[pull] mega from letscontrolit:mega

lib/ServoESP32/.clang-format

@@ -0,0 +1,83 @@
+# Google C/C++ Code Style settings
+# https://clang.llvm.org/docs/ClangFormatStyleOptions.html
+# Author: Kehan Xue, kehan.xue (at) gmail.com
+
+Language: Cpp
+BasedOnStyle: Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: None
+AlignOperands: Align
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: Empty
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: Never # To avoid conflict, set this "Never" and each "if statement" should include brace when coding
+AllowShortLambdasOnASingleLine: Inline
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterReturnType: None
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BreakBeforeBraces: Custom
+BraceWrapping:
+AfterCaseLabel: false
+AfterClass: false
+AfterStruct: false
+AfterControlStatement: Never
+AfterEnum: false
+AfterFunction: false
+AfterNamespace: false
+AfterUnion: false
+AfterExternBlock: false
+BeforeCatch: false
+BeforeElse: false
+BeforeLambdaBody: false
+IndentBraces: false
+SplitEmptyFunction: false
+SplitEmptyRecord: false
+SplitEmptyNamespace: false
+BreakBeforeBinaryOperators: None
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeColon
+BreakInheritanceList: BeforeColon
+ColumnLimit: 120
+CompactNamespaces: false
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false # Make sure the * or & align on the left
+EmptyLineBeforeAccessModifier: LogicalBlock
+FixNamespaceComments: true
+IncludeBlocks: Preserve
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth: 4
+KeepEmptyLinesAtTheStartOfBlocks: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PointerAlignment: Left
+ReflowComments: false
+# SeparateDefinitionBlocks: Always # Only support since clang-format 14
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceBeforeSquareBrackets: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInContainerLiterals: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: c++11
+TabWidth: 4
+UseTab: Never

lib/ServoESP32/README.md

@@ -8,23 +8,49 @@ Base on [servo library for stm32f4 (d2a4a47)](https://github.com/arduino-librari
 
 The interface is similar to Arduino/Servo: https://www.arduino.cc/en/Reference/Servo
 
-But the function `atach()` is different:
+But the function `attach()` is different:
 
 ```c
 bool attach(
     int pin,
     int channel = CHANNEL_NOT_ATTACHED,
-    int minAngle = MIN_ANGLE,
-    int maxAngle = MAX_ANGLE,
-    int minPulseWidth = MIN_PULSE_WIDTH,
-    int maxPulseWidth = MAX_PULSE_WIDTH
+    int minAngle = DEFAULT_MIN_ANGLE,
+    int maxAngle = DEFAULT_MAX_ANGLE,
+    int minPulseWidthUs = DEFAULT_MIN_PULSE_WIDTH_US,
+    int maxPulseWidthUs = DEFAULT_MAX_PULSE_WIDTH_US,
+    int frequency = DEFAULT_FREQUENCY
 );
 ```
 
-More information in [source code documentation](https://github.com/RoboticsBrno/ESP32-Arduino-Servo-Library/blob/master/src/Servo.h#L73).
+More information in [source code documentation](src/Servo.h).
 
 Example: [04-SimpleServoAngles](examples/04-SimpleServoAngles/04-SimpleServoAngles.ino)
 
+There are also a ServoFloat and ServoDouble variant available. Use one of these when working in radians. 
+
+Example: : [05-SimpleServoRadians](examples/05-SimpleServoRadians/05-SimpleServoRadians.ino)
+
+### IMPORTANT INFO
+According testings, the frequency for ESP32 S2/S3/C3 has to be set at least to 200 Hz. Here is an example, how to set just frequency:
+
+```cpp
+Servo servo1;
+const int servoPin = 4;
+const int frequency = 200; // Hz
+
+servo1.attach(
+    servoPin, 
+    Servo::CHANNEL_NOT_ATTACHED, 
+    Servo::DEFAULT_MIN_ANGLE, 
+    Servo::DEFAULT_MAX_ANGLE, 
+    Servo::DEFAULT_MIN_PULSE_WIDTH_US, 
+    Servo::DEFAULT_MAX_PULSE_WIDTH_US, 
+    frequency
+);
+```
+
+For more information look at the [PR25](https://github.com/RoboticsBrno/ServoESP32/pull/25) 
+
 ## PlatformIO
 
 This library is also available at the [PlatformIO](https://platformio.org) as [ServoESP32](https://platformio.org/lib/show/1739/ServoESP32).

lib/ServoESP32/examples/05-SimpleServoRadians/05-SimpleServoRadians.ino

@@ -0,0 +1,37 @@
+#include <Servo.h>
+
+/*
+ * Description:
+ * Example for using floating point angle and radians.
+ */
+
+static const int servoPin = 4;
+
+ServoFloat servo1;
+
+float deg2rad(float in) {
+    return in * M_PI / 180.0;
+}
+
+const float minAngle = deg2rad(45.0);
+const float maxAngle = deg2rad(120.0);
+const float stepAngle = deg2rad(1.0);
+
+void setup() {
+    Serial.begin(115200);
+    servo1.attach(servoPin, Servo::CHANNEL_NOT_ATTACHED, minAngle, maxAngle);
+}
+
+void loop() {
+    for (float angleRadians = minAngle; angleRadians <= maxAngle; angleRadians += stepAngle) {
+        servo1.write(angleRadians);
+        Serial.println(angleRadians);
+        delay(20);
+    }
+
+    for (float angleRadians = maxAngle; angleRadians >= minAngle; angleRadians -= stepAngle) {
+        servo1.write(angleRadians);
+        Serial.println(angleRadians);
+        delay(20);
+    }
+}

lib/ServoESP32/library.json

@@ -4,19 +4,17 @@
   "description": "Generate RC servo signal on a selected pins with ESP32 device and Arduino framework.",
   "homepage": "https://github.com/RoboticsBrno/ServoESP32/",
   "license": "MIT",
-  "repository":
-  {
+  "repository": {
     "type": "git",
     "url": "https://github.com/RoboticsBrno/ServoESP32.git"
   },
-  "authors":
-  {
-      "name": "Jaroslav Paral",
-      "email": "[email protected]",
-      "url": "http://www.robotikabrno.cz",
-      "maintainer": true
+  "authors": {
+    "name": "Jaroslav Paral",
+    "email": "[email protected]",
+    "url": "http://www.robotikabrno.cz",
+    "maintainer": true
   },
-  "version": "1.0.3",
+  "version": "1.1.1",
   "frameworks": "arduino",
   "platforms": "espressif32"
-}
+}

lib/ServoESP32/library.properties

@@ -1,5 +1,5 @@
 name=ServoESP32
-version=1.0.3
+version=1.1.1
 author=Jaroslav Paral
 maintainer=Jaroslav Paral <[email protected]>
 sentence=Generate RC servo signal on a selected pins with ESP32 device and Arduino framework.

lib/ServoESP32/src/Servo.cpp

@@ -24,99 +24,13 @@
  * SOFTWARE.
  *****************************************************************************/
 
- /*
+/**
  * Arduino srl - www.arduino.org
  * Base on lib for stm32f4 (d2a4a47): https://github.com/arduino-libraries/Servo/blob/master/src/stm32f4/ServoTimers.h
  * 2017 Jul 5: Edited by Jaroslav Páral (jarekparal) - [email protected]
  */
 
+// Implementation is in Servo.h
 #include <Servo.h>
 
-int Servo::channel_next_free = 0;
-
-Servo::Servo() {
-    _resetFields();
-};
-
-Servo::~Servo() {
-    detach();
-}
-
-bool Servo::attach(int pin, int channel, 
-                   int minAngle, int maxAngle, 
-                   int minPulseWidth, int maxPulseWidth) 
-{
-    if(channel == CHANNEL_NOT_ATTACHED) {
-        if(channel_next_free == CHANNEL_MAX_NUM) {
-            return false;
-        }
-        _channel = channel_next_free;
-        channel_next_free++;
-    } else {
-        _channel = channel;
-    }
-
-    _pin = pin;
-    _minAngle = minAngle;
-    _maxAngle = maxAngle;
-    _minPulseWidth = minPulseWidth;
-    _maxPulseWidth = maxPulseWidth;
-
-    ledcSetup(_channel, 50, 16); // channel X, 50 Hz, 16-bit depth
-    ledcAttachPin(_pin, _channel);
-    return true;
-}
-
-
-bool Servo::detach() {
-    if (!this->attached()) {
-        return false;
-    }
-
-    if(_channel == (channel_next_free - 1))
-        channel_next_free--;
-
-    ledcDetachPin(_pin);
-    _pin = PIN_NOT_ATTACHED;
-    return true;
-}
-
-void Servo::write(int degrees) {
-    degrees = constrain(degrees, _minAngle, _maxAngle);
-    writeMicroseconds(_angleToUs(degrees));
-}
-
-void Servo::writeMicroseconds(int pulseUs) {
-    if (!attached()) {
-        return;
-    }
-    pulseUs = constrain(pulseUs, _minPulseWidth, _maxPulseWidth);
-    _pulseWidthDuty = _usToDuty(pulseUs);
-    ledcWrite(_channel, _pulseWidthDuty);
-}
-
-int Servo::read() {
-    return _usToAngle(readMicroseconds());
-}
-
-int Servo::readMicroseconds() {
-    if (!this->attached()) {
-        return 0;
-    }
-    int duty = ledcRead(_channel);
-    return _dutyToUs(duty);
-}
-
-bool Servo::attached() const { return _pin != PIN_NOT_ATTACHED; }
-
-int Servo::attachedPin() const { return _pin; }
-
-void Servo::_resetFields(void) {
-    _pin = PIN_NOT_ATTACHED;
-    _pulseWidthDuty = 0;
-    _channel = CHANNEL_NOT_ATTACHED;
-    _minAngle = MIN_ANGLE;
-    _maxAngle = MAX_ANGLE;
-    _minPulseWidth = MIN_PULSE_WIDTH;
-    _maxPulseWidth = MAX_PULSE_WIDTH;
-}
+int ServoBase::channel_next_free = 0;