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fixed LED full on command #37

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Merged
peterso merged 1 commit into from
May 6, 2025
Merged

fixed LED full on command #37

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24 changes: 14 additions & 10 deletions idf/taskboard/main/hal/board/TaskBoardDriver_TBv2025.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -241,27 +241,27 @@ struct TaskBoardDriver_v1 :
// Initialize actuators
Actuator* goal_1_led = new Actuator("GOAL_1_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO1(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_digital_IO1(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
});
Actuator* goal_2_led = new Actuator("GOAL_2_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO0(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_digital_IO0(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
});
Actuator* goal_3_led = new Actuator("GOAL_3_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO0(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_digital_IO0(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
});
Actuator* goal_4_led = new Actuator("GOAL_4_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO1(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_digital_IO1(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
});
Actuator* blue_button_led = new Actuator("BLUE_BUTTON_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_2.write_PWM_IO0(PbHubController::Channel::CHANNEL_0, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_0, state == Actuator::State::LED_ON);
});
Actuator* red_button_led = new Actuator("RED_BUTTON_LED", [&](Actuator::State state)
{
hardware_low_level_controller_.pb_hub_controller_2.write_PWM_IO0(PbHubController::Channel::CHANNEL_1, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_1, state == Actuator::State::LED_ON);
});
Actuator* ball_drop_solenoid = new Actuator("BALL_DROP_SOLENOID", [&](Actuator::State state)
{
Expand All @@ -277,10 +277,12 @@ struct TaskBoardDriver_v1 :
Actuator* all_goal_leds = new Actuator("ALL_GOAL_LEDS", [&](Actuator::State state)
{
ESP_LOGI("app_main", "setting values to all goal_leds");
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO0(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO1(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO0(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_PWM_IO1(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_digital_IO0(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_digital_IO1(PbHubController::Channel::CHANNEL_4, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_digital_IO0(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_1.write_digital_IO1(PbHubController::Channel::CHANNEL_5, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_0, state == Actuator::State::LED_ON);
hardware_low_level_controller_.pb_hub_controller_2.write_digital_IO0(PbHubController::Channel::CHANNEL_1, state == Actuator::State::LED_ON);
});

actuators_.push_back(goal_1_led);
Expand Down Expand Up @@ -355,6 +357,8 @@ struct TaskBoardDriver_v1 :
new TaskStepEqual(*get_sensor_by_name("RED_BUTTON_RIGHT"), SensorMeasurement(true)),
new TaskStepActuator(*red_button_led, Actuator::State::OFF),
new TaskStepActuator(*goal_4_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("STYLUS_ON_STAND"), SensorMeasurement(false)),
new TaskStepActuator(*goal_4_led, Actuator::State::OFF),
new TaskStepTraceShapeFromPool(*get_sensor_by_name("TOUCH_SCREEN"), shape_pool),
new TaskStepTraceShapeFromPool(*get_sensor_by_name("TOUCH_SCREEN"), shape_pool),
new TaskStepTraceShapeFromPool(*get_sensor_by_name("TOUCH_SCREEN"), shape_pool),
Expand Down