Working Servo

components/arduino/CMakeLists.txt

@@ -76,6 +76,7 @@ set(LIBRARY_SRCS
   libraries/QTRSensors/src/QTRSensors.cpp
   libraries/ESP32-SharpIR/src/ESP32SharpIR.cpp
   libraries/ESP32Servo/src/ESP32Servo.cpp
+  libraries/ESP32Servo/src/ESP32PWM.cpp
   libraries/ArduinoOTA/src/ArduinoOTA.cpp
   libraries/AsyncUDP/src/AsyncUDP.cpp
   libraries/BluetoothSerial/src/BluetoothSerial.cpp

main/CMakeLists.txt

@@ -5,6 +5,6 @@ set(srcs
 
 set(requires "bluepad32" "bluepad32_arduino" "arduino" "btstack" "callbacks")
 
-idf_component_register(SRCS "${srcs}"
+idf_component_register(SRCS "servo.cpp" "lineReader.cpp" "${srcs}"
                     INCLUDE_DIRS "."
                     REQUIRES "${requires}")

main/arduino_main.cpp

@@ -7,6 +7,7 @@
 #include <Bluepad32.h>
 #include <uni.h>
 #include "controller_callbacks.h"
+#include <ESP32Servo.h>
 
 extern ControllerPtr myControllers[BP32_MAX_GAMEPADS]; // BP32 library allows for up to 4 concurrent controller connections, but we only need 1
 
@@ -29,11 +30,35 @@ void dumpGamepad(ControllerPtr ctl) {
     );
 }
 
+int IN1=16;
+int IN2=17;
+
+Servo myServo;
+
 void setup() {
     BP32.setup(&onConnectedController, &onDisconnectedController);
     BP32.forgetBluetoothKeys(); 
     esp_log_level_set("gpio", ESP_LOG_ERROR); // Suppress info log spam from gpio_isr_service
     uni_bt_allowlist_set_enabled(true);
+
+    Serial.begin(115200);
+    pinMode(IN1, OUTPUT);
+    pinMode(IN2, OUTPUT);
+
+      // Spin motor
+  digitalWrite(IN1, HIGH);  // PWM signal
+  digitalWrite(IN2, LOW); // Direction control
+
+  delay(1000);  // Run for 1 second
+
+  // Stop motor
+  digitalWrite(IN1, LOW);
+  digitalWrite(IN2, LOW);
+
+  delay(1000); // Stop for 1 second
+
+  vTaskDelay(1); // Yield CPU to not starve other ESP32 processes and cause WDT reset
+
 }
 
 void loop() {

main/lineReader.cpp

@@ -0,0 +1,29 @@
+#include "sdkconfig.h"
+#include <Arduino.h>
+
+#include <QTRSensors.h>
+
+HardwareSerial &Console = Serial;
+
+QTRSensors qtr;
+uint16_t sensors[2];
+
+void setup() {
+    // set up Serial Communication and sensor pins
+    Serial.begin(115200);
+    qtr.setTypeAnalog(); // or setTypeAnalog()
+    qtr.setSensorPins((const uint8_t[]) {32, 33}, 2); // pin numbers go in the curly brackets {}, and number of sensors in use goes after
+
+    // calibration sequence
+    for (uint8_t i = 0; i < 250; i++) { 
+        Console.printf("calibrating %d/250\n", i); // 250 is the number of calibrations recommended by manufacturer
+        qtr.calibrate(); 
+        delay(20);
+    }
+}
+
+void loop() {
+    qtr.readLineBlack(sensors); // Get calibrated sensor values returned into sensors[]
+    Console.printf("S1: %d S2: %d\n", sensors[0], sensors[1]);
+    delay(250);
+}

main/servo.cpp

@@ -0,0 +1,20 @@
+include "sdkconfig.h"
+include <Arduino.h>
+
+include <ESP32Servo.h>
+
+Servo myServo;
+
+void setup() {
+  myServo.attach(12);
+    myServo.write(0); // Rotate to 0 degrees
+  delay(1000); // Delay 1000 ms
+  myServo.write(180); // Rotate to 180 degrees
+  delay(1000);
+
+  vTaskDelay(1); // Yield CPU to not starve other ESP32 processes and cause WDT reset
+
+}
+
+void loop() {
+}