增加ottoRobot和electronBot的支持 (#757)

* otto v1.4.0 MCP

1.使用MCP协议控制机器人
2.gif继承lcdDisplay，避免修改lcdDisplay

* otto v1.4.1 gif as components

gif as components

* electronBot v1.1.0 mcp

1.增加electronBot支持
2.mcp协议
3.gif 作为组件
4.display子类

* 规范代码

1.规范代码
2.修复切换主题死机bug

main/boards/electron-bot/oscillator.cc

@@ -0,0 +1,153 @@
+#include "oscillator.h"
+
+#include <driver/ledc.h>
+#include <esp_timer.h>
+
+#include <algorithm>
+#include <cmath>
+
+static const char* TAG = "Oscillator";
+
+extern unsigned long IRAM_ATTR millis();
+
+static ledc_channel_t next_free_channel = LEDC_CHANNEL_0;
+
+Oscillator::Oscillator(int trim) {
+    trim_ = trim;
+    diff_limit_ = 0;
+    is_attached_ = false;
+
+    sampling_period_ = 30;
+    period_ = 2000;
+    number_samples_ = period_ / sampling_period_;
+    inc_ = 2 * M_PI / number_samples_;
+
+    amplitude_ = 45;
+    phase_ = 0;
+    phase0_ = 0;
+    offset_ = 0;
+    stop_ = false;
+    rev_ = false;
+
+    pos_ = 90;
+    previous_millis_ = 0;
+}
+
+Oscillator::~Oscillator() {
+    Detach();
+}
+
+uint32_t Oscillator::AngleToCompare(int angle) {
+    return (angle - SERVO_MIN_DEGREE) * (SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) /
+               (SERVO_MAX_DEGREE - SERVO_MIN_DEGREE) +
+           SERVO_MIN_PULSEWIDTH_US;
+}
+
+bool Oscillator::NextSample() {
+    current_millis_ = millis();
+
+    if (current_millis_ - previous_millis_ > sampling_period_) {
+        previous_millis_ = current_millis_;
+        return true;
+    }
+
+    return false;
+}
+
+void Oscillator::Attach(int pin, bool rev) {
+    if (is_attached_) {
+        Detach();
+    }
+
+    pin_ = pin;
+    rev_ = rev;
+
+    ledc_timer_config_t ledc_timer = {.speed_mode = LEDC_LOW_SPEED_MODE,
+                                      .duty_resolution = LEDC_TIMER_13_BIT,
+                                      .timer_num = LEDC_TIMER_1,
+                                      .freq_hz = 50,
+                                      .clk_cfg = LEDC_AUTO_CLK};
+    ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
+
+    static int last_channel = 0;
+    last_channel = (last_channel + 1) % 7 + 1;
+    ledc_channel_ = (ledc_channel_t)last_channel;
+
+    ledc_channel_config_t ledc_channel = {.gpio_num = pin_,
+                                          .speed_mode = LEDC_LOW_SPEED_MODE,
+                                          .channel = ledc_channel_,
+                                          .intr_type = LEDC_INTR_DISABLE,
+                                          .timer_sel = LEDC_TIMER_1,
+                                          .duty = 0,
+                                          .hpoint = 0};
+    ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
+
+    ledc_speed_mode_ = LEDC_LOW_SPEED_MODE;
+
+    // pos_ = 90;
+    // Write(pos_);
+    previous_servo_command_millis_ = millis();
+
+    is_attached_ = true;
+}
+
+void Oscillator::Detach() {
+    if (!is_attached_)
+        return;
+
+    ESP_ERROR_CHECK(ledc_stop(ledc_speed_mode_, ledc_channel_, 0));
+
+    is_attached_ = false;
+}
+
+void Oscillator::SetT(unsigned int T) {
+    period_ = T;
+
+    number_samples_ = period_ / sampling_period_;
+    inc_ = 2 * M_PI / number_samples_;
+}
+
+void Oscillator::SetPosition(int position) {
+    Write(position);
+}
+
+void Oscillator::Refresh() {
+    if (NextSample()) {
+        if (!stop_) {
+            int pos = std::round(amplitude_ * std::sin(phase_ + phase0_) + offset_);
+            if (rev_)
+                pos = -pos;
+            Write(pos + 90);
+        }
+
+        phase_ = phase_ + inc_;
+    }
+}
+
+void Oscillator::Write(int position) {
+    if (!is_attached_)
+        return;
+
+    long currentMillis = millis();
+    if (diff_limit_ > 0) {
+        int limit = std::max(
+            1, (((int)(currentMillis - previous_servo_command_millis_)) * diff_limit_) / 1000);
+        if (abs(position - pos_) > limit) {
+            pos_ += position < pos_ ? -limit : limit;
+        } else {
+            pos_ = position;
+        }
+    } else {
+        pos_ = position;
+    }
+    previous_servo_command_millis_ = currentMillis;
+
+    int angle = pos_ + trim_;
+
+    angle = std::min(std::max(angle, 0), 180);
+
+    uint32_t duty = (uint32_t)(((angle / 180.0) * 2.0 + 0.5) * 8191 / 20.0);
+
+    ESP_ERROR_CHECK(ledc_set_duty(ledc_speed_mode_, ledc_channel_, duty));
+    ESP_ERROR_CHECK(ledc_update_duty(ledc_speed_mode_, ledc_channel_));
+}