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added slow mode and detach time to servo (#1413)

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* added slow mode and detach time to servo

* tidy

* and again tidy

* add change requests

* tidy

* tidy

* tidy

Co-authored-by: Andreas Hergert <andreas.hergert@otrs.com>
This commit is contained in:
Andreas Hergert 2021-01-03 21:57:30 +01:00 committed by GitHub
parent e49b568fd4
commit 16d11be213
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 81 additions and 13 deletions
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7
esphome/components/servo/__init__.py
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@ -4,13 +4,14 @@ from esphome import automation
from esphome.automation import maybe_simple_id
from esphome.components.output import FloatOutput
from esphome.const import CONF_ID, CONF_IDLE_LEVEL, CONF_MAX_LEVEL, CONF_MIN_LEVEL, CONF_OUTPUT, \
CONF_LEVEL, CONF_RESTORE
CONF_LEVEL, CONF_RESTORE, CONF_TRANSITION_LENGTH
servo_ns = cg.esphome_ns.namespace('servo')
Servo = servo_ns.class_('Servo', cg.Component)
ServoWriteAction = servo_ns.class_('ServoWriteAction', automation.Action)
ServoDetachAction = servo_ns.class_('ServoDetachAction', automation.Action)
CONF_AUTO_DETACH_TIME = 'auto_detach_time'
MULTI_CONF = True
CONFIG_SCHEMA = cv.Schema({
cv.Required(CONF_ID): cv.declare_id(Servo),
@ -19,6 +20,8 @@ CONFIG_SCHEMA = cv.Schema({
cv.Optional(CONF_IDLE_LEVEL, default='7.5%'): cv.percentage,
cv.Optional(CONF_MAX_LEVEL, default='12%'): cv.percentage,
cv.Optional(CONF_RESTORE, default=False): cv.boolean,
cv.Optional(CONF_AUTO_DETACH_TIME, default='0s'): cv.positive_time_period_milliseconds,
cv.Optional(CONF_TRANSITION_LENGTH, default='0s'): cv.positive_time_period_milliseconds
}).extend(cv.COMPONENT_SCHEMA)
@ -32,6 +35,8 @@ def to_code(config):
cg.add(var.set_idle_level(config[CONF_IDLE_LEVEL]))
cg.add(var.set_max_level(config[CONF_MAX_LEVEL]))
cg.add(var.set_restore(config[CONF_RESTORE]))
cg.add(var.set_auto_detach_time(config[CONF_AUTO_DETACH_TIME]))
cg.add(var.set_transition_length(config[CONF_TRANSITION_LENGTH]))
@automation.register_action('servo.write', ServoWriteAction, cv.Schema({

58
esphome/components/servo/servo.cpp
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@ -13,6 +13,64 @@ void Servo::dump_config() {
ESP_LOGCONFIG(TAG, " Idle Level: %.1f%%", this->idle_level_ * 100.0f);
ESP_LOGCONFIG(TAG, " Min Level: %.1f%%", this->min_level_ * 100.0f);
ESP_LOGCONFIG(TAG, " Max Level: %.1f%%", this->max_level_ * 100.0f);
ESP_LOGCONFIG(TAG, " auto detach time: %d ms", this->auto_detach_time_);
ESP_LOGCONFIG(TAG, " run duration: %d ms", this->transition_length_);
}
void Servo::loop() {
// check if auto_detach_time_ is set and servo reached target
if (this->auto_detach_time_ && this->state_ == STATE_TARGET_REACHED) {
if (millis() - this->start_millis_ > this->auto_detach_time_) {
this->detach();
this->start_millis_ = 0;
this->state_ = STATE_DETACHED;
ESP_LOGD(TAG, "Servo detached on auto_detach_time");
}
}
if (this->target_value_ != this->current_value_ && this->state_ == STATE_ATTACHED) {
if (this->transition_length_) {
float new_value;
float travel_diff = this->target_value_ - this->source_value_;
uint32_t target_runtime = target_runtime = abs((int) ((travel_diff) * this->transition_length_ * 1.0f / 2.0f));
uint32_t current_runtime = millis() - this->start_millis_;
float percentage_run = current_runtime * 1.0f / target_runtime * 1.0f;
if (percentage_run > 1.0f) {
percentage_run = 1.0f;
}
new_value = this->target_value_ - (1.0f - percentage_run) * (this->target_value_ - this->source_value_);
this->internal_write(new_value);
} else {
this->internal_write(this->target_value_);
}
}
if (this->target_value_ == this->current_value_ && this->state_ == STATE_ATTACHED) {
this->state_ = STATE_TARGET_REACHED;
this->start_millis_ = millis(); // set current stamp for potential auto_detach_time_ check
ESP_LOGD(TAG, "Servo reached target");
}
}
void Servo::write(float value) {
value = clamp(value, -1.0f, 1.0f);
this->target_value_ = value;
this->source_value_ = this->current_value_;
this->state_ = STATE_ATTACHED;
this->start_millis_ = millis();
ESP_LOGD(TAG, "Servo new target: %f", value);
}
void Servo::internal_write(float value) {
value = clamp(value, -1.0f, 1.0f);
float level;
if (value < 0.0)
level = lerp(-value, this->idle_level_, this->min_level_);
else
level = lerp(value, this->idle_level_, this->max_level_);
this->output_->set_level(level);
if (this->target_value_ == this->current_value_) {
this->save_level_(level);
}
this->current_value_ = value;
}
} // namespace servo

29
esphome/components/servo/servo.h
View File

@ -14,18 +14,9 @@ extern uint32_t global_servo_id;
class Servo : public Component {
public:
void set_output(output::FloatOutput *output) { output_ = output; }
void write(float value) {
value = clamp(value, -1.0f, 1.0f);
float level;
if (value < 0.0)
level = lerp(-value, this->idle_level_, this->min_level_);
else
level = lerp(value, this->idle_level_, this->max_level_);
this->output_->set_level(level);
this->save_level_(level);
}
void loop() override;
void write(float value);
void internal_write(float value);
void detach() {
this->output_->set_level(0.0f);
this->save_level_(0.0f);
@ -48,6 +39,8 @@ class Servo : public Component {
void set_idle_level(float idle_level) { idle_level_ = idle_level; }
void set_max_level(float max_level) { max_level_ = max_level; }
void set_restore(bool restore) { restore_ = restore; }
void set_auto_detach_time(uint32_t auto_detach_time) { auto_detach_time_ = auto_detach_time; }
void set_transition_length(uint32_t transition_length) { transition_length_ = transition_length; }
protected:
void save_level_(float v) { this->rtc_.save(&v); }
@ -57,7 +50,19 @@ class Servo : public Component {
float idle_level_ = 0.0750f;
float max_level_ = 0.1200f;
bool restore_{false};
uint32_t auto_detach_time_ = 0;
uint32_t transition_length_ = 0;
ESPPreferenceObject rtc_;
uint8_t state_;
float target_value_ = 0;
float source_value_ = 0;
float current_value_ = 0;
uint32_t start_millis_ = 0;
enum State {
STATE_ATTACHED = 0,
STATE_DETACHED = 1,
STATE_TARGET_REACHED = 2,
};
};
template<typename... Ts> class ServoWriteAction : public Action<Ts...> {