From 936762b4a58211a1149c2f0cf8799f1e85041751 Mon Sep 17 00:00:00 2001
From: Allan Cueff <allan.cueff@protonmail.com>
Date: Fri, 30 May 2025 17:53:49 +0200
Subject: [PATCH] servo

---
 include/main.h |  3 ++-
 src/main.cpp   | 18 ++++++++++++++++--
 2 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/include/main.h b/include/main.h
index 2caff2e..de9591a 100644
--- a/include/main.h
+++ b/include/main.h
@@ -51,7 +51,8 @@ struct Step
 // Capteur de chute
 #define FALL_PIN 13
 
-#define SERVO_PIN 33
+#define SERVO_PIN 12
+#define EMG_PIN 2
 
 #endif
 
diff --git a/src/main.cpp b/src/main.cpp
index 7bd5d38..9609ab0 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -61,7 +61,7 @@ bool directionServo = true; // true = vers le haut, false = vers le bas
 void setup()
 {
   Serial.begin(115200);
-
+  pinMode(EMG_PIN, INPUT);
   pinMode(M1_STEP_PIN, OUTPUT);
   pinMode(M1_DIR_PIN, OUTPUT);
   pinMode(M1_ENABLE_PIN, OUTPUT);
@@ -76,7 +76,10 @@ void setup()
   pinMode(FALL_PIN, INPUT);
 
   // Servo moteur
-  pinMode(SERVO_PIN, OUTPUT);
+  //pinMode(SERVO_PIN, OUTPUT);
+
+  ledcSetup(0, 50, 16);
+  ledcAttachPin(SERVO_PIN, 0);
 
   enableDrivers();
   stopMotors();
@@ -375,6 +378,17 @@ void loop()
       {
         Serial.println("Scénario terminé, arrêt des moteurs.");
         stopMotors();
+        uint32_t duty;
+        while(true) {
+          if(digitalRead(EMG_PIN)){
+            duty = (uint32_t)((pow(2, 16) - 1) * 0.05);
+            ledcWrite(0, duty);
+            delay(500);
+            duty = (uint32_t)((pow(2, 16) - 1) * 0.1);
+            ledcWrite(0, duty);
+            delay(500);
+          }
+        }
         // On redémarre le robot pour recommencer la partie
         ESP.restart();
         break;