Hi, I'm a beginner. I have the task of making a prototype, but I'm having trouble with the continuous servo. My project is an IoT prototype. If I press the button on my app on the tablet then the servo will rotate. how to stop the servo rotation using a physical button (I used a tactile push button). I used ESP32, Continuous Servo, 1 push button (STOP the servo).
I want to make a sliding fence prototype.
How are you starting the servo right now?
consider. you'll need to add code to drive motor to open or close fence
const byte butPin = A1;
const byte led1Pin = 13;
const byte led2Pin = 12;
byte butState;
enum { Closed, Opening, Open, Closing, Last };
byte state = Closed;
enum { Off = HIGH, On = LOW };
const unsigned long Period = 200;
unsigned long msec;
unsigned long msecLst;
// -----------------------------------------------------------------------------
void loop ()
{
byte but = digitalRead (butPin);
if (butState != but) // state change
{
butState = but;
delay (10); // debounce
if (LOW == but) // pressed
state = Last == ++state ? Closed : state;
}
msec = millis ();
switch (state) {
case Opening:
digitalWrite (led1Pin, Off);
if ( (msec - msecLst) > Period) {
msecLst = msec;
digitalWrite (led2Pin, ! digitalRead (led2Pin));
}
break;
case Open:
digitalWrite (led2Pin, On);
break;
case Closing:
digitalWrite (led2Pin, Off);
if ( (msec - msecLst) > Period) {
msecLst = msec;
digitalWrite (led1Pin, ! digitalRead (led1Pin));
}
break;
case Closed:
default:
digitalWrite (led1Pin, On);
break;
}
}
// -----------------------------------------------------------------------------
void setup ()
{
pinMode (led1Pin, OUTPUT);
digitalWrite (led1Pin, Off);
pinMode (led2Pin, OUTPUT);
digitalWrite (led2Pin, Off);
pinMode (butPin, INPUT_PULLUP);
butState = digitalRead (butPin);
}
Hi, @ilarp97
Welcome to the forum.
Please read the post at the start of any forum , entitled "How to use this Forum".
This will help with advice on how to present your code and problems.
Can you post link to spec/data of the servo please?
Have you got any code?
If not;
Firstly you have to write code just to check you can control the servo, use a button connected to the ESP32, at the moment forget about the APP.
So you want the control to TOGGLE the servo OPEN/CLOSE with limit switches on the servo open/close mechanism.
Thanks.. Tom.. 
One should be very careful with ESP32 pin assignments. Using the TMS and TCK pins of a ESP32 incorrectly, WILL cause issues.
It would less confusing to use, for analog pins, the pin numbers from portB. A1 is GPIO_NUM_33. Also, the way your code initializes the ESP32's A:D is less then ideal. The A:D as initialized will not operate at peak.
The ESP32 already has a built in state machine that is non-blocking and multi-tasking. This state machine, as presented, only runs a single task, and blocks.
The ESP32 is a 32 bit machine. unsigned long is not necessary with millis(). In fact using a unsigned long waste's ESP32 memory; in this case. Instead use the ESP32's built in micros cycle count. Here is an example of a single task state machine on a ESP32 using nonblocking code.
void fDoMoistureDetector( void * parameter )
{
//wait for a mqtt connection
while ( !MQTTclient.connected() )
{
vTaskDelay( 250 );
}
int TimeToPublish = 5000000; //5000000uS
int TimeForADreading = 100 * 1000; // 100mS
uint64_t TimePastPublish = esp_timer_get_time(); // used by publish
uint64_t TimeADreading = esp_timer_get_time();
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 10; //delay for 10mS
float RemainingMoisture = 100.0f; //prevents pump turn on during start up
bool pumpOn = false;
uint64_t PumpOnTime = esp_timer_get_time();
int PumpRunTime = 11000000;
uint64_t PumpOffWait = esp_timer_get_time();
uint64_t PumpOffWaitFor = 60000000; //one minute
float lowMoisture = 23.0f;
float highMoisture = 40.0f;
for (;;)
{
//read AD values every 100mS.
if ( (esp_timer_get_time() - TimeADreading) >= TimeForADreading )
{
xEventGroupSetBits( eg, evtADCreading );
TimeADreading = esp_timer_get_time();
}
xQueueReceive(xQ_RM, &RemainingMoisture, 0 ); //receive queue stuff no waiting
//read gpio 0 is water level good. Yes: OK to run pump : no pump off. remaining moisture good, denergize water pump otherwise energize water pump.
if ( RemainingMoisture >= highMoisture )
{
WaterPump0_off();
}
if ( !pumpOn )
{
log_i( "not pump on ");
if ( gpio_get_level( GPIO_NUM_0 ) )
{
if ( RemainingMoisture <= lowMoisture )
{
//has one minute passed since last pump energize, if so then allow motor to run
if ( (esp_timer_get_time() - PumpOffWait) >= PumpOffWaitFor )
{
WaterPump0_on();
log_i( "pump on " );
pumpOn = !pumpOn;
PumpOnTime = esp_timer_get_time();
}
}
//xSemaphoreGive( sema_RemainingMoisture );
} else {
log_i( "water level bad " );
WaterPump0_off();
PumpOffWait = esp_timer_get_time();
}
} else {
/*
pump goes on runs for X seconds then turn off, then wait PumpOffWaitTime before being allowed to energize again
*/
if ( (esp_timer_get_time() - PumpOnTime) >= PumpRunTime )
{
log_i( "pump off " );
WaterPump0_off(); // after 5 seconds turn pump off
pumpOn = !pumpOn;
PumpOffWait = esp_timer_get_time();
}
}
// publish to MQTT every 5000000uS
if ( (esp_timer_get_time() - TimePastPublish) >= TimeToPublish )
{
xQueueOverwrite( xQ_RemainingMoistureMQTT, (void *) &RemainingMoisture );// data for mqtt publish
TimePastPublish = esp_timer_get_time(); // get next publish time
}
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
}
vTaskDelete( NULL );
}// end fDoMoistureDetector()
Here is the entire code running 6 tasks with one task as a state machine task, and the other tasks as threads:
#include <ESP32Time.h>
#include <WiFi.h>
#include <PubSubClient.h>
#include "certs.h" // include the connection info for WiFi and MQTT
#include "sdkconfig.h" // used for log printing
#include "esp_system.h"
#include "freertos/FreeRTOS.h" //freeRTOS items to be used
#include "freertos/task.h"
#include <driver/adc.h>
#include <SimpleKalmanFilter.h>
////
WiFiClient wifiClient; // do the WiFi instantiation thing
PubSubClient MQTTclient( mqtt_server, mqtt_port, wifiClient ); //do the MQTT instantiation thing
ESP32Time rtc;
////
#define evtDoParticleRead ( 1 << 0 ) // declare an event
#define evtADCreading ( 1 << 3 )
EventGroupHandle_t eg; // variable for the event group handle
////
SemaphoreHandle_t sema_MQTT_KeepAlive;
SemaphoreHandle_t sema_mqttOK;
////
QueueHandle_t xQ_RemainingMoistureMQTT;
QueueHandle_t xQ_RM;
QueueHandle_t xQ_Message;
////
struct stu_message
{
char payload [150] = {'\0'};
String topic;
} x_message;
////
int mqttOK = 0;
bool TimeSet = false;
bool manualPumpOn = false;
////
// interrupt service routine for WiFi events put into IRAM
void IRAM_ATTR WiFiEvent(WiFiEvent_t event)
{
switch (event) {
case SYSTEM_EVENT_STA_CONNECTED:
break;
case SYSTEM_EVENT_STA_DISCONNECTED:
log_i("Disconnected from WiFi access point");
break;
case SYSTEM_EVENT_AP_STADISCONNECTED:
log_i("WiFi client disconnected");
break;
default: break;
}
} // void IRAM_ATTR WiFiEvent(WiFiEvent_t event)
////
void IRAM_ATTR mqttCallback(char* topic, byte * payload, unsigned int length)
{
// clear locations
memset( x_message.payload, '\0', 150 );
x_message.topic = ""; //clear string buffer
x_message.topic = topic;
int i = 0;
for ( i; i < length; i++)
{
x_message.payload[i] = ((char)payload[i]);
}
x_message.payload[i] = '\0';
xQueueOverwrite( xQ_Message, (void *) &x_message );// send data
} // void mqttCallback(char* topic, byte* payload, unsigned int length)
////
void setup()
{
x_message.topic.reserve(150);
//
xQ_Message = xQueueCreate( 1, sizeof(stu_message) );
xQ_RemainingMoistureMQTT = xQueueCreate( 1, sizeof(float) ); // sends a queue copy
xQ_RM = xQueueCreate( 1, sizeof(float) );
//
eg = xEventGroupCreate(); // get an event group handle
//
sema_mqttOK = xSemaphoreCreateBinary();
xSemaphoreGive( sema_mqttOK );
//
gpio_config_t io_cfg = {}; // initialize the gpio configuration structure
io_cfg.mode = GPIO_MODE_INPUT; // set gpio mode. GPIO_NUM_0 input from water level sensor
io_cfg.pull_down_en = GPIO_PULLDOWN_ENABLE; // enable pull down
io_cfg.pin_bit_mask = ( (1ULL << GPIO_NUM_0) ); //bit mask of the pins to set, assign gpio number to be configured
gpio_config(&io_cfg); // configure the gpio based upon the parameters as set in the configuration structure
//
io_cfg = {}; //set configuration structure back to default values
io_cfg.mode = GPIO_MODE_OUTPUT;
io_cfg.pin_bit_mask = ( 1ULL << GPIO_NUM_4 | (1ULL << GPIO_NUM_5) ); //bit mask of the pins to set, assign gpio number to be configured
gpio_config(&io_cfg);
gpio_set_level( GPIO_NUM_4, LOW); // deenergize relay module
gpio_set_level( GPIO_NUM_5, LOW); // deenergize valve
// set up A:D channels https://dl.espressif.com/doc/esp-idf/latest/api-reference/peripherals/adc.html
adc1_config_width(ADC_WIDTH_12Bit);
adc1_config_channel_atten(ADC1_CHANNEL_3, ADC_ATTEN_DB_11);// using GPIO 39
//
xTaskCreatePinnedToCore( MQTTkeepalive, "MQTTkeepalive", 10000, NULL, 6, NULL, 1 );
xTaskCreatePinnedToCore( fparseMQTT, "fparseMQTT", 10000, NULL, 5, NULL, 1 ); // assign all to core 1, WiFi in use.
xTaskCreatePinnedToCore( fPublish, "fPublish", 9000, NULL, 3, NULL, 1 );
xTaskCreatePinnedToCore( fReadAD, "fReadAD", 9000, NULL, 3, NULL, 1 );
xTaskCreatePinnedToCore( fDoMoistureDetector, "fDoMoistureDetector", 70000, NULL, 4, NULL, 1 );
xTaskCreatePinnedToCore( fmqttWatchDog, "fmqttWatchDog", 3000, NULL, 2, NULL, 1 );
} //void setup()
////
void fReadAD( void * parameter )
{
float ADbits = 4096.0f;
float uPvolts = 3.3f;
float adcValue_b = 0.0f; //plant in yellow pot
uint64_t TimePastKalman = esp_timer_get_time(); // used by the Kalman filter UpdateProcessNoise, time since last kalman calculation
float WetValue = 1.07f; // value found by putting sensor in water
float DryValue = 2.732f; // value of probe when held in air
float Range = DryValue - WetValue;
float RemainingMoisture = 100.0f;
SimpleKalmanFilter KF_ADC_b( 1.0f, 1.0f, .01f );
for (;;)
{
xEventGroupWaitBits (eg, evtADCreading, pdTRUE, pdTRUE, portMAX_DELAY ); //
adcValue_b = float( adc1_get_raw(ADC1_CHANNEL_3) ); //take a raw ADC reading
adcValue_b = ( adcValue_b * uPvolts ) / ADbits; //calculate voltage
KF_ADC_b.setProcessNoise( (esp_timer_get_time() - TimePastKalman) / 1000000.0f ); //get time, in microsecods, since last readings
adcValue_b = KF_ADC_b.updateEstimate( adcValue_b ); // apply simple Kalman filter
TimePastKalman = esp_timer_get_time(); // time of update complete
RemainingMoisture = 100.0f * (1 - ((adcValue_b - WetValue) / (DryValue - WetValue))); //remaining moisture = 1-(xTarget - xMin) / (xMax - xMin) as a percentage of the sensor wet dry volatges
xQueueOverwrite( xQ_RM, (void *) &RemainingMoisture );
//log_i( "adcValue_b = %f remaining moisture %f%", adcValue_b, RemainingMoisture );
}
vTaskDelete( NULL );
}
////
void fPublish( void * parameter )
{
float RemainingMoisture = 100.0f;
for (;;)
{
if ( xQueueReceive(xQ_RemainingMoistureMQTT, &RemainingMoisture, portMAX_DELAY) == pdTRUE )
{
xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY ); // whiles MQTTlient.loop() is running no other mqtt operations should be in process
MQTTclient.publish( topicRemainingMoisture_0, String(RemainingMoisture).c_str() );
xSemaphoreGive( sema_MQTT_KeepAlive );
}
} // for (;;)
vTaskDelete( NULL );
} //void fPublish( void * parameter )
////
void WaterPump0_off()
{
gpio_set_level( GPIO_NUM_4, LOW); //denergize relay module
vTaskDelay( 1 );
gpio_set_level( GPIO_NUM_5, LOW); //denergize/close valve
}
////
void WaterPump0_on()
{
gpio_set_level( GPIO_NUM_5, HIGH); //energize/open valve
vTaskDelay( 1 );
gpio_set_level( GPIO_NUM_4, HIGH); //energize relay module
}
////
void fmqttWatchDog( void * paramater )
{
int UpdateImeTrigger = 86400; //seconds in a day
int UpdateTimeInterval = 85000; // get another reading when = UpdateTimeTrigger
int maxNonMQTTresponse = 12;
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 5000; //delay for mS
for (;;)
{
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
xSemaphoreTake( sema_mqttOK, portMAX_DELAY ); // update mqttOK
mqttOK++;
xSemaphoreGive( sema_mqttOK );
if ( mqttOK >= maxNonMQTTresponse )
{
ESP.restart();
}
UpdateTimeInterval++; // trigger new time get
if ( UpdateTimeInterval >= UpdateImeTrigger )
{
TimeSet = false; // sets doneTime to false to get an updated time after a days count of seconds
UpdateTimeInterval = 0;
}
}
vTaskDelete( NULL );
} //void fmqttWatchDog( void * paramater )
////
void fDoMoistureDetector( void * parameter )
{
//wait for a mqtt connection
while ( !MQTTclient.connected() )
{
vTaskDelay( 250 );
}
int TimeToPublish = 5000000; //5000000uS
int TimeForADreading = 100 * 1000; // 100mS
uint64_t TimePastPublish = esp_timer_get_time(); // used by publish
uint64_t TimeADreading = esp_timer_get_time();
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 10; //delay for 10mS
float RemainingMoisture = 100.0f; //prevents pump turn on during start up
bool pumpOn = false;
uint64_t PumpOnTime = esp_timer_get_time();
int PumpRunTime = 11000000;
uint64_t PumpOffWait = esp_timer_get_time();
uint64_t PumpOffWaitFor = 60000000; //one minute
float lowMoisture = 23.0f;
float highMoisture = 40.0f;
for (;;)
{
//read AD values every 100mS.
if ( (esp_timer_get_time() - TimeADreading) >= TimeForADreading )
{
xEventGroupSetBits( eg, evtADCreading );
TimeADreading = esp_timer_get_time();
}
xQueueReceive(xQ_RM, &RemainingMoisture, 0 ); //receive queue stuff no waiting
//read gpio 0 is water level good. Yes: OK to run pump : no pump off. remaining moisture good, denergize water pump otherwise energize water pump.
if ( RemainingMoisture >= highMoisture )
{
WaterPump0_off();
}
if ( !pumpOn )
{
log_i( "not pump on ");
if ( gpio_get_level( GPIO_NUM_0 ) )
{
if ( RemainingMoisture <= lowMoisture )
{
//has one minute passed since last pump energize, if so then allow motor to run
if ( (esp_timer_get_time() - PumpOffWait) >= PumpOffWaitFor )
{
WaterPump0_on();
log_i( "pump on " );
pumpOn = !pumpOn;
PumpOnTime = esp_timer_get_time();
}
}
//xSemaphoreGive( sema_RemainingMoisture );
} else {
log_i( "water level bad " );
WaterPump0_off();
PumpOffWait = esp_timer_get_time();
}
} else {
/*
pump goes on runs for X seconds then turn off, then wait PumpOffWaitTime before being allowed to energize again
*/
if ( (esp_timer_get_time() - PumpOnTime) >= PumpRunTime )
{
log_i( "pump off " );
WaterPump0_off(); // after 5 seconds turn pump off
pumpOn = !pumpOn;
PumpOffWait = esp_timer_get_time();
}
}
// publish to MQTT every 5000000uS
if ( (esp_timer_get_time() - TimePastPublish) >= TimeToPublish )
{
xQueueOverwrite( xQ_RemainingMoistureMQTT, (void *) &RemainingMoisture );// data for mqtt publish
TimePastPublish = esp_timer_get_time(); // get next publish time
}
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
}
vTaskDelete( NULL );
}// end fDoMoistureDetector()
////
void MQTTkeepalive( void *pvParameters )
{
sema_MQTT_KeepAlive = xSemaphoreCreateBinary();
xSemaphoreGive( sema_MQTT_KeepAlive ); // found keep alive can mess with a publish, stop keep alive during publish
MQTTclient.setKeepAlive( 90 ); // setting keep alive to 90 seconds makes for a very reliable connection, must be set before the 1st connection is made.
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 250; // 250mS
for (;;)
{
//check for a is-connected and if the WiFi 'thinks' its connected, found checking on both is more realible than just a single check
if ( (wifiClient.connected()) && (WiFi.status() == WL_CONNECTED) )
{
xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY ); // whiles MQTTlient.loop() is running no other mqtt operations should be in process
MQTTclient.loop();
xSemaphoreGive( sema_MQTT_KeepAlive );
}
else {
log_i( "MQTT keep alive found MQTT status %s WiFi status %s", String(wifiClient.connected()), String(WiFi.status()) );
if ( !(wifiClient.connected()) || !(WiFi.status() == WL_CONNECTED) )
{
connectToWiFi();
}
connectToMQTT();
}
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
}
vTaskDelete ( NULL );
}
////
void connectToMQTT()
{
// create client ID from mac address
byte mac[5];
int count = 0;
WiFi.macAddress(mac); // get mac address
String clientID = String(mac[0]) + String(mac[4]);
log_i( "connect to mqtt as client %s", clientID );
while ( !MQTTclient.connected() )
{
MQTTclient.disconnect();
MQTTclient.connect( clientID.c_str(), mqtt_username, mqtt_password );
vTaskDelay( 250 );
count++;
if ( count == 5 )
{
ESP.restart();
}
}
MQTTclient.setCallback( mqttCallback );
MQTTclient.subscribe( topicOK );
}
////
void connectToWiFi()
{
int TryCount = 0;
while ( WiFi.status() != WL_CONNECTED )
{
TryCount++;
WiFi.disconnect();
WiFi.begin( SSID, PASSWORD );
vTaskDelay( 4000 );
if ( TryCount == 10 )
{
ESP.restart();
}
}
WiFi.onEvent( WiFiEvent );
} // void connectToWiFi()
//////
void fparseMQTT( void *pvParameters )
{
struct stu_message px_message;
for (;;)
{
if ( xQueueReceive(xQ_Message, &px_message, portMAX_DELAY) == pdTRUE )
{
if ( px_message.topic == topicOK )
{
xSemaphoreTake( sema_mqttOK, portMAX_DELAY );
mqttOK = 0; // clear mqtt ok count
xSemaphoreGive( sema_mqttOK );
}
if ( !TimeSet )
{
String temp = "";
temp = px_message.payload[0];
temp += px_message.payload[1];
temp += px_message.payload[2];
temp += px_message.payload[3];
int year = temp.toInt();
temp = "";
temp = px_message.payload[5];
temp += px_message.payload[6];
int month = temp.toInt();
temp = "";
temp = px_message.payload[8];
temp += px_message.payload[9];
int day = temp.toInt();
temp = "";
temp = px_message.payload[11];
temp += px_message.payload[12];
int hour = temp.toInt();
temp = "";
temp = px_message.payload[14];
temp += px_message.payload[15];
int min = temp.toInt();
rtc.setTime( 0, min, hour, day, month, year );
log_i( "%s ", rtc.getTime() );
TimeSet = true;
}
// manual pump control
if ( str_eTopic == topicPumpState )
{
if ( String(strPayload) == "off" )
{
WaterPump0_off();
manualPumpOn = false;
}
if ( String(strPayload) == "on" )
{
WaterPump0_on();
manualPumpOn = true;
}
}
}
} //for(;;)
vTaskDelete ( NULL );
} // void fparseMQTT( void *pvParameters )
////
void loop() {}
i posted code that works on an arduino. just change the pin appropriately
doubt multi-tasking is necessary
Perhaps multitasking is unnecessary, in this case, but why would you endeavor to write, post and suggest to the user, code that has known possibilities to cause an issue?
what issue(s)?
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