From 3014808d5a9e0843c477c867c8cee66f9ebb8c76 Mon Sep 17 00:00:00 2001
From: jonny_jr9 <jonny@wwad.de>
Date: Mon, 4 Sep 2023 10:29:36 +0200
Subject: [PATCH] Add test for new brake feature

Repeatedly apply sequence of pre-defined motor commands in main function
---
 board_motorctl/main/config.cpp | 19 ++++-----------
 board_motorctl/main/main.cpp   | 42 +++++++++++++++++++++++++++++++++-
 2 files changed, 46 insertions(+), 15 deletions(-)

diff --git a/board_motorctl/main/config.cpp b/board_motorctl/main/config.cpp
index 2c1389e..3d57660 100644
--- a/board_motorctl/main/config.cpp
+++ b/board_motorctl/main/config.cpp
@@ -1,3 +1,4 @@
+
 #include "config.hpp"
 
 //===================================
@@ -25,8 +26,8 @@ single100a_config_t configDriverRight = {
 	.gpio_brakeRelay = GPIO_NUM_18, //power mosfet 1
     .ledc_timer = LEDC_TIMER_1,
     .ledc_channel = LEDC_CHANNEL_1,
-	.aEnabledPinState = false, //-> pin inverted (mosfet)
-	.bEnabledPinState = true,  //-> not inverted (direct)
+	.aEnabledPinState = false, //-> pins inverted (mosfets)
+	.bEnabledPinState = false,
     .resolution = LEDC_TIMER_11_BIT,
     .pwmFreq = 10000
 };
@@ -37,13 +38,8 @@ single100a_config_t configDriverRight = {
 motorctl_config_t configMotorControlLeft = {
     .msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
     .msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
-<<<<<<< Updated upstream
-	.currentLimitEnabled = true,
-	.currentSensor_adc =  ADC1_CHANNEL_0, //GPIO36
-=======
 	.currentLimitEnabled = false,
-	.currentSensor_adc =  ADC1_CHANNEL_6, //GPIO34
->>>>>>> Stashed changes
+	.currentSensor_adc =  ADC1_CHANNEL_0, //GPIO36
 	.currentSensor_ratedCurrent = 50,
     .currentMax = 30,
 	.deadTimeMs = 900 //minimum time motor is off between direction change
@@ -53,13 +49,8 @@ motorctl_config_t configMotorControlLeft = {
 motorctl_config_t configMotorControlRight = {
     .msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
     .msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
-<<<<<<< Updated upstream
-	.currentLimitEnabled = true,
-	.currentSensor_adc =  ADC1_CHANNEL_3, //GPIO39
-=======
 	.currentLimitEnabled = false,
-	.currentSensor_adc =  ADC1_CHANNEL_4, //GPIO32
->>>>>>> Stashed changes
+	.currentSensor_adc =  ADC1_CHANNEL_3, //GPIO39
 	.currentSensor_ratedCurrent = 50,
     .currentMax = 30,
 	.deadTimeMs = 900 //minimum time motor is off between direction change
diff --git a/board_motorctl/main/main.cpp b/board_motorctl/main/main.cpp
index 71873b2..8a9e7ee 100644
--- a/board_motorctl/main/main.cpp
+++ b/board_motorctl/main/main.cpp
@@ -28,6 +28,9 @@ extern "C"
 //disables other functionality
 //#define UART_TEST_ONLY
 
+//only run brake-test (ignore uart input)
+#define BRAKE_TEST_ONLY
+
 
 //tag for logging
 static const char * TAG = "main";
@@ -92,7 +95,7 @@ void setLoglevels(void){
 	//--- set loglevel for individual tags ---
 	esp_log_level_set("main", ESP_LOG_INFO);
 	esp_log_level_set("buzzer", ESP_LOG_ERROR);
-	//esp_log_level_set("motordriver", ESP_LOG_INFO);
+	esp_log_level_set("motordriver", ESP_LOG_DEBUG);
 	//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
 	//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
 	//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
@@ -150,15 +153,52 @@ extern "C" void app_main(void) {
 	//-------------------------------------------
 	//--- create tasks for uart communication ---
 	//-------------------------------------------
+#ifndef BRAKE_TEST_ONLY
 	uart_init();
 	xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
 	xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
+#endif
 
 
 	//--- main loop ---
 	//does nothing except for testing things
 	while(1){
+		vTaskDelay(500 / portTICK_PERIOD_MS);
+#ifdef BRAKE_TEST_ONLY
+		//test relays at standstill
+		ESP_LOGW("brake-test", "test relays via motorctl");
+		//turn on
+		motorRight.setTarget(motorstate_t::BRAKE, 0);
+		vTaskDelay(500 / portTICK_PERIOD_MS);
+		motorRight.setTarget(motorstate_t::BRAKE, 0);
+		vTaskDelay(1000 / portTICK_PERIOD_MS);
+		//turn off
+		motorRight.setTarget(motorstate_t::IDLE, 0);
+		vTaskDelay(500 / portTICK_PERIOD_MS);
+		motorRight.setTarget(motorstate_t::IDLE, 0);
+
+		vTaskDelay(1000 / portTICK_PERIOD_MS);
+
+		//go forward and brake
+		ESP_LOGW("brake-test", "go forward 30%% then brake");
+		motorRight.setTarget(motorstate_t::FWD, 30);
+		vTaskDelay(1000 / portTICK_PERIOD_MS);
+		motorRight.setTarget(motorstate_t::BRAKE, 0);
+
+		vTaskDelay(3000 / portTICK_PERIOD_MS);
+
+		//brake partial
+		ESP_LOGW("brake-test", "go forward 30%% then brake partial 10%%, hold for 5sec");
+		motorRight.setTarget(motorstate_t::FWD, 30);
+		vTaskDelay(1000 / portTICK_PERIOD_MS);
+		motorRight.setTarget(motorstate_t::BRAKE, 10);
+
 		vTaskDelay(5000 / portTICK_PERIOD_MS);
+		//reset to idle
+		motorRight.setTarget(motorstate_t::IDLE, 0);
+	
+#endif
+
 
 		//--- test controlledMotor --- (ramp)
 		// //brake for 1 s