chiral

firmware/braille_xr/braille_xr.ino

@@ -1,3 +1,4 @@
+// esp32 specific
 #include <unordered_map>
 
 #include "WiFi.h"
@@ -28,9 +29,9 @@ ServoPin servos[6] = {
 // 00
 // braille alphabet array
 struct BrailleChar {
-  int servoStates[6];
+  int servo_states[6];
 };
-std::unordered_map<char, BrailleChar> brailleMap = {
+std::unordered_map<char, BrailleChar> braille_map = {
   {' ', {{
     0, 0,
     0, 0,
@@ -188,8 +189,7 @@ std::unordered_map<char, BrailleChar> brailleMap = {
   }}}
 };
 
-void setup()
-{
+void setup() {
 	Serial.begin(115200);
 
   WiFi.disconnect(true);
@@ -206,7 +206,7 @@ void setup()
     Serial.println(WiFi.localIP());
     udp.onPacket([](AsyncUDPPacket packet) {
       Serial.print(", Length: ");
-      Serial.print(packet.length()); //dlzka packetu
+      Serial.print(packet.length());
       Serial.print(", Data: ");
       // Serial.write(packet.data(), packet.length());
       // that is printing a character instead of a number
@@ -228,34 +228,25 @@ void setup()
 	ESP32PWM::allocateTimer(1);
 	ESP32PWM::allocateTimer(2);
 	ESP32PWM::allocateTimer(3);
-	// myservo.setPeriodHertz(50);    // standard 50 hz servo
-	// myservo.attach(servoPin, 1000, 2000); // attaches the servo on pin x to the servo object
-	// using default min/max of 1000us and 2000us
-	// different servos may require different min/max settings 
-	// for an accurate 0 to 180 sweep
   for (int i = 0; i < 6; i++) {
     servos[i].servo.setPeriodHertz(50);
-    servos[i].servo.attach(servos[i].pin, 500, 2500); // full 180
+    servos[i].servo.attach(servos[i].pin);
   }
 }
 
-void loop()
-{
+char old_char = ' ';
+void loop() {
   // delay(1000);
   // udp.broadcast("Anyone here?");
 
-  // for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
-	// 	// in steps of 1 degree
-	// 	myservo.write(pos);    // tell servo to go to position in variable 'pos'
-	// 	delay(15);             // waits 15ms for the servo to reach the position
-	// }
-	// for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
-	// 	myservo.write(pos);    // tell servo to go to position in variable 'pos'
-	// 	delay(15);             // waits 15ms for the servo to reach the position
-	// }
+  if (in_char != old_char) {
+    BrailleChar bc = braille_map[in_char];
+    for (int i = 0; i < 6; i++) {
+      int state = bc.servo_states[i];
+      int s = i % 2 == 0 ? state : (1 - state);
+      servos[i].servo.write(s * 180);
+    }
 
-  // myservo.write(bindex);
-  for (int i = 0; i < 6; i++) {
-    servos[i].servo.write(brailleMap[in_char].servoStates[i] * 180);
+    old_char = in_char;
   }
 }