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Make drivers interchangeable, Switch to sabertooth driver

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- 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 2023-09-08 12:03:33 +02:00
parent 98956e2bf8
commit 71b63ebbd3
6 changed files with 194 additions and 175 deletions
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27
board_single/main/config.cpp
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@ -3,6 +3,7 @@
//=================================== //===================================
//======= motor configuration ======= //======= motor configuration =======
//=================================== //===================================
/* ==> currently using other driver
//--- configure left motor (hardware) --- //--- configure left motor (hardware) ---
single100a_config_t configDriverLeft = { single100a_config_t configDriverLeft = {
.gpio_pwm = GPIO_NUM_26, .gpio_pwm = GPIO_NUM_26,
@ -27,6 +28,13 @@ single100a_config_t configDriverRight = {
.bEnabledPinState = true, //-> not inverted (direct) .bEnabledPinState = true, //-> not inverted (direct)
.resolution = LEDC_TIMER_11_BIT, .resolution = LEDC_TIMER_11_BIT,
.pwmFreq = 10000 .pwmFreq = 10000
};
*/
//--- configure sabertooth driver --- (controls both motors in one instance)
sabertooth2x60_config_t sabertoothConfig = {
.gpio_TX = GPIO_NUM_23,
.uart_num = UART_NUM_2
}; };
@ -125,10 +133,24 @@ fan_config_t configCooling = {
//===== create global objects ===== //===== create global objects =====
//================================= //=================================
//TODO outsource global variables to e.g. global.cpp and only config options here? //TODO outsource global variables to e.g. global.cpp and only config options here?
//create sabertooth motor driver instance
sabertooth2x60a sabertoothDriver(sabertoothConfig);
//--- controlledMotor ---
//functions for updating the duty via certain/current driver that can then be passed to controlledMotor
//-> makes it possible to easily use different motor drivers
//note: ignoring warning "capture of variable 'sabertoothDriver' with non-automatic storage duration", since sabertoothDriver object does not get destroyed anywhere - no lifetime issue
motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd) {
sabertoothDriver.setLeft(cmd);
};
motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd) {
sabertoothDriver.setRight(cmd);
};
//create controlled motor instances (motorctl.hpp) //create controlled motor instances (motorctl.hpp)
controlledMotor motorLeft(configDriverLeft, configMotorControlLeft); controlledMotor motorLeft(setLeftFunc, configMotorControlLeft);
controlledMotor motorRight(configDriverRight, configMotorControlRight); controlledMotor motorRight(setRightFunc, configMotorControlRight);
//create global joystic instance (joystick.hpp) //create global joystic instance (joystick.hpp)
evaluatedJoystick joystick(configJoystick); evaluatedJoystick joystick(configJoystick);
@ -149,3 +171,4 @@ controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joy
automatedArmchair armchair; automatedArmchair armchair;

312
board_single/main/main.cpp
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@ -164,174 +164,162 @@ void sendByte(char data){
//=========== app_main ============ //=========== app_main ============
//================================= //=================================
extern "C" void app_main(void) { extern "C" void app_main(void) {
//TEST SABERTOOTH driver: //enable 5V volate regulator
//config gpio_pad_select_gpio(GPIO_NUM_17);
sabertooth2x60_config_t sabertoothConfig = { gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
.gpio_TX = GPIO_NUM_23, gpio_set_level(GPIO_NUM_17, 1);
.uart_num = UART_NUM_2
};
//create instance //---- define log levels ----
sabertooth2x60a motors(sabertoothConfig); setLoglevels();
//----------------------------------------------
//--- create task for controlling the motors ---
//----------------------------------------------
//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
// //------------------------------
// //--- create task for buzzer ---
// //------------------------------
// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//
// //-------------------------------
// //--- create task for control ---
// //-------------------------------
// //task that generates motor commands depending on the current mode and sends those to motorctl task
// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
//
// //------------------------------
// //--- create task for button ---
// //------------------------------
// //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
//
// //-----------------------------------
// //--- create task for fan control ---
// //-----------------------------------
// //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
//
//
// //beep at startup
// buzzer.beep(3, 70, 50);
//
// //--- initialize nvs-flash and netif (needed for wifi) ---
// wifi_initNvs_initNetif();
//
// //--- initialize spiffs ---
// init_spiffs();
//--- initialize and start wifi ---
//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
//currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
//when calling control.changeMode(http) from main.cpp it worked without error for some reason?
ESP_LOGI(TAG,"starting wifi...");
//wifi_init_client(); //connect to existing wifi
wifi_init_ap(); //start access point
ESP_LOGI(TAG,"done starting wifi");
//run test commands //--- testing http server ---
// wifi_init_client(); //connect to existing wifi
// vTaskDelay(2000 / portTICK_PERIOD_MS);
// ESP_LOGI(TAG, "initializing http server");
// http_init_server();
//--- testing force http mode after startup ---
//control.changeMode(controlMode_t::HTTP);
//--- main loop ---
//does nothing except for testing things
while(1){ while(1){
motors.setLeft({motorstate_t::FWD, 70}); //test sabertooth driver
// motors.setLeft({motorstate_t::FWD, 70});
// vTaskDelay(1000 / portTICK_PERIOD_MS);
// motors.setLeft({motorstate_t::IDLE, 0});
// vTaskDelay(1000 / portTICK_PERIOD_MS);
// motors.setLeft({motorstate_t::REV, 50});
// vTaskDelay(1000 / portTICK_PERIOD_MS);
// motors.setLeft(-90);
// vTaskDelay(1000 / portTICK_PERIOD_MS);
// motors.setLeft(90);
// vTaskDelay(1000 / portTICK_PERIOD_MS);
// motors.setLeft(0);
// vTaskDelay(1000 / portTICK_PERIOD_MS);
//--- test controlledMotor --- (ramp)
// //brake for 1 s
//motorLeft.setTarget(motorstate_t::BRAKE);
//vTaskDelay(1000 / portTICK_PERIOD_MS);
//command 90% - reverse
motorLeft.setTarget(motorstate_t::REV, 90);
vTaskDelay(5000 / portTICK_PERIOD_MS);
motorLeft.setTarget(motorstate_t::FWD, 80);
vTaskDelay(1000 / portTICK_PERIOD_MS); vTaskDelay(1000 / portTICK_PERIOD_MS);
motors.setLeft({motorstate_t::IDLE, 0}); motorLeft.setTarget(motorstate_t::IDLE, 90);
vTaskDelay(1000 / portTICK_PERIOD_MS);
motors.setLeft({motorstate_t::REV, 50});
vTaskDelay(1000 / portTICK_PERIOD_MS);
motors.setLeft(-90);
vTaskDelay(1000 / portTICK_PERIOD_MS);
motors.setLeft(90);
vTaskDelay(1000 / portTICK_PERIOD_MS);
motors.setLeft(0);
vTaskDelay(1000 / portTICK_PERIOD_MS); vTaskDelay(1000 / portTICK_PERIOD_MS);
//---------------------------------
//-------- TESTING section --------
//---------------------------------
// //--- test functions at mode change HTTP ---
// control.changeMode(controlMode_t::HTTP);
// vTaskDelay(10000 / portTICK_PERIOD_MS);
// control.changeMode(controlMode_t::IDLE);
// vTaskDelay(10000 / portTICK_PERIOD_MS);
//--- test wifi functions ---
// ESP_LOGI(TAG, "creating AP");
// wifi_init_ap(); //start accesspoint
// vTaskDelay(15000 / portTICK_PERIOD_MS);
// ESP_LOGI(TAG, "stopping wifi");
// wifi_deinit_ap(); //stop wifi access point
// vTaskDelay(5000 / portTICK_PERIOD_MS);
// ESP_LOGI(TAG, "connecting to wifi");
// wifi_init_client(); //connect to existing wifi
// vTaskDelay(10000 / portTICK_PERIOD_MS);
// ESP_LOGI(TAG, "stopping wifi");
// wifi_deinit_client(); //stop wifi client
// vTaskDelay(5000 / portTICK_PERIOD_MS);
//--- test button ---
//buttonJoystick.handle();
// if (buttonJoystick.risingEdge){
// ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
// buzzer.beep(2, 100, 50);
// }else if (buttonJoystick.fallingEdge){
// ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
// buzzer.beep(1, 200, 0);
// }
//--- test joystick commands ---
// motorCommands_t commands = joystick_generateCommandsDriving(joystick);
// motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
// motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
// //motorRight.setTarget(commands.right.state, commands.right.duty);
//--- test joystick class ---
//joystickData_t data = joystick.getData();
//ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
// joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
//--- test the motor driver ---
//fade up duty - forward
// for (int duty=0; duty<=100; duty+=5) {
// motorLeft.setTarget(motorstate_t::FWD, duty);
// vTaskDelay(100 / portTICK_PERIOD_MS);
// }
} }
// //enable 5V volate regulator
// gpio_pad_select_gpio(GPIO_NUM_17);
// gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
// gpio_set_level(GPIO_NUM_17, 1);
//
// //---- define log levels ----
// setLoglevels();
//
// //----------------------------------------------
// //--- create task for controlling the motors ---
// //----------------------------------------------
// //task that receives commands, handles ramp and current limit and executes commands using the motordriver function
// xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
//
// //------------------------------
// //--- create task for buzzer ---
// //------------------------------
// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//
// //-------------------------------
// //--- create task for control ---
// //-------------------------------
// //task that generates motor commands depending on the current mode and sends those to motorctl task
// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
//
// //------------------------------
// //--- create task for button ---
// //------------------------------
// //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
//
// //-----------------------------------
// //--- create task for fan control ---
// //-----------------------------------
// //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
//
//
// //beep at startup
// buzzer.beep(3, 70, 50);
//
// //--- initialize nvs-flash and netif (needed for wifi) ---
// wifi_initNvs_initNetif();
//
// //--- initialize spiffs ---
// init_spiffs();
//
// //--- initialize and start wifi ---
// //FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
// //currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
// //when calling control.changeMode(http) from main.cpp it worked without error for some reason?
// ESP_LOGI(TAG,"starting wifi...");
// //wifi_init_client(); //connect to existing wifi
// wifi_init_ap(); //start access point
// ESP_LOGI(TAG,"done starting wifi");
//
//
// //--- testing http server ---
// // wifi_init_client(); //connect to existing wifi
// // vTaskDelay(2000 / portTICK_PERIOD_MS);
// // ESP_LOGI(TAG, "initializing http server");
// // http_init_server();
//
//
// //--- testing force http mode after startup ---
// //control.changeMode(controlMode_t::HTTP);
//
//
// //--- main loop ---
// //does nothing except for testing things
// while(1){
// vTaskDelay(1000 / portTICK_PERIOD_MS);
//
// //---------------------------------
// //-------- TESTING section --------
// //---------------------------------
// // //--- test functions at mode change HTTP ---
// // control.changeMode(controlMode_t::HTTP);
// // vTaskDelay(10000 / portTICK_PERIOD_MS);
// // control.changeMode(controlMode_t::IDLE);
// // vTaskDelay(10000 / portTICK_PERIOD_MS);
//
//
// //--- test wifi functions ---
// // ESP_LOGI(TAG, "creating AP");
// // wifi_init_ap(); //start accesspoint
// // vTaskDelay(15000 / portTICK_PERIOD_MS);
// // ESP_LOGI(TAG, "stopping wifi");
// // wifi_deinit_ap(); //stop wifi access point
// // vTaskDelay(5000 / portTICK_PERIOD_MS);
// // ESP_LOGI(TAG, "connecting to wifi");
// // wifi_init_client(); //connect to existing wifi
// // vTaskDelay(10000 / portTICK_PERIOD_MS);
// // ESP_LOGI(TAG, "stopping wifi");
// // wifi_deinit_client(); //stop wifi client
// // vTaskDelay(5000 / portTICK_PERIOD_MS);
//
//
// //--- test button ---
// //buttonJoystick.handle();
// // if (buttonJoystick.risingEdge){
// // ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
// // buzzer.beep(2, 100, 50);
//
// // }else if (buttonJoystick.fallingEdge){
// // ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
// // buzzer.beep(1, 200, 0);
// // }
//
//
// //--- test joystick commands ---
// // motorCommands_t commands = joystick_generateCommandsDriving(joystick);
// // motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
// // motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
// // //motorRight.setTarget(commands.right.state, commands.right.duty);
//
//
// //--- test joystick class ---
// //joystickData_t data = joystick.getData();
// //ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
// // joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
//
// //--- test the motor driver ---
// //fade up duty - forward
// // for (int duty=0; duty<=100; duty+=5) {
// // motorLeft.setTarget(motorstate_t::FWD, duty);
// // vTaskDelay(100 / portTICK_PERIOD_MS);
// // }
//
//
// //--- test controlledMotor --- (ramp)
// // //brake for 1 s
// // motorLeft.setTarget(motorstate_t::BRAKE);
// // vTaskDelay(1000 / portTICK_PERIOD_MS);
// // //command 90% - reverse
// // motorLeft.setTarget(motorstate_t::REV, 90);
// // vTaskDelay(5000 / portTICK_PERIOD_MS);
// // //command 100% - forward
// // motorLeft.setTarget(motorstate_t::FWD, 100);
// // vTaskDelay(1000 / portTICK_PERIOD_MS);
//
// }
} }

9
common/motorctl.cpp
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@ -11,11 +11,12 @@ static const char * TAG = "motor-control";
//======== constructor ======== //======== constructor ========
//============================= //=============================
//constructor, simultaniously initialize instance of motor driver 'motor' and current sensor 'cSensor' with provided config (see below lines after ':') //constructor, simultaniously initialize instance of motor driver 'motor' and current sensor 'cSensor' with provided config (see below lines after ':')
controlledMotor::controlledMotor(single100a_config_t config_driver, motorctl_config_t config_control): controlledMotor::controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control):
motor(config_driver),
cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent) { cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent) {
//copy parameters for controlling the motor //copy parameters for controlling the motor
config = config_control; config = config_control;
//pointer to update motot dury method
motorSetCommand = setCommandFunc;
//copy configured default fading durations to actually used variables //copy configured default fading durations to actually used variables
msFadeAccel = config.msFadeAccel; msFadeAccel = config.msFadeAccel;
msFadeDecel = config.msFadeDecel; msFadeDecel = config.msFadeDecel;
@ -139,7 +140,7 @@ void controlledMotor::handle(){
//brake immediately, update state, duty and exit this cycle of handle function //brake immediately, update state, duty and exit this cycle of handle function
if (state == motorstate_t::BRAKE){ if (state == motorstate_t::BRAKE){
ESP_LOGD(TAG, "braking - skip fading"); ESP_LOGD(TAG, "braking - skip fading");
motor.set(motorstate_t::BRAKE, dutyTarget); motorSetCommand({motorstate_t::BRAKE, dutyTarget});
//dutyNow = 0; //dutyNow = 0;
return; //no need to run the fade algorithm return; //no need to run the fade algorithm
} }
@ -229,7 +230,7 @@ void controlledMotor::handle(){
//--- apply new target to motor --- //--- apply new target to motor ---
motor.set(state, fabs(dutyNow)); motorSetCommand({state, (float)fabs(dutyNow)});
//note: BRAKE state is handled earlier //note: BRAKE state is handled earlier

9
common/motorctl.hpp
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@ -19,7 +19,7 @@ extern "C"
//outsourced to common/types.hpp //outsourced to common/types.hpp
#include "types.hpp" #include "types.hpp"
typedef void (*motorSetCommandFunc_t)(motorCommand_t cmd);
//=================================== //===================================
@ -28,7 +28,7 @@ extern "C"
class controlledMotor { class controlledMotor {
public: public:
//--- functions --- //--- 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 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 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) 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 void init(); //creates currentsensor objects, motordriver objects and queue
//--- objects --- //--- objects ---
//motor driver
single100a motor;
//queue for sending commands to the separate task running the handle() function very fast //queue for sending commands to the separate task running the handle() function very fast
QueueHandle_t commandQueue = NULL; QueueHandle_t commandQueue = NULL;
//current sensor //current sensor
currentSensor cSensor; currentSensor cSensor;
//function pointer that sets motor duty (driver)
motorSetCommandFunc_t motorSetCommand;
//--- variables --- //--- variables ---
//struct for storing control specific parameters //struct for storing control specific parameters
motorctl_config_t config; motorctl_config_t config;

6
common/motordrivers.cpp
View File

@ -80,6 +80,10 @@ void single100a::init(){
//----------- set ----------- //----------- set -----------
//--------------------------- //---------------------------
//function to put the h-bridge module in the desired state and duty cycle //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){ void single100a::set(motorstate_t state_f, float duty_f){
//scale provided target duty in percent to available resolution for ledc //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(){ void sabertooth2x60a::init(){
ESP_LOGW(TAG, "initializing uart..."); ESP_LOGW(TAG, "initializing uart...");
uart_config_t uart_config = { uart_config_t uart_config = {
.baud_rate = 38400, .baud_rate = 9600, //dip switches: 101011
.data_bits = UART_DATA_8_BITS, .data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE, .parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1, .stop_bits = UART_STOP_BITS_1,

6
common/motordrivers.hpp
View File

@ -51,6 +51,7 @@ class single100a {
//--- functions --- //--- functions ---
void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above) 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 //TODO: add functions to get the current state and duty
private: private:
@ -79,18 +80,19 @@ class single100a {
//===== sabertooth 2x60A motor driver ====== //===== sabertooth 2x60A motor driver ======
//========================================== //==========================================
//struct with all config parameters for single100a motor driver //struct with all config parameters for sabertooth2x60a driver
typedef struct { typedef struct {
gpio_num_t gpio_TX; gpio_num_t gpio_TX;
uart_port_t uart_num; //(UART_NUM_1/2) uart_port_t uart_num; //(UART_NUM_1/2)
} sabertooth2x60_config_t; } sabertooth2x60_config_t;
//controll via simplified serial
//=> set dip switches to 'simplified serial 9600 Baud' according to manual 101011
class sabertooth2x60a { class sabertooth2x60a {
public: public:
//--- constructor --- //--- constructor ---
sabertooth2x60a(sabertooth2x60_config_t config_f); //provide config struct (see above) sabertooth2x60a(sabertooth2x60_config_t config_f); //provide config struct (see above)
//--- functions --- //--- functions ---
//set motor speed with float value from -100 to 100 //set motor speed with float value from -100 to 100
void setLeft(float dutyPerSigned); void setLeft(float dutyPerSigned);