wag manager

outside/src/main.rs

@@ -36,7 +36,7 @@ use embassy_net::{Config, IpEndpoint, Ipv4Address, StackResources};
 use embassy_rp::{bind_interrupts, interrupt, uart};
 use embassy_rp::clocks::RoscRng;
 use embassy_rp::gpio::{AnyPin, Input, InterruptTrigger, Level, Output};
-use embassy_rp::peripherals::{DMA_CH0, PIN_20, PIN_21, PIN_22, PIO0, UART1, USB};
+use embassy_rp::peripherals::{DMA_CH0, PIN_20, PIN_21, PIN_22, PIN_26, PIN_27, PIO0, PWM_SLICE5, UART1, USB};
 use embassy_rp::pio::{InterruptHandler, Pio};
 use embassy_rp::usb::Driver;
 use embassy_time::{Duration, Timer};
@@ -59,6 +59,7 @@ static BIT: AtomicU8 = AtomicU8::new(0);
 
 static CHANNEL: Channel<CriticalSectionRawMutex, u64, 1> = Channel::new();
 static MUSIC: Channel<CriticalSectionRawMutex, (&'static str, u8), 3> = Channel::new();
+static WAGS: AtomicU8 = AtomicU8::new(0);
 
 #[embassy_executor::task]
 async fn logger_task(driver: Driver<'static, USB>) {
@@ -209,6 +210,48 @@ async fn main(spawner: Spawner) {
 
     defmt::unwrap!(spawner.spawn(send_badge(CHANNEL.receiver(),stack)));
     defmt::unwrap!(spawner.spawn(button_manager(p.PIN_22)));
+    defmt::unwrap!(spawner.spawn(wiggle_manager(p.PWM_SLICE5, p.PIN_26, p.PIN_27)));
+
+}
+
+#[embassy_executor::task]
+async fn wiggle_manager(pwm: PWM_SLICE5, head: PIN_26, tail: PIN_27) -> ! {
+    let mut c: pwm::Config = Default::default();
+    c.divider = 40.into();
+    c.top = 62_500; // 20ms
+    c.compare_a = 4687; // 1.5ms
+    c.compare_b = 4687; // 1.5ms
+    let mut pwm = Pwm::new_output_ab(pwm, head, tail, c.clone());
+
+    loop {
+        let mut wags;
+        loop {
+            // atomics aren't actually real
+            wags = WAGS.load(core::sync::atomic::Ordering::SeqCst);
+            if wags != 0 {
+                WAGS.store(0, core::sync::atomic::Ordering::SeqCst);
+                break;
+            }
+
+            c.compare_b = 6248;
+            pwm.set_config(&c);
+
+            Timer::after_millis(50).await;
+            
+        }
+
+        let positions = [6200,4800,6248,4700, 5500];
+
+        let mut rng = RoscRng;
+        for _ in 0..wags {
+
+            let idx = rng.next_u32();
+            c.compare_b = positions[idx as usize % positions.len()];
+            pwm.set_config(&c);
+
+            Timer::after_millis(idx as u64 % 600).await;
+        }
+    }
 }
 
 #[embassy_executor::task]
@@ -278,6 +321,7 @@ async fn music_manager(uart: UART1, irqs: Irqs, txp: PIN_20, rxp: PIN_21) -> ! {
         let output = unsafe { core::str::from_utf8_unchecked(&buffer[..(pos)]) };
         
         if let Ok(length) = output.trim().parse::<u64>() {
+            WAGS.store(length as u8, core::sync::atomic::Ordering::SeqCst);
             Timer::after_secs(length).await;
         }
     }