I wrote this a long time ago, while sick.

main/main.c

@@ -15,11 +15,16 @@
 #include "driver/spi_master.h"
 #include "esp_system.h"
 #include "esp_log.h"
+#include "esp_console.h"
+#include "esp_vfs_dev.h"
 #include "nvs_flash.h"
 #include "esp_http_client.h"
+#include "driver/uart.h"
 #include "driver/mcpwm.h"
 #include "soc/mcpwm_reg.h"
 #include "soc/mcpwm_struct.h"
+#include "linenoise/linenoise.h"
+#include "argtable3/argtable3.h"
 
 #include "esp32-wifi-manager.h"
 
@@ -28,10 +33,19 @@
 #define BASE_URL "http://192.168.0.1/"
 #define CMD_BEEP "cmd=audio resplay 0 1 3\n"
 
+#define CONFIG_SERVO_ENABLE (0)
+#define CONFIG_SHOOT_DELAY_MS (30000)
+
 static uint8_t id;
 
 EventGroupHandle_t wm_event_group;
 
+static struct {
+  struct arg_int *value; // how fast it will move in uS
+  struct arg_int *duration; // for how long it will move
+  struct arg_end *end;
+} servo_args;
+
 esp_err_t _http_event_handle(esp_http_client_event_t *evt) {
   //ESP_LOGI(TAG, "Returning request for %s", (char*)evt->user_data);
 
@@ -84,6 +98,8 @@ void ping() {
 }
 
 void shoot() {
+  ESP_LOGI(TAG, "shooting");
+
   esp_http_client_config_t config = {
     .url = "http://192.168.0.1/v1/camera/shoot",
     .method = HTTP_METHOD_POST,
@@ -126,20 +142,24 @@ void loop() {
   xEventGroupWaitBits(wm_event_group, WIFI_CONNECTED, false, true, portMAX_DELAY);
   ping();
 
+  vTaskDelay(1000 / portTICK_PERIOD_MS);
+
   while(true) {
     shoot();
 
+    if(CONFIG_SERVO_ENABLE) {
       vTaskDelay(3000 / portTICK_PERIOD_MS);
 
       mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1200);
-    vTaskDelay(100 / portTICK_PERIOD_MS);
+      vTaskDelay(200 / portTICK_PERIOD_MS);
       mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1500);
+    }
 
-    vTaskDelay(5000 / portTICK_PERIOD_MS);
+    vTaskDelay(CONFIG_SHOOT_DELAY_MS / portTICK_PERIOD_MS);
   }
 }
 
-void servo() {
+void pwm_init() {
   mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, 21);
 
   mcpwm_config_t pwm_config;
@@ -149,12 +169,107 @@ void servo() {
   pwm_config.counter_mode = MCPWM_UP_COUNTER;
   pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
   mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); //Configure PWM0A & PWM0B with above settings
+}
+
+void servo() {
+  ESP_LOGI(TAG, "value: %d duration: %d", servo_args.value->ival[0], servo_args.duration->ival[0]);
 
   while(true) {
-    vTaskDelay(1000 / portTICK_PERIOD_MS);
+    mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, servo_args.value->ival[0]);
+    vTaskDelay(servo_args.duration->ival[0] / portTICK_PERIOD_MS);
+    mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1500);
+
+    vTaskDelay(5000 / portTICK_PERIOD_MS);
   }
 }
 
+bool running = false;
+
+static int servo_start(int argc, char **argv) {
+  int nerrors = arg_parse(argc, argv, (void**) &servo_args);
+  if (nerrors != 0) {
+    arg_print_errors(stderr, servo_args.end, argv[0]);
+    return 1;
+  }
+
+  if(!running) {
+    running = true;
+    xTaskCreate(&servo, "servo",  4096, NULL, 6, NULL);
+  }
+
+  return ESP_OK;
+}
+
+void register_servo_cmd() {
+  servo_args.value = arg_int0("v", "value", "<int>", "move value in us");
+  servo_args.value->ival[0] = 1200;
+
+  servo_args.duration = arg_int0("d", "duration", "<int>", "duration in ms");
+
+  servo_args.end = arg_end(2);
+
+  const esp_console_cmd_t start_cmd = {
+    .command = "start",
+    .help = "Starts the servo",
+    .hint = NULL,
+    .func = &servo_start,
+    .argtable = &servo_args
+  };
+
+  ESP_ERROR_CHECK( esp_console_cmd_register(&start_cmd) );
+}
+
+static void initialize_console() {
+  /* Disable buffering on stdin and stdout */
+  setvbuf(stdin, NULL, _IONBF, 0);
+  setvbuf(stdout, NULL, _IONBF, 0);
+
+  /* Minicom, screen, idf_monitor send CR when ENTER key is pressed */
+  esp_vfs_dev_uart_set_rx_line_endings(ESP_LINE_ENDINGS_CR);
+  /* Move the caret to the beginning of the next line on '\n' */
+  esp_vfs_dev_uart_set_tx_line_endings(ESP_LINE_ENDINGS_CRLF);
+
+  /* Configure UART. Note that REF_TICK is used so that the baud rate remains
+   * correct while APB frequency is changing in light sleep mode.
+   */
+  const uart_config_t uart_config = {
+    .baud_rate = CONFIG_CONSOLE_UART_BAUDRATE,
+    .data_bits = UART_DATA_8_BITS,
+    .parity = UART_PARITY_DISABLE,
+    .stop_bits = UART_STOP_BITS_1,
+    .use_ref_tick = true
+  };
+  ESP_ERROR_CHECK( uart_param_config(CONFIG_CONSOLE_UART_NUM, &uart_config) );
+
+  /* Install UART driver for interrupt-driven reads and writes */
+  ESP_ERROR_CHECK( uart_driver_install(CONFIG_CONSOLE_UART_NUM,
+        256, 0, 0, NULL, 0) );
+
+  /* Tell VFS to use UART driver */
+  esp_vfs_dev_uart_use_driver(CONFIG_CONSOLE_UART_NUM);
+
+  /* Initialize the console */
+  esp_console_config_t console_config = {
+    .max_cmdline_args = 8,
+    .max_cmdline_length = 256,
+    .hint_color = atoi(LOG_COLOR_CYAN)
+  };
+  ESP_ERROR_CHECK( esp_console_init(&console_config) );
+
+  /* Configure linenoise line completion library */
+  /* Enable multiline editing. If not set, long commands will scroll within
+   * single line.
+   */
+  linenoiseSetMultiLine(1);
+
+  /* Tell linenoise where to get command completions and hints */
+  linenoiseSetCompletionCallback(&esp_console_get_completion);
+  linenoiseSetHintsCallback((linenoiseHintsCallback*) &esp_console_get_hint);
+
+  /* Set command history size */
+  linenoiseHistorySetMaxLen(100);
+}
+
 void app_main() {
   esp_err_t ret;
 
@@ -185,6 +300,37 @@ void app_main() {
     }
   }
 
-  xTaskCreate(&loop, "loop",  2048, NULL, 6, NULL);
+  //initialize_console();
-  xTaskCreate(&servo, "servo",  2048, NULL, 6, NULL);
+  //esp_console_register_help_command();
+  //register_servo_cmd();
+
+  pwm_init();
+
+  xTaskCreate(&loop, "loop",  4096, NULL, 6, NULL);
+
+  const char* prompt = LOG_COLOR_I "grii> " LOG_RESET_COLOR;
+
+  return;
+  while(true) {
+    char* line = linenoise(prompt);
+
+    if (line == NULL) { /* Ignore empty lines */
+      continue;
+    }
+
+    linenoiseHistoryAdd(line);
+    int ret;
+    esp_err_t err = esp_console_run(line, &ret);
+    if (err == ESP_ERR_NOT_FOUND) {
+      printf("Unrecognized command\n");
+    } else if (err == ESP_ERR_INVALID_ARG) {
+      // command was empty
+    } else if (err == ESP_OK && ret != ESP_OK) {
+      printf("Command returned non-zero error code: 0x%x (%s)\n", ret, esp_err_to_name(err));
+    } else if (err != ESP_OK) {
+      printf("Internal error: %s\n", esp_err_to_name(err));
+    }
+    /* linenoise allocates line buffer on the heap, so need to free it */
+    linenoiseFree(line);
+  }
 };