Make drivers interchangeable, Switch to sabertooth driver
- make motorctl compatible with different drivers
- pass set function instead of specific motor object
- add lambda function in config.cpp
- update config to use one new sabertooth driver instead of two single100a
- main test controlled motor
This commit is contained in:
jonny_jr9
parent
98956e2bf8
commit
71b63ebbd3
@ -3,6 +3,7 @@
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//===================================
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//======= motor configuration =======
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//===================================
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/* ==> currently using other driver
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//--- configure left motor (hardware) ---
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_26,
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@ -27,6 +28,13 @@ single100a_config_t configDriverRight = {
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.bEnabledPinState = true, //-> not inverted (direct)
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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*/
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//--- configure sabertooth driver --- (controls both motors in one instance)
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sabertooth2x60_config_t sabertoothConfig = {
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.gpio_TX = GPIO_NUM_23,
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.uart_num = UART_NUM_2
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};
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@ -125,10 +133,24 @@ fan_config_t configCooling = {
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//===== create global objects =====
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//=================================
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//TODO outsource global variables to e.g. global.cpp and only config options here?
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//create sabertooth motor driver instance
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sabertooth2x60a sabertoothDriver(sabertoothConfig);
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//--- controlledMotor ---
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//functions for updating the duty via certain/current driver that can then be passed to controlledMotor
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//-> makes it possible to easily use different motor drivers
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//note: ignoring warning "capture of variable 'sabertoothDriver' with non-automatic storage duration", since sabertoothDriver object does not get destroyed anywhere - no lifetime issue
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motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd) {
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sabertoothDriver.setLeft(cmd);
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};
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motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd) {
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sabertoothDriver.setRight(cmd);
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};
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//create controlled motor instances (motorctl.hpp)
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controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
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controlledMotor motorRight(configDriverRight, configMotorControlRight);
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controlledMotor motorLeft(setLeftFunc, configMotorControlLeft);
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controlledMotor motorRight(setRightFunc, configMotorControlRight);
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//create global joystic instance (joystick.hpp)
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evaluatedJoystick joystick(configJoystick);
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@ -149,3 +171,4 @@ controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joy
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automatedArmchair armchair;
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@ -164,174 +164,162 @@ void sendByte(char data){
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//=========== app_main ============
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//=================================
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extern "C" void app_main(void) {
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//TEST SABERTOOTH driver:
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//config
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sabertooth2x60_config_t sabertoothConfig = {
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.gpio_TX = GPIO_NUM_23,
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.uart_num = UART_NUM_2
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};
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//enable 5V volate regulator
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gpio_pad_select_gpio(GPIO_NUM_17);
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gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
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gpio_set_level(GPIO_NUM_17, 1);
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//create instance
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sabertooth2x60a motors(sabertoothConfig);
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//---- define log levels ----
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setLoglevels();
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//----------------------------------------------
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//--- create task for controlling the motors ---
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//----------------------------------------------
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//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
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xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
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// //------------------------------
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// //--- create task for buzzer ---
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// //------------------------------
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// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
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//
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// //-------------------------------
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// //--- create task for control ---
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// //-------------------------------
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// //task that generates motor commands depending on the current mode and sends those to motorctl task
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// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
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//
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// //------------------------------
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// //--- create task for button ---
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// //------------------------------
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// //task that evaluates and processes the button input and runs the configured commands
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// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
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//
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// //-----------------------------------
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// //--- create task for fan control ---
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// //-----------------------------------
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// //task that evaluates and processes the button input and runs the configured commands
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// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
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//
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//
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// //beep at startup
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// buzzer.beep(3, 70, 50);
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//
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// //--- initialize nvs-flash and netif (needed for wifi) ---
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// wifi_initNvs_initNetif();
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//
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// //--- initialize spiffs ---
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// init_spiffs();
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//--- initialize and start wifi ---
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//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
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//currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
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//when calling control.changeMode(http) from main.cpp it worked without error for some reason?
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ESP_LOGI(TAG,"starting wifi...");
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//wifi_init_client(); //connect to existing wifi
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wifi_init_ap(); //start access point
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ESP_LOGI(TAG,"done starting wifi");
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//run test commands
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//--- testing http server ---
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// wifi_init_client(); //connect to existing wifi
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// vTaskDelay(2000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "initializing http server");
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// http_init_server();
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//--- testing force http mode after startup ---
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//control.changeMode(controlMode_t::HTTP);
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//--- main loop ---
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//does nothing except for testing things
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while(1){
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motors.setLeft({motorstate_t::FWD, 70});
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//test sabertooth driver
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// motors.setLeft({motorstate_t::FWD, 70});
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft({motorstate_t::IDLE, 0});
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft({motorstate_t::REV, 50});
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft(-90);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft(90);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft(0);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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//--- test controlledMotor --- (ramp)
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// //brake for 1 s
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//motorLeft.setTarget(motorstate_t::BRAKE);
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//vTaskDelay(1000 / portTICK_PERIOD_MS);
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//command 90% - reverse
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motorLeft.setTarget(motorstate_t::REV, 90);
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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motorLeft.setTarget(motorstate_t::FWD, 80);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motors.setLeft({motorstate_t::IDLE, 0});
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motors.setLeft({motorstate_t::REV, 50});
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motors.setLeft(-90);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motors.setLeft(90);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motors.setLeft(0);
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motorLeft.setTarget(motorstate_t::IDLE, 90);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//---------------------------------
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//-------- TESTING section --------
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//---------------------------------
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// //--- test functions at mode change HTTP ---
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// control.changeMode(controlMode_t::HTTP);
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// vTaskDelay(10000 / portTICK_PERIOD_MS);
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// control.changeMode(controlMode_t::IDLE);
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// vTaskDelay(10000 / portTICK_PERIOD_MS);
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//--- test wifi functions ---
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// ESP_LOGI(TAG, "creating AP");
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// wifi_init_ap(); //start accesspoint
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// vTaskDelay(15000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "stopping wifi");
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// wifi_deinit_ap(); //stop wifi access point
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// vTaskDelay(5000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "connecting to wifi");
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// wifi_init_client(); //connect to existing wifi
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// vTaskDelay(10000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "stopping wifi");
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// wifi_deinit_client(); //stop wifi client
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// vTaskDelay(5000 / portTICK_PERIOD_MS);
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//--- test button ---
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//buttonJoystick.handle();
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// if (buttonJoystick.risingEdge){
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// ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
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// buzzer.beep(2, 100, 50);
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// }else if (buttonJoystick.fallingEdge){
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// ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
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// buzzer.beep(1, 200, 0);
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// }
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//--- test joystick commands ---
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// motorCommands_t commands = joystick_generateCommandsDriving(joystick);
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// motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// //motorRight.setTarget(commands.right.state, commands.right.duty);
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//--- test joystick class ---
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//joystickData_t data = joystick.getData();
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//ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
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// joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
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//--- test the motor driver ---
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//fade up duty - forward
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// for (int duty=0; duty<=100; duty+=5) {
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// motorLeft.setTarget(motorstate_t::FWD, duty);
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// vTaskDelay(100 / portTICK_PERIOD_MS);
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// }
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}
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// //enable 5V volate regulator
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// gpio_pad_select_gpio(GPIO_NUM_17);
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// gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
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// gpio_set_level(GPIO_NUM_17, 1);
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//
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// //---- define log levels ----
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// setLoglevels();
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//
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// //----------------------------------------------
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// //--- create task for controlling the motors ---
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// //----------------------------------------------
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// //task that receives commands, handles ramp and current limit and executes commands using the motordriver function
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// xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
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//
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// //------------------------------
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// //--- create task for buzzer ---
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// //------------------------------
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// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
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//
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// //-------------------------------
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// //--- create task for control ---
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// //-------------------------------
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// //task that generates motor commands depending on the current mode and sends those to motorctl task
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// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
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//
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// //------------------------------
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// //--- create task for button ---
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// //------------------------------
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// //task that evaluates and processes the button input and runs the configured commands
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// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
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//
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// //-----------------------------------
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// //--- create task for fan control ---
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// //-----------------------------------
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// //task that evaluates and processes the button input and runs the configured commands
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// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
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//
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//
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// //beep at startup
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// buzzer.beep(3, 70, 50);
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//
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// //--- initialize nvs-flash and netif (needed for wifi) ---
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// wifi_initNvs_initNetif();
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//
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// //--- initialize spiffs ---
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// init_spiffs();
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//
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// //--- initialize and start wifi ---
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// //FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
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// //currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
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// //when calling control.changeMode(http) from main.cpp it worked without error for some reason?
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// ESP_LOGI(TAG,"starting wifi...");
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// //wifi_init_client(); //connect to existing wifi
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// wifi_init_ap(); //start access point
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// ESP_LOGI(TAG,"done starting wifi");
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//
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//
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// //--- testing http server ---
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// // wifi_init_client(); //connect to existing wifi
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// // vTaskDelay(2000 / portTICK_PERIOD_MS);
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// // ESP_LOGI(TAG, "initializing http server");
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// // http_init_server();
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//
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//
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// //--- testing force http mode after startup ---
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// //control.changeMode(controlMode_t::HTTP);
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//
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//
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// //--- main loop ---
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// //does nothing except for testing things
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// while(1){
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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//
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// //---------------------------------
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// //-------- TESTING section --------
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// //---------------------------------
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// // //--- test functions at mode change HTTP ---
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// // control.changeMode(controlMode_t::HTTP);
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// // vTaskDelay(10000 / portTICK_PERIOD_MS);
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// // control.changeMode(controlMode_t::IDLE);
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// // vTaskDelay(10000 / portTICK_PERIOD_MS);
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//
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//
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// //--- test wifi functions ---
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// // ESP_LOGI(TAG, "creating AP");
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// // wifi_init_ap(); //start accesspoint
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// // vTaskDelay(15000 / portTICK_PERIOD_MS);
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// // ESP_LOGI(TAG, "stopping wifi");
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// // wifi_deinit_ap(); //stop wifi access point
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// // vTaskDelay(5000 / portTICK_PERIOD_MS);
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// // ESP_LOGI(TAG, "connecting to wifi");
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// // wifi_init_client(); //connect to existing wifi
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// // vTaskDelay(10000 / portTICK_PERIOD_MS);
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// // ESP_LOGI(TAG, "stopping wifi");
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// // wifi_deinit_client(); //stop wifi client
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// // vTaskDelay(5000 / portTICK_PERIOD_MS);
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//
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//
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// //--- test button ---
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// //buttonJoystick.handle();
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// // if (buttonJoystick.risingEdge){
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// // ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
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// // buzzer.beep(2, 100, 50);
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//
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// // }else if (buttonJoystick.fallingEdge){
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// // ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
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// // buzzer.beep(1, 200, 0);
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// // }
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//
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//
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// //--- test joystick commands ---
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// // motorCommands_t commands = joystick_generateCommandsDriving(joystick);
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// // motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// // motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// // //motorRight.setTarget(commands.right.state, commands.right.duty);
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//
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//
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// //--- test joystick class ---
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// //joystickData_t data = joystick.getData();
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// //ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
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// // joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
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//
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// //--- test the motor driver ---
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// //fade up duty - forward
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// // for (int duty=0; duty<=100; duty+=5) {
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// // motorLeft.setTarget(motorstate_t::FWD, duty);
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// // vTaskDelay(100 / portTICK_PERIOD_MS);
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// // }
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//
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//
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// //--- test controlledMotor --- (ramp)
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// // //brake for 1 s
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// // motorLeft.setTarget(motorstate_t::BRAKE);
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// // vTaskDelay(1000 / portTICK_PERIOD_MS);
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// // //command 90% - reverse
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// // motorLeft.setTarget(motorstate_t::REV, 90);
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// // vTaskDelay(5000 / portTICK_PERIOD_MS);
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// // //command 100% - forward
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// // motorLeft.setTarget(motorstate_t::FWD, 100);
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// // vTaskDelay(1000 / portTICK_PERIOD_MS);
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//
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// }
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}
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@ -11,11 +11,12 @@ static const char * TAG = "motor-control";
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//======== constructor ========
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//=============================
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//constructor, simultaniously initialize instance of motor driver 'motor' and current sensor 'cSensor' with provided config (see below lines after ':')
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controlledMotor::controlledMotor(single100a_config_t config_driver, motorctl_config_t config_control):
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motor(config_driver),
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controlledMotor::controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control):
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cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent) {
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//copy parameters for controlling the motor
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config = config_control;
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//pointer to update motot dury method
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motorSetCommand = setCommandFunc;
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//copy configured default fading durations to actually used variables
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msFadeAccel = config.msFadeAccel;
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msFadeDecel = config.msFadeDecel;
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@ -139,7 +140,7 @@ void controlledMotor::handle(){
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//brake immediately, update state, duty and exit this cycle of handle function
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if (state == motorstate_t::BRAKE){
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ESP_LOGD(TAG, "braking - skip fading");
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motor.set(motorstate_t::BRAKE, dutyTarget);
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motorSetCommand({motorstate_t::BRAKE, dutyTarget});
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//dutyNow = 0;
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return; //no need to run the fade algorithm
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}
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@ -229,7 +230,7 @@ void controlledMotor::handle(){
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//--- apply new target to motor ---
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motor.set(state, fabs(dutyNow));
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motorSetCommand({state, (float)fabs(dutyNow)});
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//note: BRAKE state is handled earlier
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@ -19,7 +19,7 @@ extern "C"
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//outsourced to common/types.hpp
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#include "types.hpp"
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typedef void (*motorSetCommandFunc_t)(motorCommand_t cmd);
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||||
|
||||
|
||||
//===================================
|
||||
@ -28,7 +28,7 @@ extern "C"
|
||||
class controlledMotor {
|
||||
public:
|
||||
//--- functions ---
|
||||
controlledMotor(single100a_config_t config_driver, motorctl_config_t config_control); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
|
||||
controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
|
||||
void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task)
|
||||
void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
|
||||
motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
|
||||
@ -44,13 +44,14 @@ class controlledMotor {
|
||||
void init(); //creates currentsensor objects, motordriver objects and queue
|
||||
|
||||
//--- objects ---
|
||||
//motor driver
|
||||
single100a motor;
|
||||
//queue for sending commands to the separate task running the handle() function very fast
|
||||
QueueHandle_t commandQueue = NULL;
|
||||
//current sensor
|
||||
currentSensor cSensor;
|
||||
|
||||
//function pointer that sets motor duty (driver)
|
||||
motorSetCommandFunc_t motorSetCommand;
|
||||
|
||||
//--- variables ---
|
||||
//struct for storing control specific parameters
|
||||
motorctl_config_t config;
|
||||
|
||||
@ -80,6 +80,10 @@ void single100a::init(){
|
||||
//----------- set -----------
|
||||
//---------------------------
|
||||
//function to put the h-bridge module in the desired state and duty cycle
|
||||
void single100a::set(motorCommand_t cmd){
|
||||
set(cmd.state, cmd.duty);
|
||||
}
|
||||
|
||||
void single100a::set(motorstate_t state_f, float duty_f){
|
||||
|
||||
//scale provided target duty in percent to available resolution for ledc
|
||||
@ -190,7 +194,7 @@ sabertooth2x60a::sabertooth2x60a(sabertooth2x60_config_t config_f){
|
||||
void sabertooth2x60a::init(){
|
||||
ESP_LOGW(TAG, "initializing uart...");
|
||||
uart_config_t uart_config = {
|
||||
.baud_rate = 38400,
|
||||
.baud_rate = 9600, //dip switches: 101011
|
||||
.data_bits = UART_DATA_8_BITS,
|
||||
.parity = UART_PARITY_DISABLE,
|
||||
.stop_bits = UART_STOP_BITS_1,
|
||||
|
||||
@ -51,6 +51,7 @@ class single100a {
|
||||
|
||||
//--- functions ---
|
||||
void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above)
|
||||
void set(motorCommand_t cmd);
|
||||
//TODO: add functions to get the current state and duty
|
||||
|
||||
private:
|
||||
@ -79,18 +80,19 @@ class single100a {
|
||||
//===== sabertooth 2x60A motor driver ======
|
||||
//==========================================
|
||||
|
||||
//struct with all config parameters for single100a motor driver
|
||||
//struct with all config parameters for sabertooth2x60a driver
|
||||
typedef struct {
|
||||
gpio_num_t gpio_TX;
|
||||
uart_port_t uart_num; //(UART_NUM_1/2)
|
||||
} sabertooth2x60_config_t;
|
||||
|
||||
|
||||
//controll via simplified serial
|
||||
//=> set dip switches to 'simplified serial 9600 Baud' according to manual 101011
|
||||
class sabertooth2x60a {
|
||||
public:
|
||||
//--- constructor ---
|
||||
sabertooth2x60a(sabertooth2x60_config_t config_f); //provide config struct (see above)
|
||||
|
||||
//--- functions ---
|
||||
//set motor speed with float value from -100 to 100
|
||||
void setLeft(float dutyPerSigned);
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user