feat: forked from 'github.com/ralvarezdev/klevor'

Author: ralvarezdev

constants.go

@@ -0,0 +1,11 @@
+//go:build tinygo && (rp2040 || rp2350)
+
+package tinygo_servo
+
+const (
+	// LeftLimitAngle is the angle that represents the left limit position of the servo motors.
+	LeftLimitAngle uint16 = 0
+
+	// RightLimitAngle is the angle that represents the right limit position of the servo motors.
+	RightLimitAngle uint16 = 180
+)

errors.go

@@ -0,0 +1,21 @@
+//go:build tinygo && (rp2040 || rp2350)
+
+package tinygo_servo
+
+import (
+	tinygotypes "github.com/ralvarezdev/tinygo-types"
+)
+
+const (
+	// ErrorCodeServoStartNumber is the starting number for servo-related error codes.
+	ErrorCodeServoStartNumber uint16 = 5230
+)
+
+const (
+	ErrorCodeServoFailedToConfigurePWM tinygotypes.ErrorCode = tinygotypes.ErrorCode(iota + ErrorCodeServoStartNumber)
+	ErrorCodeServoFailedToInitializeServo
+	ErrorCodeServoAngleOutOfRange
+	ErrorCodeServoAngleBelowMinPulseWidth
+	ErrorCodeServoAngleAboveMaxPulseWidth
+	ErrorCodeServoFailedToSetServoAngle
+)

go.mod

@@ -0,0 +1,9 @@
+module github.com/ralvarezdev/tinygo-servo
+
+go 1.25.0
+
+require (
+	github.com/ralvarezdev/tinygo-buffers v0.0.3 // indirect
+	github.com/ralvarezdev/tinygo-logger v0.0.3 // indirect
+	github.com/ralvarezdev/tinygo-types v0.0.3 // indirect
+)

go.sum

@@ -0,0 +1,6 @@
+github.com/ralvarezdev/tinygo-buffers v0.0.3 h1:KQJ9tg24PMr6RFjPkdf78WEzQ2cRG6NR7JQCqRns1N4=
+github.com/ralvarezdev/tinygo-buffers v0.0.3/go.mod h1:sP4ilzeozqemPX/4dqMmnAKq61ys0qs89XITGab03BA=
+github.com/ralvarezdev/tinygo-logger v0.0.3 h1:jd4a2JMf0orZPzz8upnVLKaNEWK+3SpYCwa0vnVl+Vo=
+github.com/ralvarezdev/tinygo-logger v0.0.3/go.mod h1:jS3shtdAG0nJzVMys4IWhD2YiSAZQ8/PU1oYoZwA5+w=
+github.com/ralvarezdev/tinygo-types v0.0.3 h1:h8ogOD2lOVxR+w5i6o+v/8qTROFA2KBjVXBM7NT3SMc=
+github.com/ralvarezdev/tinygo-types v0.0.3/go.mod h1:2u3ApwAtIqGZ6wDsmUYt44bIk1DEn06INNjtfWndCr4=

interfaces.go

@@ -0,0 +1,23 @@
+//go:build tinygo && (rp2040 || rp2350)
+
+package tinygo_servo
+
+import (
+	tinygotypes "github.com/ralvarezdev/tinygo-types"
+)
+
+type (
+	// Handler is the interface to handle servo operations
+	Handler interface {
+		SetAngle(angle uint16) tinygotypes.ErrorCode
+		GetAngle() uint16
+		SetAngleRelativeToCenter(relativeAngle int16) tinygotypes.ErrorCode
+		IsAngleCentered() bool
+		SetAngleToCenter() tinygotypes.ErrorCode
+		SetAngleToRight(angle uint16) tinygotypes.ErrorCode
+		SetAngleToLeft(angle uint16) tinygotypes.ErrorCode
+		SetDirectionToCenter() tinygotypes.ErrorCode
+		SetDirectionToRight(angle uint16) tinygotypes.ErrorCode
+		SetDirectionToLeft(angle uint16) tinygotypes.ErrorCode
+	}
+)

types.go

@@ -0,0 +1,267 @@
+//go:build tinygo && (rp2040 || rp2350)
+
+package tinygo_servo
+
+import (
+	"time"
+
+	"machine"
+
+	tinygotypes "github.com/ralvarezdev/tinygo-types"
+	tinygodriversservo "tinygo.org/x/drivers/servo"
+	tinygologger "github.com/ralvarezdev/tinygo-logger"
+)
+
+type (
+	// DefaultHandler is the default implementation of the Servo interface
+	DefaultHandler struct {
+		afterSetAngleFunc  func(angle uint16)
+		isMovementEnabled  func() bool
+		isDirectionInverted bool
+		frequency           uint16
+		minPulseWidth       uint16
+		halfPulseWidth      uint16
+		maxPulseWidth       uint16
+		rangePulseWidth     uint16
+		centerAngle         uint16
+		maxAngle            uint16
+		servo               tinygodriversservo.Servo
+		angle               uint16
+		logger  		 tinygologger.Logger
+	}
+)
+
+var (
+	// setAnglePrefix is the prefix message for new angle setting
+	setAnglePrefix = "Set servo angle degrees to:"
+)
+
+// NewDefaultHandler creates a new instance of DefaultHandler
+//
+// Parameters:
+//
+// pwm: The PWM interface to control the servo
+// pin: The pin connected to the servo
+// afterSetAngleFunc: A callback function to be called after setting the angle
+// isMovementEnabled: A function to check if movement is enabled
+// frequency: The frequency of the PWM signal
+// minPulseWidth: The minimum pulse width for the servo motor
+// maxPulseWidth: The maximum pulse width for the servo motor
+// centerAngle: The center angle of the servo motor
+// maxAngle: The maximum angle the servo can move from the center
+// isDirectionInverted: Whether the direction of the servo motor is inverted
+// logger: The logger instance for logging messages
+//
+// Returns:
+//
+// An instance of DefaultHandler and an error if any occurred during initialization
+func NewDefaultHandler(
+	pwm tinygodriversservo.PWM,
+	pin machine.Pin,
+	afterSetAngleFunc func(angle uint16),
+	isMovementEnabled func() bool,
+	frequency uint16,
+	minPulseWidth uint16,
+	maxPulseWidth uint16,
+	centerAngle uint16,
+	maxAngle uint16,
+	isDirectionInverted bool,
+	logger tinygologger.Logger,
+) (*DefaultHandler, tinygotypes.ErrorCode) {
+	// Configure the PWM
+	if err := pwm.Configure(
+		machine.PWMConfig{
+			Period: uint64(time.Second / time.Duration(frequency)),
+		},
+	); err != nil {
+		return nil, ErrorCodeServoFailedToConfigurePWM
+	}
+
+	// Create a new instance of the servo
+	servo, err := tinygodriversservo.New(pwm, pin)
+	if err != nil {
+		return nil, ErrorCodeServoFailedToInitializeServo
+	}
+
+	// Calculate the half pulse and range pulse
+	halfPulseWidth := (maxPulseWidth + minPulseWidth) / 2
+	rangePulseWidth := maxPulseWidth - minPulseWidth
+
+	// Initialize the servo with the provided parameters
+	handler := &DefaultHandler{
+		afterSetAngleFunc:  afterSetAngleFunc,
+		isMovementEnabled:  isMovementEnabled,
+		isDirectionInverted: isDirectionInverted,
+		frequency:           frequency,
+		minPulseWidth:       minPulseWidth,
+		halfPulseWidth:      halfPulseWidth,
+		maxPulseWidth:       maxPulseWidth,
+		rangePulseWidth:     rangePulseWidth,
+		servo:               servo,
+		angle:               centerAngle,
+		centerAngle:         centerAngle,
+		logger:  		 logger,
+	}
+
+	// Center the servo on initialization
+	_ = handler.SetAngleToCenter()
+	return handler, tinygotypes.ErrorCodeNil
+}
+
+// GetAngle returns the current angle of the servo motor
+//
+// Returns:
+//
+// The current angle of the servo motor
+func (h *DefaultHandler) GetAngle() uint16 {
+	return h.angle
+}
+
+// SetAngle sets the angle of the servo motor
+//
+// Parameters:
+//
+// angle: The angle to set the servo motor to, must be between 0 and the actuation range
+func (h *DefaultHandler) SetAngle(angle uint16) tinygotypes.ErrorCode {
+	// Check if the angle is within the valid range
+	if angle < h.centerAngle-h.maxAngle || angle > h.centerAngle+h.maxAngle {
+		return ErrorCodeServoAngleOutOfRange
+	}
+	if angle < LeftLimitAngle || angle > RightLimitAngle {
+		return ErrorCodeServoAngleOutOfRange
+	}
+
+	// Check if the angle is the same as the current angle
+	if angle == h.angle {
+		return tinygotypes.ErrorCodeNil
+	}
+
+	// Check if the direction is inverted
+	if h.isDirectionInverted {
+		angle = RightLimitAngle - (angle - LeftLimitAngle)
+	}
+
+	// Update the current angle
+	h.angle = angle
+
+	// Set the servo angle
+	if h.isMovementEnabled == nil || h.isMovementEnabled() {
+		if err := h.servo.SetAngleWithMicroseconds(
+			int(angle),
+			int(h.minPulseWidth),
+			int(h.maxPulseWidth),
+		); err != nil {
+			return ErrorCodeServoFailedToSetServoAngle
+		}
+	}
+
+	// Log the new angle if logger is provided
+	if h.logger != nil {
+		h.logger.AddMessageWithUint16(setAnglePrefix, angle, true, true, false)
+		h.logger.Debug()
+	}
+
+	// Call the after set angle function if provided
+	if h.afterSetAngleFunc != nil {
+		h.afterSetAngleFunc(angle)
+	}
+
+	return tinygotypes.ErrorCodeNil
+}
+
+// IsAngleCentered checks if the servo motor angle is centered
+//
+// Returns:
+//
+// True if the servo motor is centered, false otherwise
+func (h *DefaultHandler) IsAngleCentered() bool {
+	return h.angle == h.centerAngle
+}
+
+// SetAngleToCenter centers the servo motor to the middle position
+//
+// Returns:
+//
+// An error if the servo motor could not be centered
+func (h *DefaultHandler) SetAngleToCenter() tinygotypes.ErrorCode {
+	return h.SetAngle(h.centerAngle)
+}
+
+// SetAngleRelativeToCenter sets the angle of the servo motor relative to the center position
+//
+// Parameters:
+//
+// relativeAngle: The relative angle value between -90 and 90 degrees
+//
+// Returns:
+//
+// An error if the relative angle is not within the left and right limits
+func (h *DefaultHandler) SetAngleRelativeToCenter(relativeAngle int16) tinygotypes.ErrorCode {
+	// Calculate the absolute angle based on the center angle and relative angle
+	absoluteAngle := int16(h.centerAngle) + relativeAngle
+
+	// Check if the absolute angle is within the left and right limits
+	if absoluteAngle < int16(LeftLimitAngle) || absoluteAngle > int16(RightLimitAngle) {
+		return ErrorCodeServoAngleOutOfRange
+	}
+
+	// Set the servo angle
+	return h.SetAngle(uint16(absoluteAngle))
+}
+
+// SetAngleToRight sets the servo motor to the right by a specified angle
+//
+// Parameters:
+//
+// angle: The angle value to move the servo to the right, must be between 0 and the right limit
+//
+// Returns:
+//
+// An error if the angle is not within the right limit
+func (h *DefaultHandler) SetAngleToRight(angle uint16) tinygotypes.ErrorCode {
+	return h.SetAngleRelativeToCenter(-int16(angle))
+}
+
+// SetAngleToLeft sets the servo motor to the left by a specified angle
+//
+// Parameters:
+//
+// angle: The angle value to move the servo to the left, must be between 0 and the left limit
+//
+// Returns:
+//
+// An error if the angle is not within the left limit
+func (h *DefaultHandler) SetAngleToLeft(angle uint16) tinygotypes.ErrorCode {
+	return h.SetAngleRelativeToCenter(int16(angle))
+}
+
+// SetDirectionToCenter sets the direction to center
+func (h *DefaultHandler) SetDirectionToCenter() tinygotypes.ErrorCode {
+	return h.SetAngleToCenter()
+}
+
+// SetDirectionToRight sets the direction to right
+//
+// Parameters:
+//
+// angle: The angle value to move the servo to the left, must be between 0 and the left limit
+//
+// Returns:
+//
+// An error if the angle is not within the left limit
+func (h *DefaultHandler) SetDirectionToRight(angle uint16) tinygotypes.ErrorCode {
+	return h.SetAngleToLeft(angle)
+}
+
+// SetDirectionToLeft sets the direction to left
+//
+// Parameters:
+//
+// angle: The angle value to move the servo to the right, must be between 0 and the right limit
+//
+// Returns:
+//
+// An error if the angle is not within the right limit
+func (h *DefaultHandler) SetDirectionToLeft(angle uint16) tinygotypes.ErrorCode {
+	return h.SetAngleToRight(angle)
+}