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Servo functional

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This commit is contained in:
peteGSX 2023-02-09 08:41:50 +10:00
parent 06827a42b7
commit 6874ddca9b
1 changed files with 9 additions and 18 deletions
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21
IO_EXIOExpander.h
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@ -187,10 +187,15 @@ private:
I2CManager.read(_i2cAddress, _digitalInputStates, _digitalPinBytes, _command1Buffer, 1); I2CManager.read(_i2cAddress, _digitalInputStates, _digitalPinBytes, _command1Buffer, 1);
_command1Buffer[0] = EXIORDAN; _command1Buffer[0] = EXIORDAN;
I2CManager.read(_i2cAddress, _analogueInputStates, _analoguePinBytes, _command1Buffer, 1); I2CManager.read(_i2cAddress, _analogueInputStates, _analoguePinBytes, _command1Buffer, 1);
if ((currentMicros - _lastRefresh) / 1000UL > refreshInterval) {
_lastRefresh = currentMicros;
for (int pin=0; pin<_nPins; pin++) { for (int pin=0; pin<_nPins; pin++) {
if (_servoData[pin] != NULL) {
updatePosition(pin); updatePosition(pin);
} }
} }
}
}
// Obtain the correct analogue input value // Obtain the correct analogue input value
int _readAnalogue(VPIN vpin) override { int _readAnalogue(VPIN vpin) override {
@ -247,16 +252,8 @@ private:
} }
} }
// void _writeAnalogue(VPIN vpin, int value, uint8_t param1, uint16_t param2) override {
void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override { void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
int pin = vpin - _firstVpin; int pin = vpin - _firstVpin;
/* Initial _writeAnalogue here
_command4Buffer[0] = EXIOWRAN;
_command4Buffer[1] = pin;
_command4Buffer[2] = value & 0xFF;
_command4Buffer[3] = value >> 8;
I2CManager.write(_i2cAddress, _command4Buffer, 4);
*/
#ifdef DIAG_IO #ifdef DIAG_IO
DIAG(F("Servo: WriteAnalogue Vpin:%d Value:%d Profile:%d Duration:%d %S"), DIAG(F("Servo: WriteAnalogue Vpin:%d Value:%d Profile:%d Duration:%d %S"),
vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F("")); vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
@ -318,12 +315,6 @@ private:
s->stepNumber++; s->stepNumber++;
} else if (s->stepNumber == s->numSteps + _catchupSteps } else if (s->stepNumber == s->numSteps + _catchupSteps
&& s->currentPosition != 0) { && s->currentPosition != 0) {
// #ifdef IO_SWITCH_OFF_SERVO
// if ((s->currentProfile & NoPowerOff) == 0) {
// // Wait has finished, so switch off PWM to prevent annoying servo buzz
// // _slaveDevice->writeAnalogue(_firstSlavePin+pin, 0);
// }
// #endif
s->numSteps = 0; // Done now. s->numSteps = 0; // Done now.
} }
} }
@ -378,9 +369,9 @@ private:
struct ServoData *_servoData[256]; struct ServoData *_servoData[256];
static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off
// static const uint8_t FLASH _bounceProfile[30];
const unsigned int refreshInterval = 50; // refresh every 50ms const unsigned int refreshInterval = 50; // refresh every 50ms
unsigned long _lastRefresh = 0;
// Profile for a bouncing signal or turnout // Profile for a bouncing signal or turnout
// The profile below is in the range 0-100% and should be combined with the desired limits // The profile below is in the range 0-100% and should be combined with the desired limits