rccar.yaml

substitutions:
  devicename: rccar
  updatetimeoutms: "700"

esphome:
  name: $devicename
  platform: ESP32
  board: esp32dev
  on_boot:
    priority: -100
    then:
      - lambda: |-
         static HighFrequencyLoopRequester hfloop;
         //hfloop.start();
  on_loop:
    then:
      - lambda: |-
            const uint32_t now = millis();
            if (now - id(lastupdate) > $updatetimeoutms) { // timeout! reset to a safe state
                id(hbridge_en1).set_level(0);
                id(hbridge_en2).set_level(0);
            }        
  
logger:
  #level: DEBUG
  baud_rate: 0 #disable UART to reuse the GPIO

wifi:
  networks:
    - ssid: !secret wifi_ssid
      password: !secret wifi_password
#    - ssid: !secret wifi_ssid2
#      password: !secret wifi_password2
#    - ssid: !secret wifi_ssid3
#      password: !secret wifi_password3
  ap:
    ssid: "$devicename AP"
    password: !secret  ap_password 
    channel: 10
  reboot_timeout: 0s


ota:

globals:
  - id: lastupdate
    type: uint32_t
    restore_value: no
    initial_value: '0'
    
api:    
  services:
    - service: hbridge
      variables:
        index: int # index of the hbridge starting with 0
        strength: float # -1.0 .. +1.0
        brake: bool # true for braking 
      then:
        - lambda: |-
            id(lastupdate) = millis();
            if (index == 0){ // driving
                if ((strength > 0) || brake)
                    id(hbridge_in3).turn_on();
                  else
                   id(hbridge_in3).turn_off();
                if ((strength < 0) || brake)
                    id(hbridge_in4).turn_on();
                  else
                   id(hbridge_in4).turn_off();
                id(hbridge_en2).set_level(abs(strength));
            } else if (index == 1){  // steering
                if ((strength > 0) || brake)
                    id(hbridge_in1).turn_on();
                  else
                   id(hbridge_in1).turn_off();
                if ((strength < 0) || brake)
                    id(hbridge_in2).turn_on();
                  else
                   id(hbridge_in2).turn_off();
                id(hbridge_en1).set_level(abs(strength));
            } else if (index == 2){ // white led
                id(gpio_whiteled).set_level(abs(strength));
            } else {
                ESP_LOGD("hbridge", " index=%i strength=%f brake=%i millis=%i", index, strength, brake, millis() );
            } 
                           

esp32_camera:
  external_clock:
    pin: GPIO0
    frequency: 20MHz
  i2c_pins:
    sda: GPIO26
    scl: GPIO27
  data_pins: [GPIO5, GPIO18, GPIO19, GPIO21, GPIO36, GPIO39, GPIO34, GPIO35]
  vsync_pin: GPIO25
  href_pin: GPIO23
  pixel_clock_pin: GPIO22
  power_down_pin: GPIO32
  name: "$devicename Camera"


output:
  - platform: ledc 
    channel: 2    #not setting this breaks the camera!
    pin: GPIO04
    id: gpio_whiteled
    inverted: False
    max_power: 0.3
    
    
#https://www.st.com/resource/en/datasheet/l298.pdf    
    
  - platform: gpio 
    pin: GPIO3
    id: hbridge_in1
    inverted: False
 
  - platform: gpio 
    pin: GPIO2
    id: hbridge_in2
    inverted: False
    
  - platform: gpio
    pin: GPIO14
    id: hbridge_in3
    inverted: False
     
  - platform: gpio
    pin: GPIO15
    id: hbridge_in4
    inverted: False


  - platform: ledc 
    channel: 3    #not setting this breaks the camera!
    pin: GPIO12
    id: hbridge_en1
    inverted: False
    max_power: 0.9
    frequency: 100kHz
     
  - platform: ledc 
    channel: 4    #not setting this breaks the camera!
    pin: GPIO13
    id: hbridge_en2
    inverted: False
    max_power: 0.9
    frequency: 100kHz