LailaTheElf/rcrf-wifi
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fix servo scaling

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This commit is contained in:
Laila van Reenen 2024-08-10 19:14:50 +02:00
parent b9f8e90dd7
commit 43b23ec1ad
Signed by: LailaTheElf
GPG Key ID: 1F4E6EE3E6DDF769
6 changed files with 9 additions and 20 deletions
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5
index.html
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@ -90,8 +90,9 @@
}
function send(x,y,angle){
x = Math.round((x + 200) * 81.92);
y = Math.round((y + 200) * 81.92);
factor = (2**16-1)/400
x = Math.round((x + 200) * factor);
y = Math.round((y + 200) * factor);
var data = clientId + ";d;" + x.toString() + "," + y.toString();
connection.send(data);
}

4
rx_esp32/src/commands.c
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@ -59,8 +59,8 @@ int cmd_contrl(char* line, void* cli)
{
readInt(arg, &ch_d[1]);
servo_set(0, (int16_t)ch_d[0]);
servo_set(1, (int16_t)ch_d[1]);
servo_set(0, (uint16_t)ch_d[0]);
servo_set(1, (uint16_t)ch_d[1]);
snprintf(&msg[0], 40, "channel data: 0:%lu, 1:%lu\n", ch_d[0], ch_d[1]);
CLI_stringOut((CLI_t*)cli, &msg[0]);
}

4
rx_esp32/src/config.h
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@ -12,8 +12,8 @@ static uint8_t BoatId = 1;
#define HISTORY // enable cli history
#define SERVOS_CH0 {LEDC_CHANNEL_0, 5},
#define SERVOS_CH1 {LEDC_CHANNEL_1, 6}
#define SERVOS_CH0 {LEDC_CHANNEL_0, 7},
#define SERVOS_CH1 {LEDC_CHANNEL_1, 21}
#define SERVOS_CH2
#define SERVOS_CH3
#define SERVOS_CH4

2
rx_esp32/src/servos.c
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@ -70,7 +70,7 @@ void servo_deinit(void)
}
}
void servo_set(uint8_t ch, int16_t pos)
void servo_set(uint8_t ch, uint16_t pos)
{
uint32_t duty = (uint32_t) ((double)pos * (double)SERVO_DUTY_DIFF/(double)INT16_MAX);
duty += (SERVO_DUTY_MIN + SERVO_DUTY_DIFF/2);

2
rx_esp32/src/servos.h
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@ -5,6 +5,6 @@
void servo_init(void);
void servo_deinit(void);
void servo_set(uint8_t ch, int16_t pos);
void servo_set(uint8_t ch, uint16_t pos);
#endif // SERVOS_H

12
rx_esp32/src/ws.c
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@ -121,18 +121,6 @@ ws_client_t ws_connect(char *url)
const esp_websocket_client_config_t ws_conf = {
.uri = url
// .disable_pingpong_discon = false,
// .ping_interval_sec = 2,
// .pingpong_timeout_sec = 1
// bool disable_auto_reconnect; /*!< Disable the automatic reconnect function when disconnected */
// int buffer_size; /*!< Websocket buffer size */
// bool keep_alive_enable; /*!< Enable keep-alive timeout */
// int keep_alive_idle; /*!< Keep-alive idle time. Default is 5 (second) */
// int keep_alive_interval; /*!< Keep-alive interval time. Default is 5 (second) */
// int keep_alive_count; /*!< Keep-alive packet retry send count. Default is 3 counts */
// int reconnect_timeout_ms; /*!< Reconnect after this value in miliseconds if disable_auto_reconnect is not enabled (defaults to 10s) */
// int network_timeout_ms; /*!< Abort network operation if it is not completed after this value, in milliseconds (defaults to 10s) */
};
client->handle = esp_websocket_client_init(&ws_conf);
esp_websocket_register_events(client->handle, WEBSOCKET_EVENT_ANY, ws_event_handler, (void *)client);