Init

.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

README.md

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+# baby_car_esc_controller

include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:nanoatmega328]
+platform = atmelavr
+board = nanoatmega328
+framework = arduino
+lib_deps = 
+	gyverlibs/GyverOS@^1.2.1
+	arduino-libraries/Servo@^1.2.1
+	thomasfredericks/Bounce2@^2.72

src/main.cpp

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+#include <Arduino.h>
+#include <GyverOS.h>
+#include <Servo.h> // servo library 
+#include <Bounce2.h>
+
+#define DEBUG 0
+#define LED_PIN 13
+#define ESC_PIN 9
+#define RECEIVER_ESC_PIN 5
+#define ESC_NEUTRAL_POSITION 1500
+#define ESC_NEUTRAL_POSITION_THRESHOLD 40
+#define PEDAL_MAX_THROTTLE 1800
+#define PEDAL_PIN 6 // Пин, куда подключена педаль машины
+#define MAX_SPEED_POTENTIOMETER_PIN A0 // Пин потенциометра регулировки скорости с педали
+
+GyverOS<5> OS;	// указать макс. количество задач
+Servo esc; // servo name
+Bounce2::Button pedal_button = Bounce2::Button();
+int pedal_state = 0;
+
+// обработчики задач
+void replicate_receiver_for_esc() {
+  // выводит свой период в порт
+  if (DEBUG){
+    static uint32_t ms;
+    Serial.println(millis() - ms);
+    ms = millis();
+  }
+  int current_receiver_esc_value = pulseIn(RECEIVER_ESC_PIN, HIGH, 25000);
+  if (current_receiver_esc_value == 0)
+  {
+    current_receiver_esc_value = ESC_NEUTRAL_POSITION; 
+  }
+
+  //work mode
+  digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+  
+  if (abs(current_receiver_esc_value - ESC_NEUTRAL_POSITION) < ESC_NEUTRAL_POSITION_THRESHOLD)
+  {
+    if (DEBUG){
+      Serial.println("Receiver ESC in neutral."); // Print the value of 
+    }
+    if (pedal_button.isPressed()){
+      pedal_state++;
+      if (pedal_state > 100){
+        pedal_state = 100;
+      }
+
+      //read max speed settings
+      int rotate_value = analogRead(MAX_SPEED_POTENTIOMETER_PIN);
+      int max_speed_ms = map(rotate_value, 0, 1023, ESC_NEUTRAL_POSITION, PEDAL_MAX_THROTTLE);
+
+      int pedal_esc_state = map(pedal_state, 0, 100, ESC_NEUTRAL_POSITION, max_speed_ms);
+
+      if (DEBUG){
+        Serial.print("Pedal is pressed; state: ");
+        Serial.print(pedal_state);
+        Serial.print(" max speed value: ");
+        Serial.print(max_speed_ms);
+        Serial.print(" esc state: ");
+        Serial.println(pedal_esc_state);
+      }
+      esc.writeMicroseconds(pedal_esc_state);
+    }else{
+      esc.writeMicroseconds(ESC_NEUTRAL_POSITION);
+    }
+  }
+  else
+  {
+    pedal_state = 0;
+    if (DEBUG){
+      Serial.print("Receiver ESC channel 2:"); // Print the value of 
+      Serial.println(current_receiver_esc_value);        // each channel
+    }
+
+    esc.writeMicroseconds(current_receiver_esc_value);
+  }
+}
+
+void setup() {
+  Serial.begin(9600);
+  pinMode(LED_PIN, OUTPUT);
+
+  // подключаем задачи (порядковый номер, имя функции, период в мс)
+  OS.attach(0, replicate_receiver_for_esc, 40);
+
+  //attach esc
+  esc.attach(ESC_PIN);
+  esc.writeMicroseconds(ESC_NEUTRAL_POSITION); // Turn the motor from the android app
+
+  //attach receiver
+  pinMode(RECEIVER_ESC_PIN, INPUT); // Set our input pins as such
+
+  //attach pedal
+  pedal_button.attach( PEDAL_PIN, INPUT_PULLUP ); // USE EXTERNAL PULL-UP
+  pedal_button.interval(5);
+  pedal_button.setPressedState(LOW);
+
+  //attach max speed potentiometer
+  pinMode(MAX_SPEED_POTENTIOMETER_PIN, INPUT);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  OS.tick();	// вызывать как можно чаще, задачи выполняются здесь
+
+  //check bounce
+  pedal_button.update();
+
+  // OS.getLeft() возвращает время в мс до ближайшей задачи
+  // на это время можно усыпить МК, например при помощи narcoleptic или GyverPower
+  // для примера просто поставим delay на это время
+  delay(OS.getLeft());
+}

test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html