Added servo test script

firmware/cute_useless_robot/animation.ino

@@ -16,6 +16,13 @@ void delayWithEarlyBreakout(int delayDuration) {
 
 //Handle animation rendering
 void handleAnimationRendering(char anicode) {
+  if (!SD_exists){
+    //SD card not exists. Use what is inside the buffer.
+    Serial.println("SD card not exists. Rendering internal frame buffer");
+    renderFrame();
+    delay(1000);
+    return;
+  }
   if (previousAnicode != anicode) {
     previousAnicode = anicode;
     frameCount = 0;

firmware/cute_useless_robot/cute_useless_robot.ino

@@ -36,7 +36,7 @@
 #define MAX_DEVICES 8
 
 /* Calibrated offset for switch pusher servo, in degrees */
-#define SERVO_ALIGNMENT_OFFSET -1
+#define SERVO_ALIGNMENT_OFFSET 3
 
 /* Hardware Type Definations */
 Servo servoSwitchPusher;

firmware/cute_useless_robot/tasks.ino

@@ -74,38 +74,33 @@ void PrimaryController( void * pvParameters ) {
   Serial.println("Primary logic process started on core " + String(xPortGetCoreID()));
   clearFrame();
   int seqCounter = 0; //Modify this value to change start state of seq
-  
-  for (;;) {
+
+  /*
+    for (;;) {
     runDebugSequence();
     Serial.println("Sequence ended, restart in 3 sec");
     delay(3000);
-  }
+    }
+  */
 
-  /*
-    for (;;) {
+  for (;;) {
     bool switchPushed = getSwitchState();
-    if (switchPushed){
+    if (switchPushed) {
       //Switch pushed
       executePushAnimationSequence(seqCounter);
       seqCounter++;
-    }else{
+    } else {
       delay(100);
     }
-    }
-  */
+  }
+
 }
 
 //Core 1 code, for animation rendering
 void AnimationController( void * pvParameters ) {
   Serial.println("Animation render started on core " + String(xPortGetCoreID()));
   for (;;) {
-    if (SD_exists){
-      char anicode = getAnimationCode();
-      handleAnimationRendering(anicode);
-    }else{
-      //SD card not exists. Lets this core idle
-      delay(1000);
-    }
-    
+    char anicode = getAnimationCode();
+    handleAnimationRendering(anicode);
   }
 }

firmware/servo_align/servo_align.ino

@@ -0,0 +1,103 @@
+/*
+
+   Servo Alignment Script
+
+   This script set the servo to installation positions
+   (as well as help debugging servo wires)
+
+
+*/
+#include <ESP32Servo.h> //Require ESP32Servo
+
+#define STP_DATA_PIN 4    // Stepper Shift Register DS
+#define STP_CLOCK_PIN 16  // Stepper Shift Register SH_CP
+#define STP_LATCH_PIN 17  // Stepper Shift Register ST_CP
+
+#define SERVO_SWITCH 27  //Servo to push the switch
+#define SERVO_COVER 14   //Servo to push the cover
+
+#define TOGGLE_SWITCH 13  //Switch on top of the matrix display
+#define SERVO_ALIGNMENT_OFFSET 3
+
+/* Hardware Type Definations */
+Servo servoSwitchPusher;
+Servo servoCoverPusher;
+
+//Get the current state of the switch
+// true = After human pushed
+// false = After robot pushed
+bool getSwitchState() {
+  int switchState = digitalRead(TOGGLE_SWITCH);
+  return (switchState == 1);
+}
+
+//Push switch back with delay
+void pushSwitchDelayed(int coverDelay, int pusherDelay) {
+  servoCoverPusher.write(90);
+  delay(coverDelay);
+  servoSwitchPusher.write(130 + SERVO_ALIGNMENT_OFFSET);
+  delay(pusherDelay);
+  servoCoverPusher.write(0);
+  servoSwitchPusher.write(0);
+}
+
+//writeStep write the step given the byte representation of a step on both stepper
+//e.g. writeStep(0b00110011);
+void writeStep(byte stepByte) {
+  shiftOut(STP_DATA_PIN, STP_CLOCK_PIN, MSBFIRST, stepByte);
+  digitalWrite(STP_LATCH_PIN, HIGH);
+  digitalWrite(STP_LATCH_PIN, LOW);
+  delayMicroseconds(840); //780 - 800 ms minimum, recommend 840 to 860ms
+}
+
+//Set all coils to off and enter standby mode
+//to save power and prevent overheating
+void standbySteppers() {
+  writeStep(0b00000000);
+}
+
+void setup() {
+  Serial.begin(115200);
+
+  // Allow allocation of all timers
+  ESP32PWM::allocateTimer(0);
+  ESP32PWM::allocateTimer(1);
+  ESP32PWM::allocateTimer(2);
+  ESP32PWM::allocateTimer(3);
+
+  // put your setup code here, to run once:
+  /* Servo IO */
+  servoSwitchPusher.setPeriodHertz(50);
+  servoCoverPusher.setPeriodHertz(50);
+  servoSwitchPusher.attach(SERVO_SWITCH);
+  servoCoverPusher.attach(SERVO_COVER);
+  servoCoverPusher.write(0);
+  servoSwitchPusher.write(0);
+  //Set servo pusher to vertical install position
+  delay(1000);
+  servoSwitchPusher.write(125);
+
+  /* Stepper IO */
+  pinMode(STP_DATA_PIN, OUTPUT);
+  pinMode(STP_CLOCK_PIN, OUTPUT);
+  pinMode(STP_LATCH_PIN, OUTPUT);
+  standbySteppers();
+}
+
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  //Switch test
+  bool switchPushed = getSwitchState();
+  if (switchPushed) {
+    servoSwitchPusher.write(0);
+    Serial.println("Switch pushed");
+    delay(1000);
+    pushSwitchDelayed(300,300);
+    delay(3000);
+    servoSwitchPusher.write(125);
+  } else {
+    Serial.println("Switch idle");
+  }
+  delay(500);
+}