.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "new": "cpp"
+    }
+}

config.ini

@@ -27,3 +27,8 @@ build_flags =
 
     ; nfc addr
     -D NFC_ADDR=0x28
+    ;;;  Servo config  ;;;
+    ;;;;;;;;;;;;;;;;;;;;;;
+    -D RIGHT_POS=18
+    -D MIDDLE_POS=32
+    -D LEFT_POS=52

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

lib/ServoMotorComponent/src/ServoMotorComponent.cpp

@@ -0,0 +1,59 @@
+#include "ServoMotorComponent.h"
+
+
+/////////////////////////////////////////////////////////////////////////////////////
+// Functions for setting up the ServoMotor
+/////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Constructor.
+ * Prepares the ServoMotor.
+ */
+ServoMotorComponent::ServoMotorComponent(int PIN,  unsigned long updatePeriod, float step) {
+    this->PIN = PIN;
+    this->myservo.attach(PIN);
+    this->desiredposition = Position::MIDDLE;
+    this->currentPosition = MIDDLE_POS;
+    this->lastUpTime = millis();
+    this->updatePeriod = updatePeriod;
+    this->step = step;
+    this->myservo.write(this->PIN, this->currentPosition);
+}
+
+/**
+ * Set the desired position
+ * @desiredPosition: Give desired position
+ */
+void ServoMotorComponent::setDesiredPosition(Position desiredPosition) {
+    switch (desiredPosition) {
+        case Position::LEFT:
+            this->desiredposition = LEFT_POS;
+            break;
+        case Position::MIDDLE:
+            this->desiredposition = MIDDLE_POS;
+            break;
+        case Position::RIGHT:
+            this->desiredposition = RIGHT_POS;
+            break;
+        default:
+            break;
+    }
+}
+
+
+/**
+ * Write a new servoMotor position when it's necessary
+ */
+void ServoMotorComponent::refresh() {
+    if (this->desiredposition == this->currentPosition 
+    ||  millis() - this->lastUpTime <= this->updatePeriod) return;
+
+    if (this->currentPosition > this->desiredposition) {
+        this->currentPosition -= this->step;
+    }
+    if (this->currentPosition < this->desiredposition) {
+        this->currentPosition += this->step;
+    }
+    this->lastUpTime = millis();
+    this->myservo.write(this->PIN, this->currentPosition);
+}

lib/ServoMotorComponent/src/ServoMotorComponent.h

@@ -0,0 +1,33 @@
+#ifndef SERVOMOTOT_COMPONENT_H
+#define SERVOMOTOT_COMPONENT_H
+
+#include <Servo.h>
+
+enum Position {
+    LEFT,
+    MIDDLE,
+    RIGHT
+};
+
+class ServoMotorComponent
+{
+public:
+    ServoMotorComponent(int PIN, unsigned long updatePeriod, float step = 1);
+    void setDesiredPosition(Position desiredPosition);
+    void refresh();
+
+private:
+    int PIN;
+    float currentPosition;
+    float desiredposition;
+    Servo myservo;
+    unsigned long lastUpTime;
+    unsigned long updatePeriod;
+    float step;
+};
+
+
+
+
+
+#endif //SERVOMOTOT_COMPONENT_H

platformio.ini

@@ -55,6 +55,7 @@ lib_deps =
     m5stack/M5Stack@^0.4.5 ; M5 Lib
     m5stack/M5GFX@^0.1.9 ; M5 Lib pour le LCD
     m5stack/Module_GRBL_13.2@^0.0.3 ; M5 Lib pour Stepper (GRBL)
+    dlloydev/ESP32 ESP32S2 AnalogWrite ; Lib pour le Servo Motor
 ;    example:
 ;    erropix/ESP32 AnalogWrite@0.2
 

src/Program.cpp

@@ -1,6 +1,7 @@
 #include "Program.h"
 #include "Arduino.h"
 #include "DolibarrClient.h"
+#include "ServoMotorComponent.h"
 
 int initialize_wifi(WifiConfig wifi) {
     WiFiClass::mode(WIFI_STA); //Optional
@@ -17,13 +18,16 @@ int initialize_wifi(WifiConfig wifi) {
 
 Program::Program() {
     Serial.begin(MONITOR_SPEED);
-    struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
+    this->servo = new ServoMotorComponent(2, 1, 0.1);
-    struct DolibarrConfig dolibarr = {DOLIBARR_URL, DOLIBARR_API_TOKEN};
+    //struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
-    initialize_wifi(wifi_c);
+    //struct DolibarrConfig dolibarr = {DOLIBARR_URL, DOLIBARR_API_TOKEN};
-    this->client = new DolibarrClient(dolibarr);
+    //initialize_wifi(wifi_c);
+    //this->client = new DolibarrClient(dolibarr);
 }
 
 void Program::loop() {
+    this->servo->refresh();
+    this->servo->setDesiredPosition(Position::LEFT);
 }