Fix - Controller writes the pulse width from the message upon Add, variable timer width for ESP32x instead of hardcode

Author: brentru

src/components/servo/controller.cpp

@@ -74,7 +74,8 @@ bool ServoController::Handle_Servo_Add(pb_istream_t *stream) {
 
   // Write the default minimum to a servo
   if (did_attach) {
-    _servo_hardware[_active_servo_pins]->ServoWrite(MIN_SERVO_PULSE_WIDTH);
+    _servo_hardware[_active_servo_pins]->ServoWrite(
+        (int)msg_add->min_pulse_width);
     WS_DEBUG_PRINT("[servo] Servo attached to pin: ");
     WS_DEBUG_PRINTLN(msg_add->servo_pin);
     _active_servo_pins++;
@@ -116,10 +117,6 @@ bool ServoController::Handle_Servo_Write(pb_istream_t *stream) {
   }
   // Write the pulse width to the servo
   _servo_hardware[servo_idx]->ServoWrite(msg_write->pulse_width);
-  WS_DEBUG_PRINT("[servo] Set Pulse Width: ");
-  WS_DEBUG_PRINT(msg_write->pulse_width);
-  WS_DEBUG_PRINT(" µs on pin: ");
-  WS_DEBUG_PRINT(msg_write->servo_pin);
   return true;
 }
 

src/components/servo/hardware.cpp

@@ -147,6 +147,10 @@ void ServoHardware::ServoWrite(int value) {
   if (value > _max_pulse_width)
     value = _max_pulse_width;
   _servo->writeMicroseconds(value);
+  WS_DEBUG_PRINT("[servo] Set Pulse Width: ");
+  WS_DEBUG_PRINT(value);
+  WS_DEBUG_PRINT(" µs on pin: ");
+  WS_DEBUG_PRINT(_pin);
 #endif
 }
 
@@ -174,6 +178,11 @@ void ServoHardware::writeMicroseconds(int value) {
       ((double)value / ((double)20000 / (double)pow(2, LEDC_TIMER_WIDTH)));
   if (!ledcWrite(_pin, count))
     WS_DEBUG_PRINTLN("[servo] Error: Failed to write to servo pin!");
+
+  WS_DEBUG_PRINT("[servo] Set Pulse Width: ");
+  WS_DEBUG_PRINT(value);
+  WS_DEBUG_PRINT(" uS on pin: ");
+  WS_DEBUG_PRINT(_pin);
 }
 
 /**************************************************************************/

src/components/servo/hardware.h

@@ -19,13 +19,9 @@
 #ifdef ARDUINO_ARCH_ESP32
 #include "esp32-hal-ledc.h"
 #include "esp_err.h"
-
 #define LEDC_TIMER_WIDTH                                                       \
-  12 ///< timer width to request from LEDC manager component, in bits (NOTE:
-     ///< While ESP32x can go up to 16 bit timer width, ESP32-S2 does not work
-     ///< at this resolution. So, for the purposes of keeping this library
-     ///< compatible with multiple ESP32x platforms, the timer width has been
-     ///< scaled down to 10 bits and the calculation adjusted accordingly)
+  SOC_LEDC_TIMER_BIT_WIDTH ///< Dynamically scale bit width for each ESP32-x
+                           ///< Arch.
 #else
 #include <Servo.h>
 #endif