

+416
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‎src/components/pwm/hardware.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -96,7 +96,7 @@ bool PWMHardware::WriteDutyCycle(uint32_t duty) {
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return false;
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}
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bool did_write = false;
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#ifdef defined(ARDUINO_ESP8266_ADAFRUIT_HUZZAH) && defined(STATUS_LED_PIN)
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#if defined(ARDUINO_ESP8266_ADAFRUIT_HUZZAH) && defined(STATUS_LED_PIN)
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// Adafruit Feather ESP8266's analogWrite() gets inverted since the builtin
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// LED is reverse-wired
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_duty_cycle = 255 - duty;

‎src/components/servo/controller.cpp‎

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/*!
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* @file src/components/servo/controller.cpp
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*
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* Controller for the servo API
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*
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* Adafruit invests time and resources providing this open source code,
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* please support Adafruit and open-source hardware by purchasing
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* products from Adafruit!
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*
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* Copyright (c) Brent Rubell 2025 for Adafruit Industries.
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*
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* BSD license, all text here must be included in any redistribution.
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*
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*/
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#include "controller.h"
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/**************************************************************************/
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/*!
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@brief Constructor
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*/
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/**************************************************************************/
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ServoController::ServoController() {
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}
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/**************************************************************************/
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/*!
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@brief Destructor
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*/
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/**************************************************************************/
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ServoController::~ServoController() {
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}
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/**************************************************************************/
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/*!
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@brief Handles a ServoAdd message
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@param stream
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pb_istream_t to decode from
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoController::Handle_Servo_Add(pb_istream_t *stream) {
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}
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/**************************************************************************/
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/*!
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@brief Handles a ServoWrite message
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@param stream
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pb_istream_t to decode from
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoController::Handle_Servo_Write(pb_istream_t *stream) {
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}
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/**************************************************************************/
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/*!
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@brief Handles a ServoRemove message
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@param stream
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pb_istream_t to decode from
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoController::Handle_Servo_Remove(pb_istream_t *stream) {
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}

‎src/components/servo/controller.h‎

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/*!
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* @file src/components/servo/controller.h
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*
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* Controller for the servo API
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*
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* Adafruit invests time and resources providing this open source code,
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* please support Adafruit and open-source hardware by purchasing
8+
* products from Adafruit!
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*
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* Copyright (c) Brent Rubell 2025 for Adafruit Industries.
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*
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* BSD license, all text here must be included in any redistribution.
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*
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*/
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#ifndef WS_SERVO_CONTROLLER_H
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#define WS_SERVO_CONTROLLER_H
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#include "Wippersnapper_V2.h"
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#include "hardware.h"
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#include "model.h"
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#ifdef ARDUINO_ARCH_RP2040
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#define MAX_SERVOS 8 ///< Maximum number of servo objects for RP2040, https://arduino-pico.readthedocs.io/en/latest/servo.html
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#else
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#define MAX_SERVOS 16 ///< Maximum number of servo objects
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#endif
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#define MIN_SERVO_PULSE_WIDTH 500 ///< Default min. servo pulse width of 500uS
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class Wippersnapper_V2; // Forward declaration
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class ServoModel; // Forward declaration
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class ServoHardware; // Forward declaration
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/**************************************************************************/
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/*!
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@brief Routes messages using the servo.proto API to the
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appropriate hardware and model classes, controls and tracks
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the state of the hardware's Servo pins.
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*/
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/**************************************************************************/
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class ServoController {
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public:
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ServoController();
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~ServoController();
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bool Handle_Servo_Add(pb_istream_t *stream);
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bool Handle_Servo_Write(pb_istream_t *stream);
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bool Handle_Servo_Remove(pb_istream_t *stream);
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private:
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ServoModel *_servo_model;
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ServoHardware *_servo_hardware[MAX_SERVOS] = {nullptr};
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};
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extern Wippersnapper_V2 WsV2; ///< Wippersnapper V2 instance
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#endif // WS_SERVO_CONTROLLER_H

‎src/components/servo/hardware.cpp‎

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/*!
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* @file src/components/servo/hardware.cpp
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*
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* Hardware for the servo.proto message.
5+
*
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* Adafruit invests time and resources providing this open source code,
7+
* please support Adafruit and open-source hardware by purchasing
8+
* products from Adafruit!
9+
*
10+
* Copyright (c) Brent Rubell 2025 for Adafruit Industries.
11+
*
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* BSD license, all text here must be included in any redistribution.
13+
*
14+
*/
15+
#include "hardware.h"
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/**************************************************************************/
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/*!
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@brief Constructor
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*/
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/**************************************************************************/
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ServoHardware::ServoHardware() {
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}
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/**************************************************************************/
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/*!
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@brief Destructor
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*/
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/**************************************************************************/
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ServoHardware::~ServoHardware() {
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}
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/**************************************************************************/
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/*!
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@brief Attaches a pin to a servo
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@param pin
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The pin to attach
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@param frequency
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The servo frequency (in Hz)
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@param min_pulse_width
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The minimum pulse width (in microseconds)
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@param max_pulse_width
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The maximum pulse width (in microseconds)
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoHardware::AttachPin(uint8_t pin, uint32_t frequency, uint32_t min_pulse_width, uint32_t max_pulse_width) {
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}
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/**************************************************************************/
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/*!
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@brief Detaches a pin from a servo
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoHardware::DetachPin() {
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}
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/**************************************************************************/
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/*!
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@brief Writes a pulse width to the servo
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@param pulse_width
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The pulse width (in microseconds) to write
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoHardware::WritePulseWidth(uint32_t pulse_width) {
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}
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/**************************************************************************/
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/*!
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@brief Returns the pin number
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@returns The pin number
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*/
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/**************************************************************************/
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uint8_t ServoHardware::GetPin() {
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}
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#ifdef ARDUINO_ARCH_ESP32
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/**************************************************************************/
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/*!
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@brief Abstraction for ESP32's servo write API
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@param value
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The value to write
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoHardware::servoWrite(uint32_t value) {
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}
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#endif

‎src/components/servo/hardware.h‎

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@@ -0,0 +1,31 @@
1+
/*!
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* @file src/components/servo/hardware.h
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*
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* Hardware for the servo.proto message.
5+
*
6+
* Adafruit invests time and resources providing this open source code,
7+
* please support Adafruit and open-source hardware by purchasing
8+
* products from Adafruit!
9+
*
10+
* Copyright (c) Brent Rubell 2025 for Adafruit Industries.
11+
*
12+
* BSD license, all text here must be included in any redistribution.
13+
*
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*/
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#ifndef WS_SERVO_HARDWARE_H
16+
#define WS_SERVO_HARDWARE_H
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#include "Wippersnapper_V2.h"
18+
19+
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/**************************************************************************/
21+
/*!
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@brief Interface for interacting with hardware's Servo API.
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*/
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/**************************************************************************/
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class ServoHardware {
26+
public:
27+
ServoHardware();
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~ServoHardware();
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private:
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};
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#endif // WS_SERVO_HARDWARE_H

‎src/components/servo/model.cpp‎

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/*!
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* @file src/components/servo/model.cpp
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*
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* Model for the servo.proto message.
5+
*
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* Adafruit invests time and resources providing this open source code,
7+
* please support Adafruit and open-source hardware by purchasing
8+
* products from Adafruit!
9+
*
10+
* Copyright (c) Brent Rubell 2025 for Adafruit Industries.
11+
*
12+
* BSD license, all text here must be included in any redistribution.
13+
*
14+
*/
15+
#include "model.h"
16+
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/**************************************************************************/
18+
/*!
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@brief Constructor
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*/
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/**************************************************************************/
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ServoModel::ServoModel() {
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}
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/**************************************************************************/
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/*!
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@brief Destructor
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*/
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/**************************************************************************/
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ServoModel::~ServoModel() {
32+
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}
34+
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/**************************************************************************/
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/*!
37+
@brief Decodes a ServoAdd message from a pb_istream_t
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@param stream
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pb_istream_t to decode from
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoModel::DecodeServoAdd(pb_istream_t *stream) {
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}
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/**************************************************************************/
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/*!
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@brief Returns a pointer to the ServoAdd message
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@returns Pointer to ServoAdd message
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*/
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/**************************************************************************/
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wippersnapper_servo_ServoAdd *ServoModel::GetServoAddMsg() {
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}
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/**************************************************************************/
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/*!
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@brief Encodes a ServoAdded message
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@param pin_name
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Name of the pin
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@param did_attach
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True if a servo was attached to the pin successfully,
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False otherwise
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoModel::EncodeServoAdded(char *pin_name, bool did_attach) {
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}
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/**************************************************************************/
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/*!
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@brief Returns a pointer to the ServoAdded message
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@returns Pointer to ServoAdded message
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*/
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/**************************************************************************/
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wippersnapper_servo_ServoAdded *ServoModel::GetServoAddedMsg() {
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}
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/**************************************************************************/
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/*!
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@brief Decodes a ServoRemove message from a pb_istream_t
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@param stream
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pb_istream_t to decode from
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoModel::DecodeServoRemove(pb_istream_t *stream) {
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}
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/**************************************************************************/
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/*!
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@brief Returns a pointer to the ServoRemove message
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@returns Pointer to ServoRemove message
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*/
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/**************************************************************************/
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wippersnapper_servo_ServoRemove *ServoModel::GetServoRemoveMsg() {
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}
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/**************************************************************************/
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/*!
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@brief Decodes a ServoWrite message from a pb_istream_t
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@param stream
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pb_istream_t to decode from
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@returns True if successful, False otherwise
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*/
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/**************************************************************************/
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bool ServoModel::DecodeServoWrite(pb_istream_t *stream) {
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}
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/**************************************************************************/
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/*!
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@brief Returns a pointer to the ServoWrite message
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@returns Pointer to ServoWrite message
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*/
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/**************************************************************************/
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wippersnapper_servo_ServoWrite *ServoModel::GetServoWriteMsg() {
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}

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