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update gonggong servo raw timing signal added

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Dooho Yi 2022-06-11 18:53:14 +09:00
parent 4fca7fc789
commit f2fbd68bf5
1 changed files with 23 additions and 0 deletions
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23
gonggong/src/main.cpp
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@ -46,6 +46,7 @@
// (EMPTY)
//============<gonggong>============
#define GONG_SIDE_RAW_KEY 0 // velocity = writeMicroseconds(us)
#define GONG_SIDE_KEY 1000 // X1 = start angle, X2 = hit angle
#define GONG_SIDE_MOVE_KEY 1001 // X3 = set angle
#define GONG_HEAD_KEY 1002 // random (HEAD)
@ -149,6 +150,21 @@ void ring_side_move() {
}
Task ring_side_move_task(0, TASK_ONCE, &ring_side_move);
// ring_side. - act type #3 (set raw us==move)
extern Task ring_side_raw_task;
int side_set_raw_us = 1000;
void ring_side_raw() {
//
MONITORING_SERIAL.print("ring_side_raw go -> ");
MONITORING_SERIAL.print(side_set_raw_us);
MONITORING_SERIAL.println(" (us)");
//
side.attach(D6);
side.writeMicroseconds(side_set_raw_us);
side_release_task.restartDelayed(100);
}
Task ring_side_raw_task(0, TASK_ONCE, &ring_side_raw);
// ring_head.
static Servo head;
extern Task head_release_task;
@ -273,6 +289,12 @@ Task blink_task(0, TASK_FOREVER, &blink, &runner, true); // -> ENABLED, at start
void onNoteHandler(Note & n) {
//
if (n.id == MY_GROUP_ID || n.id == MY_ID) {
if (n.pitch == GONG_SIDE_RAW_KEY && n.onoff == 1) {
side_set_raw_us = n.velocity;
//
ring_side_raw_task.restartDelayed(10);
//
}
if (n.pitch == GONG_SIDE_KEY && n.onoff == 1) {
side_start_angle = n.x1;
side_hit_angle = n.x2;
@ -422,6 +444,7 @@ void setup() {
//tasks
runner.addTask(ring_side_task);
runner.addTask(ring_side_move_task);
runner.addTask(ring_side_raw_task);
runner.addTask(side_release_task);
//
runner.addTask(ring_head_task);