Added support for velocity control.

emb/state-controller.cpp

@@ -6,19 +6,39 @@
 
 enum State
 {
-    STATE_DELAY, STATE_READY
+     STATE_READY = 0, STATE_DELAY
 };
 
 static State state = STATE_READY;
 static uint32_t delayEnd = 0;
 
+static int16_t servoVelocities[NUM_SERVOS];
+static uint32_t velocitiesEndMillis[NUM_SERVOS];
+static int16_t startAngles[NUM_SERVOS];
+static uint32_t startMillis[NUM_SERVOS];
+
 void parseCommand(command *comm)
 {
+    uint32_t currentMillis = getCurrentMillis();
+    
     switch (comm->comm_ch)
     {
         case 's':
+            if (0 <= comm->arg[0] - 1 && comm->arg[0] - 1 < NUM_SERVOS)
+            { 
                 setServoAngle(comm->arg[0] - 1, comm->arg[1] * 60);
                 updateServos();
+                servoVelocities[comm->arg[0] - 1] = 0;
+            }
+            break;
+        case 'v':
+            if (0 <= comm->arg[0] - 1 && comm->arg[0] - 1 < NUM_SERVOS)
+            {
+                servoVelocities[comm->arg[0] - 1] = comm->arg[1];
+                velocitiesEndMillis[comm->arg[0] - 1] = currentMillis + comm->arg[2];
+                startAngles[comm->arg[0] - 1] = getServoAngle(comm->arg[0] - 1);
+                startMillis[comm->arg[0] - 1] = currentMillis;
+            }
             break;
         case 'd':
             delayEnd = getCurrentMillis() + comm->arg[0];
@@ -29,6 +49,8 @@ void parseCommand(command *comm)
 
 void updateState()
 {
+    uint32_t currentMillis = getCurrentMillis();
+    
     switch (state)
     {
         case STATE_READY:
@@ -44,11 +66,29 @@ void updateState()
             break;
         }
         case STATE_DELAY:
-            if (getCurrentMillis() > delayEnd)
+            if (currentMillis > delayEnd)
                 state = STATE_READY;
             
             break;
     }
+    
+    for (uint8_t i = 0; i < NUM_SERVOS; i++)
+    {
+        if (servoVelocities[i] != 0)
+        {
+            if (currentMillis < velocitiesEndMillis[i])
+            {
+                int16_t newAngle = startAngles[i] + (int32_t) servoVelocities[i] * 60 * (int32_t) (currentMillis - startMillis[i]) / 1000;
+                setServoAngle(i, newAngle);
+            }
+            else
+            {
+                setServoAngle(i, startAngles[i] + (int32_t) servoVelocities[i] * 60 * (int32_t) (velocitiesEndMillis[i] - startMillis[i]) / 1000);
+                servoVelocities[i] = 0;
+            }
+        }
+    }
+    updateServos();
 }