From 3c7aea15a90eae1b2168056b19e48a840f475b67 Mon Sep 17 00:00:00 2001
From: Mathis <mathis.ragot@epitech.eu>
Date: Fri, 8 Dec 2023 09:45:07 +0100
Subject: [PATCH] [ServoMotor] - rework servoMotor for adding speed and easing
 for movement

---
 include/Program.h                             |  2 ++
 .../src/ServoMotorComponent.cpp               | 26 ++++++++++++++++---
 .../src/ServoMotorComponent.h                 |  5 ++++
 src/Program.cpp                               | 25 +++++-------------
 4 files changed, 36 insertions(+), 22 deletions(-)

diff --git a/include/Program.h b/include/Program.h
index b4f30bb..4ceb880 100644
--- a/include/Program.h
+++ b/include/Program.h
@@ -4,6 +4,7 @@
 #include "Arduino.h"
 #include "DolibarrClient.h"
 #include <M5Stack.h>
+#include "ServoMotorComponent.h"
 
 class Program {
 public:
@@ -18,6 +19,7 @@ public:
     void loop();
 private:
     DolibarrClient *client;
+    ServoMotorComponent *servo;
 };
 
 #endif
diff --git a/lib/ServoMotorComponent/src/ServoMotorComponent.cpp b/lib/ServoMotorComponent/src/ServoMotorComponent.cpp
index fef7531..4a67a25 100644
--- a/lib/ServoMotorComponent/src/ServoMotorComponent.cpp
+++ b/lib/ServoMotorComponent/src/ServoMotorComponent.cpp
@@ -2,23 +2,25 @@
 
 ServoMotorComponent::ServoMotorComponent(int PIN) {
     this->PIN = PIN;
-    this->position = 0;
+    this->position = 30;
+    this->speed = 100;
+    this->easing = 0.5;
     this->myservo.attach(PIN);
 }
 
 void ServoMotorComponent::goLeft() {
-    this->myservo.write(this->PIN, 0);
+    this->myservo.write(this->PIN, 52, this->speed, this->easing);
     this->position = 0;
 }
 
 void ServoMotorComponent::goRight() {
-        this->myservo.write(this->PIN, 180);
+        this->myservo.write(this->PIN, 18, this->speed, this->easing);
 
     this->position = 180;
 }
 
 void ServoMotorComponent::goMiddle() {
-    this->myservo.write(this->PIN, 90);
+    this->myservo.write(this->PIN, 32, this->speed, this->easing);
     this->position = 90;
 }
 
@@ -29,4 +31,20 @@ int ServoMotorComponent::getPosition() {
 void ServoMotorComponent::setPin(int PIN) {
     this->PIN = PIN;
     this->myservo.attach(PIN);
+    return;
+}
+
+void ServoMotorComponent::setSpeed(int speed) {
+    this->speed = speed;
+    return;
+}
+
+void ServoMotorComponent::pause() {
+    this->myservo.pause();
+    return;
+}
+
+void ServoMotorComponent::setEasing(float easing) {
+    this->easing = easing;
+    return;
 }
diff --git a/lib/ServoMotorComponent/src/ServoMotorComponent.h b/lib/ServoMotorComponent/src/ServoMotorComponent.h
index c5a08c1..3d74c92 100644
--- a/lib/ServoMotorComponent/src/ServoMotorComponent.h
+++ b/lib/ServoMotorComponent/src/ServoMotorComponent.h
@@ -13,10 +13,15 @@ public:
     void goMiddle();
     int getPosition();
     void setPin(int PIN);
+    void pause();
+    void setSpeed(int speed);
+    void setEasing(float easing);
 
 private:
     int PIN;
     int position;
+    int speed;
+    float easing;
     Servo myservo;
 };
 
diff --git a/src/Program.cpp b/src/Program.cpp
index 8454899..3d7ebe7 100644
--- a/src/Program.cpp
+++ b/src/Program.cpp
@@ -2,28 +2,17 @@
 #include "Arduino.h"
 #include "DolibarrClient.h"
 
-int initialize_wifi(WifiConfig wifi) {
-    WiFiClass::mode(WIFI_STA); //Optional
-    WiFi.setSleep(false);
-    WiFi.begin(wifi.ssid, wifi.password);
-    Serial.print("Connecting ");
-    while(WiFiClass::status() != WL_CONNECTED){
-        delay(WAITING_WIFI_DELAY);
-        Serial.print(".");
-    }
-    Serial.println("Connected to the WiFi network");
-    return 0;
-}
-
 Program::Program() {
-    Serial.begin(MONITOR_SPEED);
-    struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
-    struct DolibarrConfig dolibarr = {DOLIBARR_URL, DOLIBARR_API_TOKEN};
-    initialize_wifi(wifi_c);
-    this->client = new DolibarrClient(dolibarr);
+    this->servo = new ServoMotorComponent(2);
 }
 
 void Program::loop() {
+    // this->servo->goLeft();
+    // delay(3000);
+    this->servo->goMiddle();
+    // delay(3000);
+    // this->servo->goRight();
+    // delay(3000);
 }