✨ feat: Add VL53L0X in Task1

Now, `VL53L0X` left sensor and right sensor can run in ESP32 `Cleaner`.
MakerbaseMoon · Mar 19, 2023 · 08274df · 08274df
1 parent c2af9ef
commit 08274df
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Showing 6 changed files with 27 additions and 13 deletions.
diff --git a/include/components/module.h b/include/components/module.h
@@ -56,8 +56,8 @@ void show_dashboard_battery();
 
 // VL53L0X.cpp
 struct VL53L0X_value{
-    uint16_t left;
-    uint16_t right;
+    int32_t left;
+    int32_t right;
 };
 
 void setup_VL53L0X();

diff --git a/include/header.h b/include/header.h
@@ -4,8 +4,8 @@
 // I2C
 #define CLEANER_DEFAULT_I2C_SDA 21
 #define CLEANER_DEFAULT_I2C_SCL 22
-#define CLEANER_DEFAULT_I2C2_SDA 33
-#define CLEANER_DEFAULT_I2C2_SCL 32
+#define CLEANER_DEFAULT_I2C2_SDA 32
+#define CLEANER_DEFAULT_I2C2_SCL 33
 
 // Battery input pinout
 #define CLEANER_DEFAULT_BATTERY 35

diff --git a/src/components/module/VL53L0X.cpp b/src/components/module/VL53L0X.cpp
@@ -7,8 +7,8 @@ Adafruit_VL53L0X sensor_left  = Adafruit_VL53L0X();
 Adafruit_VL53L0X sensor_right = Adafruit_VL53L0X();
 
 void setup_VL53L0X() {
-    sensor_left. begin(VL53L0X_I2C_ADDR, false, &Wire);
-    sensor_right.begin(VL53L0X_I2C_ADDR, false, &Wire1); 
+    sensor_left. begin(VL53L0X_I2C_ADDR, false, &Wire1);
+    sensor_right.begin(VL53L0X_I2C_ADDR, false, &Wire); 
 }
 
 VL53L0X_value loop_VL53L0X() {

diff --git a/src/components/module/module.cpp b/src/components/module/module.cpp
@@ -11,5 +11,5 @@ void setup_module(Cleaner_module_conf *cleaner_module_conf) {
     setup_IRF520(cleaner_module_conf->IRF520_pin);
     setup_battery(&(cleaner_module_conf->battery_conf));
     setup_SSD1306();
-    // setup_VL53L0X();
+    setup_VL53L0X();
 }
diff --git a/src/components/network/my_server.cpp b/src/components/network/my_server.cpp
@@ -71,21 +71,25 @@ void setup_api() {
                 switch(num) {
                     // OTA Mode
                     case 0:
+                        *_cleaner_mode = 0;
                         motor_stop();
                         break;
 
-                    // Auto Mode
+                    // Control Mode
                     case 1:
+                        *_cleaner_mode = 1;
                         motor_stop();
                         break;
-                    
-                    // Control Mode
+
+                    // Auto Mode
                     case 2:
+                        *_cleaner_mode = 2;
                         motor_stop();
                         break;
 
                     // Other Mode
                     default:
+                        *_cleaner_mode = 1;
                         motor_stop();
                         break;
                 }

diff --git a/src/main.cpp b/src/main.cpp
@@ -46,7 +46,7 @@ void setup() {
     setup_wifi(&network_conf);
     setup_server(&my_cleaner_conf, &network_conf, &cleaner_mode, &url);
 
-    xTaskCreatePinnedToCore(Task1code, "Task1", 1024, NULL, 1, &Task1, 1);
+    xTaskCreatePinnedToCore(Task1code, "Task1", 10240, NULL, 1, &Task1, 1);
     delay(500);
 }
 
@@ -67,8 +67,18 @@ void loop() {
 }
 
 void Task1code(void* parameter) {
+    uint16_t k = 0;
+
     for(;;) {
-        show_dashboard(cleaner_mode);
-        vTaskDelay(1000 / portTICK_PERIOD_MS);
+        VL53L0X_value value = loop_VL53L0X();
+        Serial.printf("%d\t%d\n", value.left, value.right);
+
+        if( k >= 29 ) {
+            show_dashboard(cleaner_mode);
+            k = 0;
+        }
+
+        k++;
+        vTaskDelay(30 / portTICK_PERIOD_MS);
     }
 }