71 lines
2 KiB
C
71 lines
2 KiB
C
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#ifndef jIO_H_
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#define jIO_H_
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#define esc_freq 250
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#define esc_res 12
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#define esc_duty (1 << esc_res) / (1000.0 / esc_freq)
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#include "structsAndDefines.h"
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size_t _io_id_count = 0;
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jType _io_types[9] = {jUnused, jUnused, jUnused, jUnused, jUnused,
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jUnused, jUnused, jUnused, jUnused};
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void iniOut(size_t i, jType type) {
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if (type == jServo) {
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_io_types[i] = jServo;
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ledcSetup(i, 50, 16);
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ledcAttachPin(jChannel[i], i);
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} else if (type == jhBridge) {
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_io_types[i] = jhBridge;
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ledcSetup(i, 30000, 8);
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ledcAttachPin(jChannel[i], i);
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} else if (type == jESC) {
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_io_types[i] = jESC;
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ledcSetup(i, esc_freq, esc_res);
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ledcAttachPin(jChannel[i], i);
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} else if (type == jDigital) {
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_io_types[i] = jDigital;
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pinMode(jChannel[i], OUTPUT);
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}
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}
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bool setoutput(int c, float v) {
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if (sizeof(jChannel) <= c) {
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return false;
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}
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if (_io_types[c] == jServo) {
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// uint32_t duty = (((v/180.0)*2000)/20000.0*65536.0) + 1634;// convert
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// 0-180 degrees to 0-65536
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if (v > 180) v = 180.0;
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if (v < 0) v = 0.0;
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int duty = (((v * 2000.0 / 180.0) + 500) / (20000.0 / pow(2.0, 16.0)));
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Serial.println(duty);
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ledcWrite(c, duty);
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return true;
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} else if (_io_types[c] == jhBridge) {
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if (v > 100) v = 100.0;
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if (v < 0) v = 0.0;
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Serial.println((int)(v * 105.0 / 100.0) + 150);
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ledcWrite(c, (int)(v * 105.0 / 100.0) + 150);
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return true;
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} else if (_io_types[c] == jESC) {
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if (v > 100) v = 100.0;
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if (v < 0) v = 0.0;
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float escout =
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(v * (esc_duty /* highrt - lower = lower*/) / 100.0) + esc_duty;
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ledcWrite(c, escout);
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return true;
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} else if (_io_types[c] == jDigital) {
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if (v > 0) {
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digitalWrite(jChannel[c], HIGH);
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} else {
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digitalWrite(jChannel[c], LOW);
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}
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return true;
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}
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return false;
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}
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#endif
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