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JoystickControlServo_Jitter

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This commit is contained in:
Owen Bryan
2025-02-11 19:52:10 -08:00
parent 25513dc889
commit e7bdb7926f
33 changed files with 7668 additions and 7511 deletions
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3
JoystickControlServo/main/CMakeLists.txt
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@ -1,4 +1,5 @@
idf_component_register(SRCS "Main.c"
PRIV_REQUIRES spi_flash
INCLUDE_DIRS ""
REQUIRES driver esp_adc)
REQUIRES driver esp_adc
REQUIRES esp_driver_ledc)

90
JoystickControlServo/main/Main.c
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@ -1,27 +1,79 @@
// Receive analog input
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/adc.h"
#include "driver/ledc.h"
#include "esp_err.h"
void app_main(void)
{
uint32_t voltage;
// Define ADC channels for joystick
#define JOYSTICK_X ADC1_CHANNEL_6 // GPIO34
//#define JOYSTICK_Y ADC1_CHANNEL_7 // GPIO35
#define NUM_SAMPLES 100
// Configure ADC1 capture width
// 12 bit decimal value from 0 to 4095
adc1_config_width(ADC_WIDTH_BIT_12);
// Configure the ADC1 channel (ADC1_CHANNEL_6 - pin 34), and setting attenuation (ADC_ATTEN_DB_11)
adc1_config_channel_atten(ADC1_CHANNEL_6, ADC_ATTEN_DB_11);
// Define PWM channel for servo
#define SERVO_PWM_GPIO GPIO_NUM_17
#define SERVO_MIN_PULSEWIDTH_US 500 // Minimum pulse width in microseconds
#define SERVO_MAX_PULSEWIDTH_US 2500 // Maximum pulse width in microseconds
#define SERVO_MAX_DEGREE 360 // Maximum angle in degrees
while (1)
{
// Take an ADC1 reading on a single channel (ADC1_CHANNEL_6 pin 34)
// 11dB attenuation (ADC_ATTEN_DB_11) gives full-scale voltage 0 - 3.9V
// 4053 ~ 3.86V
voltage = adc1_get_raw(ADC1_CHANNEL_6);
printf("%ld \n", voltage);
vTaskDelay(100 / portTICK_PERIOD_MS);
// Function to map joystick value to servo angle
float map_value(float input, float input_min, float input_max, float output_min, float output_max) {
return output_min + ((output_max - output_min) / (input_max - input_min)) * (input - input_min);
}
// Function to set servo angle
void set_servo_angle(uint32_t angle) {
uint32_t duty = SERVO_MIN_PULSEWIDTH_US +
((SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) * angle / SERVO_MAX_DEGREE);
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, duty);
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
}
int32_t get_stable_adc_reading() {
int32_t sum = 0;
for (int i = 0; i < NUM_SAMPLES; i++) {
sum += adc1_get_raw(JOYSTICK_X);
}
}
return sum / NUM_SAMPLES;
}
void app_main(void) {
// Initialize ADC for joystick
adc1_config_width(ADC_WIDTH_BIT_12);
adc1_config_channel_atten(JOYSTICK_X, ADC_ATTEN_DB_11);
// adc1_config_channel_atten(JOYSTICK_Y, ADC_ATTEN_DB_11);
// Initialize LEDC for servo control
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.timer_num = LEDC_TIMER_0,
.duty_resolution = LEDC_TIMER_16_BIT,
.freq_hz = 50, // Servo frequency: 50Hz
.clk_cfg = LEDC_AUTO_CLK,
};
ledc_timer_config(&ledc_timer);
ledc_channel_config_t ledc_channel = {
.gpio_num = SERVO_PWM_GPIO,
.speed_mode = LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL_0,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = LEDC_TIMER_0,
.duty = 0,
.hpoint = 0,
};
ledc_channel_config(&ledc_channel);
while (1) {
// Read joystick X-axis value
int x_value = get_stable_adc_reading();
// Map joystick value to servo angle (0–180 degrees)
uint32_t angle = map_value(x_value, 0, 3200, 0, SERVO_MAX_DEGREE);
// Set servo angle based on joystick position
set_servo_angle(angle);
vTaskDelay(pdMS_TO_TICKS(50)); // Delay for smooth movement
}
}