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Add test for new brake feature

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Repeatedly apply sequence of pre-defined motor commands in main function
This commit is contained in:
jonny_jr9 2023-09-04 10:29:36 +02:00
parent fcecd930d3
commit 3014808d5a
2 changed files with 46 additions and 15 deletions
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19
board_motorctl/main/config.cpp
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@ -1,3 +1,4 @@
#include "config.hpp" #include "config.hpp"
//=================================== //===================================
@ -25,8 +26,8 @@ single100a_config_t configDriverRight = {
.gpio_brakeRelay = GPIO_NUM_18, //power mosfet 1 .gpio_brakeRelay = GPIO_NUM_18, //power mosfet 1
.ledc_timer = LEDC_TIMER_1, .ledc_timer = LEDC_TIMER_1,
.ledc_channel = LEDC_CHANNEL_1, .ledc_channel = LEDC_CHANNEL_1,
.aEnabledPinState = false, //-> pin inverted (mosfet) .aEnabledPinState = false, //-> pins inverted (mosfets)
.bEnabledPinState = true, //-> not inverted (direct) .bEnabledPinState = false,
.resolution = LEDC_TIMER_11_BIT, .resolution = LEDC_TIMER_11_BIT,
.pwmFreq = 10000 .pwmFreq = 10000
}; };
@ -37,13 +38,8 @@ single100a_config_t configDriverRight = {
motorctl_config_t configMotorControlLeft = { motorctl_config_t configMotorControlLeft = {
.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%) .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%) .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, .currentLimitEnabled = false,
.currentSensor_adc = ADC1_CHANNEL_6, //GPIO34 .currentSensor_adc = ADC1_CHANNEL_0, //GPIO36
>>>>>>> Stashed changes
.currentSensor_ratedCurrent = 50, .currentSensor_ratedCurrent = 50,
.currentMax = 30, .currentMax = 30,
.deadTimeMs = 900 //minimum time motor is off between direction change .deadTimeMs = 900 //minimum time motor is off between direction change
@ -53,13 +49,8 @@ motorctl_config_t configMotorControlLeft = {
motorctl_config_t configMotorControlRight = { motorctl_config_t configMotorControlRight = {
.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%) .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%) .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, .currentLimitEnabled = false,
.currentSensor_adc = ADC1_CHANNEL_4, //GPIO32 .currentSensor_adc = ADC1_CHANNEL_3, //GPIO39
>>>>>>> Stashed changes
.currentSensor_ratedCurrent = 50, .currentSensor_ratedCurrent = 50,
.currentMax = 30, .currentMax = 30,
.deadTimeMs = 900 //minimum time motor is off between direction change .deadTimeMs = 900 //minimum time motor is off between direction change

42
board_motorctl/main/main.cpp
View File

@ -28,6 +28,9 @@ extern "C"
//disables other functionality //disables other functionality
//#define UART_TEST_ONLY //#define UART_TEST_ONLY
//only run brake-test (ignore uart input)
#define BRAKE_TEST_ONLY
//tag for logging //tag for logging
static const char * TAG = "main"; static const char * TAG = "main";
@ -92,7 +95,7 @@ void setLoglevels(void){
//--- set loglevel for individual tags --- //--- set loglevel for individual tags ---
esp_log_level_set("main", ESP_LOG_INFO); esp_log_level_set("main", ESP_LOG_INFO);
esp_log_level_set("buzzer", ESP_LOG_ERROR); 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("motor-control", ESP_LOG_DEBUG);
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("joystickCommands", 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 --- //--- create tasks for uart communication ---
//------------------------------------------- //-------------------------------------------
#ifndef BRAKE_TEST_ONLY
uart_init(); uart_init();
xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL); xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL); xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
#endif
//--- main loop --- //--- main loop ---
//does nothing except for testing things //does nothing except for testing things
while(1){ 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); vTaskDelay(5000 / portTICK_PERIOD_MS);
//reset to idle
motorRight.setTarget(motorstate_t::IDLE, 0);
#endif
//--- test controlledMotor --- (ramp) //--- test controlledMotor --- (ramp)
// //brake for 1 s // //brake for 1 s