Bumped version to 2.2.0. Added 2 functions startGoDistanceMillimeterW…

…ithSpeed(uint8_t aRequestedSpeedPWM, ...)
ArminJo · Oct 25, 2024 · 740cc86 · 740cc86
1 parent 8506dd9
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Showing 22 changed files with 270 additions and 128 deletions.
diff --git a/README.md b/README.md
@@ -310,7 +310,9 @@ VIN sensing
 <br/>
 
 # Revision History
-### Version 2.1.1
+### Version 2.2.0
+- Added 2 functions startGoDistanceMillimeterWithSpeed(uint8_t aRequestedSpeedPWM, ...).
+- ESP32 core 3.x support.
 - Improved examples, especially follower examples.
 
 ### Version 2.1.0

diff --git a/examples/Basic/RobotCarConfigurations.h b/examples/Basic/RobotCarConfigurations.h
@@ -317,7 +317,7 @@
  * BASIC CONFIGURATION for ESP32-Cam car
  * Car controlled by an ESP32-Cam module
  */
-#if defined(ESP32) // a temporarily hack
+#if defined(ESP32) && !defined(CAR_IS_ESP32_CAM_BASED) // a temporarily hack
 #define CAR_IS_ESP32_CAM_BASED
 #endif
 #if defined(CAR_IS_ESP32_CAM_BASED)

diff --git a/examples/IRDispatcherControl/Distance.hpp b/examples/IRDispatcherControl/Distance.hpp
@@ -33,12 +33,16 @@
 #include "HCSR04.hpp" // include sources
 #include "RobotCarConfigurations.h" // helps the pretty printer / Ctrl F
 
-#if defined(CAR_HAS_SERVO) && defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
-#define DISABLE_SERVO_TIMER_AUTO_INITIALIZE // saves 70 bytes program space
+#if defined(CAR_HAS_DISTANCE_SERVO)
+#  if defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 #include "LightweightServo.hpp"
-#endif
+#    if defined(_LIGHTWEIGHT_SERVO_HPP)
+LightweightServo DistanceServo;    // The pan servo instance for distance sensor
+#    else // LightweightServo is not applicable for this CPU
+#undef USE_LIGHTWEIGHT_SERVO_LIBRARY
+#    endif
+#  endif // defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 
-#if defined(CAR_HAS_DISTANCE_SERVO)
 #  if !defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 Servo DistanceServo;    // The pan servo instance for distance sensor
 #  endif
@@ -87,7 +91,7 @@ ForwardDistancesInfoStruct sForwardDistancesInfo;
 void initDistance() {
     getDistanceModesFromPins();
 
-#if defined(CAR_HAS_DISTANCE_SERVO) && !defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
+#if defined(CAR_HAS_DISTANCE_SERVO)
     DistanceServo.attach(DISTANCE_SERVO_PIN);
 #endif
 
@@ -492,11 +496,8 @@ void DistanceServoWriteAndWaitForStop(uint8_t aTargetDegrees, bool doWaitForStop
     // The servo is top down and therefore inverted
     aTargetDegrees = 180 - aTargetDegrees;
 #endif
-#if defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
-    write10(aTargetDegrees);
-#else
     DistanceServo.write(aTargetDegrees);
-#endif
+
 
     /*
      * Delay until stopped

diff --git a/examples/IRDispatcherControl/RobotCarIRCommands.hpp b/examples/IRDispatcherControl/RobotCarIRCommands.hpp
@@ -80,19 +80,19 @@ void doReset() {
 void goForward() {
     if (IRDispatcher.IRReceivedData.isRepeat) {
         // if repeat was pressed, we enable a "fast" stop
-        RobotCar.startGoDistanceMillimeter(RobotCar.rightCarMotor.DriveSpeedPWM, DEFAULT_CIRCUMFERENCE_MILLIMETER / 4,
+        RobotCar.startGoDistanceMillimeterWithSpeed(RobotCar.rightCarMotor.DriveSpeedPWM, DEFAULT_CIRCUMFERENCE_MILLIMETER / 4,
                 DIRECTION_FORWARD);
     } else {
-        RobotCar.startGoDistanceMillimeter(RobotCar.rightCarMotor.DriveSpeedPWM, DEFAULT_CIRCUMFERENCE_MILLIMETER,
+        RobotCar.startGoDistanceMillimeterWithSpeed(RobotCar.rightCarMotor.DriveSpeedPWM, DEFAULT_CIRCUMFERENCE_MILLIMETER,
                 DIRECTION_FORWARD);
     }
 }
 void goBackward() {
     if (IRDispatcher.IRReceivedData.isRepeat) {
-        RobotCar.startGoDistanceMillimeter(RobotCar.rightCarMotor.DriveSpeedPWM, DEFAULT_CIRCUMFERENCE_MILLIMETER / 4,
+        RobotCar.startGoDistanceMillimeterWithSpeed(RobotCar.rightCarMotor.DriveSpeedPWM, DEFAULT_CIRCUMFERENCE_MILLIMETER / 4,
                 DIRECTION_BACKWARD);
     } else {
-        RobotCar.startGoDistanceMillimeter(RobotCar.rightCarMotor.DriveSpeedPWM, DEFAULT_CIRCUMFERENCE_MILLIMETER,
+        RobotCar.startGoDistanceMillimeterWithSpeed(RobotCar.rightCarMotor.DriveSpeedPWM, DEFAULT_CIRCUMFERENCE_MILLIMETER,
                 DIRECTION_BACKWARD);
     }
 }

diff --git a/examples/RobotCarBasic/Distance.hpp b/examples/RobotCarBasic/Distance.hpp
@@ -33,12 +33,16 @@
 #include "HCSR04.hpp" // include sources
 #include "RobotCarConfigurations.h" // helps the pretty printer / Ctrl F
 
-#if defined(CAR_HAS_SERVO) && defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
-#define DISABLE_SERVO_TIMER_AUTO_INITIALIZE // saves 70 bytes program space
+#if defined(CAR_HAS_DISTANCE_SERVO)
+#  if defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 #include "LightweightServo.hpp"
-#endif
+#    if defined(_LIGHTWEIGHT_SERVO_HPP)
+LightweightServo DistanceServo;    // The pan servo instance for distance sensor
+#    else // LightweightServo is not applicable for this CPU
+#undef USE_LIGHTWEIGHT_SERVO_LIBRARY
+#    endif
+#  endif // defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 
-#if defined(CAR_HAS_DISTANCE_SERVO)
 #  if !defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 Servo DistanceServo;    // The pan servo instance for distance sensor
 #  endif
@@ -87,7 +91,7 @@ ForwardDistancesInfoStruct sForwardDistancesInfo;
 void initDistance() {
     getDistanceModesFromPins();
 
-#if defined(CAR_HAS_DISTANCE_SERVO) && !defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
+#if defined(CAR_HAS_DISTANCE_SERVO)
     DistanceServo.attach(DISTANCE_SERVO_PIN);
 #endif
 
@@ -492,11 +496,8 @@ void DistanceServoWriteAndWaitForStop(uint8_t aTargetDegrees, bool doWaitForStop
     // The servo is top down and therefore inverted
     aTargetDegrees = 180 - aTargetDegrees;
 #endif
-#if defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
-    write10(aTargetDegrees);
-#else
     DistanceServo.write(aTargetDegrees);
-#endif
+
 
     /*
      * Delay until stopped

diff --git a/examples/RobotCarBlueDisplay/Distance.hpp b/examples/RobotCarBlueDisplay/Distance.hpp
@@ -33,12 +33,16 @@
 #include "HCSR04.hpp" // include sources
 #include "RobotCarConfigurations.h" // helps the pretty printer / Ctrl F
 
-#if defined(CAR_HAS_SERVO) && defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
-#define DISABLE_SERVO_TIMER_AUTO_INITIALIZE // saves 70 bytes program space
+#if defined(CAR_HAS_DISTANCE_SERVO)
+#  if defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 #include "LightweightServo.hpp"
-#endif
+#    if defined(_LIGHTWEIGHT_SERVO_HPP)
+LightweightServo DistanceServo;    // The pan servo instance for distance sensor
+#    else // LightweightServo is not applicable for this CPU
+#undef USE_LIGHTWEIGHT_SERVO_LIBRARY
+#    endif
+#  endif // defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 
-#if defined(CAR_HAS_DISTANCE_SERVO)
 #  if !defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 Servo DistanceServo;    // The pan servo instance for distance sensor
 #  endif
@@ -87,7 +91,7 @@ ForwardDistancesInfoStruct sForwardDistancesInfo;
 void initDistance() {
     getDistanceModesFromPins();
 
-#if defined(CAR_HAS_DISTANCE_SERVO) && !defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
+#if defined(CAR_HAS_DISTANCE_SERVO)
     DistanceServo.attach(DISTANCE_SERVO_PIN);
 #endif
 
@@ -492,11 +496,8 @@ void DistanceServoWriteAndWaitForStop(uint8_t aTargetDegrees, bool doWaitForStop
     // The servo is top down and therefore inverted
     aTargetDegrees = 180 - aTargetDegrees;
 #endif
-#if defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
-    write10(aTargetDegrees);
-#else
     DistanceServo.write(aTargetDegrees);
-#endif
+
 
     /*
      * Delay until stopped

diff --git a/examples/RobotCarBlueDisplay/LightweightServo.h b/examples/RobotCarBlueDisplay/LightweightServo.h
@@ -41,20 +41,21 @@
 #define ISR_COUNT_FOR_2_5_MILLIS (F_CPU / (8 * 400)) // 5000 For 400 Hz, 2.5 ms using a prescaler of 8.
 
 #if defined(__AVR_ATmega2560__)
-#define LEIGHTWEIGHT_SERVO_CHANNEL_A_PIN   46
-#define LEIGHTWEIGHT_SERVO_CHANNEL_B_PIN   45
-#define LEIGHTWEIGHT_SERVO_CHANNEL_C_PIN   44
+#define LIGHTWEIGHT_SERVO_CHANNEL_A_PIN   46
+#define LIGHTWEIGHT_SERVO_CHANNEL_B_PIN   45
+#define LIGHTWEIGHT_SERVO_CHANNEL_C_PIN   44
 #elif defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined (__AVR_ATmega328PB__)
-#define LEIGHTWEIGHT_SERVO_CHANNEL_A_PIN    9
-#define LEIGHTWEIGHT_SERVO_CHANNEL_B_PIN   10
+#define LIGHTWEIGHT_SERVO_CHANNEL_A_PIN    9
+#define LIGHTWEIGHT_SERVO_CHANNEL_B_PIN   10
 #endif
 
 void initLightweightServoPins(); // currently only pin 44 = OC5C/PL5, 45 = OC5B/PL4 + 46 = OC5A/PL3 on 2560 and pin 9 = OC1A + 10 = OC1B on 328
 void checkAndInitLightweightServoPin(uint8_t aPin);
 void deinitLightweightServoPin(uint8_t aPin); // Set pin to input and disable non-inverting Compare Output mode
 
 int writeLightweightServoPin(int aDegree, uint8_t aPin, bool aUpdateFast = false);
-void writeMicrosecondsLightweightServoPin(int aMicroseconds, uint8_t aPin, bool aUpdateFast = false);
+// The last parameter requires 8 byte more than DISABLE_SERVO_TIMER_AUTO_INITIALIZE, if false, but saves around 60 bytes anyway
+void writeMicrosecondsLightweightServoPin(int aMicroseconds, uint8_t aPin, bool aUpdateFast = false, bool aDoAutoInit = true);
 
 void setLightweightServoPulseMicrosFor0And180Degree(int aMicrosecondsForServo0Degree, int a180DegreeValue);
 void setLightweightServoRefreshRate(unsigned int aRefreshPeriodMicroseconds);
@@ -89,6 +90,22 @@ int writeLightweightServo(int aDegree, bool aUsePin9, bool aUpdateFast = false);
 void writeMicrosecondsLightweightServo(int aMicroseconds, bool aUsePin9, bool aUpdateFast = false);
 #endif // Old and fast ATmega328 functions
 
+class LightweightServo {
+public:
+    uint8_t attach(int aPin);
+    uint8_t attach(int aPin, int aMicrosecondsForServo0Degree, int aMicrosecondsForServo180Degree);
+    void detach();
+    void write(int aTargetDegreeOrMicrosecond);
+    void writeMicroseconds(int aTargetMicrosecond); // Write pulse width in microseconds
+    /*
+     * Variables to enable adjustment for different servo types
+     * 544 and 2400 are values compatible with standard arduino values
+     */
+    int MicrosecondsForServo0Degree = 544;
+    int MicrosecondsForServo180Degree = 2400;
+    uint8_t LightweightServoPin;
+};
+
 #endif // defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined (__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__)
 
 /*