Create class sabertooth2x60a - new driver functional
currently repeatedly sends test commands from main using a created instance of that new class
This commit is contained in:
jonny_jr9
parent
a30ec01818
commit
98956e2bf8
@ -1,3 +1,6 @@
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#include "hal/uart_types.h"
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#include "motordrivers.hpp"
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#include "types.hpp"
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extern "C"
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{
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#include <stdio.h>
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@ -161,37 +164,31 @@ 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 SAVERTOOTH driver:
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//init uart:
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ESP_LOGW(TAG, "initializing uart1...");
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uart_config_t uart1_config = {
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.baud_rate = 38400,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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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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ESP_LOGI(TAG, "configure...");
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ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config));
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ESP_LOGI(TAG, "setpins...");
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ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0));
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ESP_LOGI(TAG, "init...");
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ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0));
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bool uart_isInitialized = true;
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//between 1 and 127 will control motor 1. 1 is full reverse, 64 is stop and 127 is full forward.
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//between 128 and 255 will control motor 2. 128 is full reverse, 192 is stop and 255 is full forward.
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//Character 0 (hex 0x00) shut down both motors.
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//create instance
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sabertooth2x60a motors(sabertoothConfig);
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//run test commands
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while(1){
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sendByte(0);
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motors.setLeft({motorstate_t::FWD, 70});
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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sendByte(10);
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vTaskDelay(2000 / portTICK_PERIOD_MS);
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sendByte(64);
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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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sendByte(120);
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vTaskDelay(2000 / portTICK_PERIOD_MS);
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}
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// //enable 5V volate regulator
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@ -25,8 +25,8 @@ static const char * TAG = "motordriver";
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//-----------------------------
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//copy provided struct with all configuration and run init function
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single100a::single100a(single100a_config_t config_f){
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config = config_f;
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init();
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config = config_f;
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init();
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}
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@ -37,41 +37,41 @@ single100a::single100a(single100a_config_t config_f){
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//function to initialize pwm output, gpio pins and calculate maxDuty
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void single100a::init(){
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//--- configure ledc timer ---
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ledc_timer_config_t ledc_timer;
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ledc_timer.speed_mode = LEDC_HIGH_SPEED_MODE;
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ledc_timer.timer_num = config.ledc_timer;
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ledc_timer.duty_resolution = config.resolution; //13bit gives max 5khz freq
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ledc_timer.freq_hz = config.pwmFreq;
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ledc_timer.clk_cfg = LEDC_AUTO_CLK;
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//apply configuration
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ledc_timer_config(&ledc_timer);
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//--- configure ledc timer ---
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ledc_timer_config_t ledc_timer;
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ledc_timer.speed_mode = LEDC_HIGH_SPEED_MODE;
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ledc_timer.timer_num = config.ledc_timer;
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ledc_timer.duty_resolution = config.resolution; //13bit gives max 5khz freq
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ledc_timer.freq_hz = config.pwmFreq;
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ledc_timer.clk_cfg = LEDC_AUTO_CLK;
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//apply configuration
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ledc_timer_config(&ledc_timer);
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//--- configure ledc channel ---
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ledc_channel_config_t ledc_channel;
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ledc_channel.channel = config.ledc_channel;
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ledc_channel.duty = 0;
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ledc_channel.gpio_num = config.gpio_pwm;
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ledc_channel.speed_mode = LEDC_HIGH_SPEED_MODE;
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ledc_channel.hpoint = 0;
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ledc_channel.timer_sel = config.ledc_timer;
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ledc_channel.intr_type = LEDC_INTR_DISABLE;
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ledc_channel.flags.output_invert = 0; //TODO: add config option to invert the pwm output?
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//apply configuration
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ledc_channel_config(&ledc_channel);
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//--- configure ledc channel ---
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ledc_channel_config_t ledc_channel;
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ledc_channel.channel = config.ledc_channel;
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ledc_channel.duty = 0;
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ledc_channel.gpio_num = config.gpio_pwm;
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ledc_channel.speed_mode = LEDC_HIGH_SPEED_MODE;
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ledc_channel.hpoint = 0;
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ledc_channel.timer_sel = config.ledc_timer;
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ledc_channel.intr_type = LEDC_INTR_DISABLE;
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ledc_channel.flags.output_invert = 0; //TODO: add config option to invert the pwm output?
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//apply configuration
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ledc_channel_config(&ledc_channel);
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//--- define gpio pins as outputs ---
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gpio_pad_select_gpio(config.gpio_a);
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gpio_set_direction(config.gpio_a, GPIO_MODE_OUTPUT);
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gpio_pad_select_gpio(config.gpio_b);
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gpio_set_direction(config.gpio_b, GPIO_MODE_OUTPUT);
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gpio_pad_select_gpio(config.gpio_brakeRelay);
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gpio_set_direction(config.gpio_brakeRelay, GPIO_MODE_OUTPUT);
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//--- define gpio pins as outputs ---
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gpio_pad_select_gpio(config.gpio_a);
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gpio_set_direction(config.gpio_a, GPIO_MODE_OUTPUT);
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gpio_pad_select_gpio(config.gpio_b);
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gpio_set_direction(config.gpio_b, GPIO_MODE_OUTPUT);
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gpio_pad_select_gpio(config.gpio_brakeRelay);
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gpio_set_direction(config.gpio_brakeRelay, GPIO_MODE_OUTPUT);
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//--- calculate max duty according to selected resolution ---
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dutyMax = pow(2, ledc_timer.duty_resolution) -1;
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ESP_LOGW(TAG, "initialized single100a driver");
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ESP_LOGW(TAG, "resolution=%dbit, dutyMax value=%d, resolution=%.4f %%", ledc_timer.duty_resolution, dutyMax, 100/(float)dutyMax);
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//--- calculate max duty according to selected resolution ---
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dutyMax = pow(2, ledc_timer.duty_resolution) -1;
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ESP_LOGW(TAG, "initialized single100a driver");
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ESP_LOGW(TAG, "resolution=%dbit, dutyMax value=%d, resolution=%.4f %%", ledc_timer.duty_resolution, dutyMax, 100/(float)dutyMax);
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}
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@ -82,19 +82,19 @@ void single100a::init(){
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//function to put the h-bridge module in the desired state and duty cycle
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void single100a::set(motorstate_t state_f, float duty_f){
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//scale provided target duty in percent to available resolution for ledc
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uint32_t dutyScaled;
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if (duty_f > 100) { //target duty above 100%
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dutyScaled = dutyMax;
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} else if (duty_f < 0) { //target at or below 0%
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//scale provided target duty in percent to available resolution for ledc
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uint32_t dutyScaled;
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if (duty_f > 100) { //target duty above 100%
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dutyScaled = dutyMax;
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} else if (duty_f < 0) { //target at or below 0%
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state_f = motorstate_t::IDLE;
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dutyScaled = 0;
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} else { //target duty 0-100%
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//scale duty to available resolution
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dutyScaled = duty_f / 100 * dutyMax;
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}
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dutyScaled = 0;
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} else { //target duty 0-100%
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//scale duty to available resolution
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dutyScaled = duty_f / 100 * dutyMax;
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}
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ESP_LOGV(TAG, "target-state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f);
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ESP_LOGV(TAG, "target-state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f);
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//TODO: only when previous mode was BRAKE?
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if (state_f != motorstate_t::BRAKE){
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@ -104,19 +104,19 @@ void single100a::set(motorstate_t state_f, float duty_f){
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gpio_set_level(config.gpio_brakeRelay, 0);
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}
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//put the single100a h-bridge module in the desired state update duty-cycle
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//put the single100a h-bridge module in the desired state update duty-cycle
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//TODO maybe outsource mode code from once switch case? e.g. idle() brake()...
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switch (state_f){
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case motorstate_t::IDLE:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//TODO: to fix bugged state of h-bridge module when idle and start again, maybe try to leave pwm signal on for some time before updating a/b pins?
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//no brake: (freewheel)
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//gpio_set_level(config.gpio_a, config.aEnabledPinState);
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//gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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break;
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switch (state_f){
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case motorstate_t::IDLE:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//TODO: to fix bugged state of h-bridge module when idle and start again, maybe try to leave pwm signal on for some time before updating a/b pins?
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//no brake: (freewheel)
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//gpio_set_level(config.gpio_a, config.aEnabledPinState);
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//gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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break;
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case motorstate_t::BRAKE:
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//prevent full short (no brake resistors) due to slow relay, also reduces switching load
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@ -148,20 +148,168 @@ void single100a::set(motorstate_t state_f, float duty_f){
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}
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break;
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case motorstate_t::FWD:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//forward:
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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break;
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case motorstate_t::FWD:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//forward:
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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break;
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case motorstate_t::REV:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//reverse:
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gpio_set_level(config.gpio_a, !config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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break;
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}
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case motorstate_t::REV:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//reverse:
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gpio_set_level(config.gpio_a, !config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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break;
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}
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}
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//==========================================
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//===== sabertooth 2x60A motor driver ======
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//==========================================
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//-----------------------------
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//-------- constructor --------
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//-----------------------------
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sabertooth2x60a::sabertooth2x60a(sabertooth2x60_config_t config_f){
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config = config_f;
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init();
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}
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//----------------------------
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//----------- init -----------
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//----------------------------
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void sabertooth2x60a::init(){
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ESP_LOGW(TAG, "initializing uart...");
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uart_config_t uart_config = {
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.baud_rate = 38400,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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};
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ESP_LOGI(TAG, "configure...");
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ESP_ERROR_CHECK(uart_param_config(config.uart_num, &uart_config));
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ESP_LOGI(TAG, "setpins...");
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ESP_ERROR_CHECK(uart_set_pin(config.uart_num, config.gpio_TX, GPIO_NUM_NC, 0, 0));
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ESP_LOGI(TAG, "init...");
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ESP_ERROR_CHECK(uart_driver_install(config.uart_num, 1024, 1024, 10, NULL, 0)); //todo ring buffer less / 0
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uart_isInitialized = true;
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}
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//---------- motorCommand to signedDuty ----------
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float motorCommandToSignedDuty(motorCommand_t cmd){
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//if (cmd.duty > 100) cmd.duty = 100;
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//else if (cmd.duty < 0) cmd.duty = 0;
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float duty = 0;
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switch (cmd.state){
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case motorstate_t::FWD:
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duty = cmd.duty;
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break;
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case motorstate_t::REV:
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duty = - cmd.duty;
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break;
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case motorstate_t::IDLE:
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case motorstate_t::BRAKE:
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duty = 0;
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break;
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}
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return duty;
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}
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//-------- send byte --------
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//send byte via uart to sabertooth driver
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void sabertooth2x60a::sendByte(char data){
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if (!uart_isInitialized){
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ESP_LOGE(TAG, "uart not initialized, not sending command %d...", data);
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return;
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}
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uart_write_bytes(config.uart_num, &data, 1);
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ESP_LOGI(TAG, "sent data=%d to sabertooth driver via uart", data);
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}
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//---------------------------
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//--------- setLeft ---------
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//---------------------------
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//between 1 and 127 will control motor 1. 1 is full reverse, 64 is stop and 127 is full forward.
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//Character 0 (hex 0x00) shut down both motors.
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void sabertooth2x60a::setLeft(float dutyPerSigned){
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uint8_t data = 0;
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if (dutyPerSigned <= -100.0) {
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//full reverse for motor 1
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data = 1;
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} else if (dutyPerSigned >= 100) {
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//full forward
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data = 127;
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} else if (dutyPerSigned == 0.0) {
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// Stop motor 1
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data = 64;
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} else if (dutyPerSigned < 0.0) {
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//scale negative values between -100 and 0 to 1-63
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data = static_cast<int>(64 - (- dutyPerSigned / 100.0) * 63);
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} else if (dutyPerSigned <= 100.0) {
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//scale positive values between 0 and 100 to control motor 1
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data = static_cast<int>(64 + (dutyPerSigned / 100.0) * 63);
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}
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ESP_LOGI(TAG, "set left motor to duty=%.2f, (data=%d)", dutyPerSigned, data);
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sendByte(data);
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}
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//----------------------------
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//--------- setRight ---------
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//----------------------------
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//between 128 and 255 will control motor 2. 128 is full reverse, 192 is stop and 255 is full forward.
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//Character 0 (hex 0x00) shut down both motors.
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void sabertooth2x60a::setRight(float dutyPerSigned) {
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uint8_t data = 0;
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if (dutyPerSigned <= -100.0) {
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// Full reverse for motor 2
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data = 128;
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} else if (dutyPerSigned >= 100.0) {
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// Full forward for motor 2
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data = 255;
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} else if (dutyPerSigned == 0.0) {
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// Stop motor 2
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data = 192; // Assuming 192 represents the stop value for motor 2
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} else if (dutyPerSigned < 0.0) {
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// Scale negative values between -100 and 0 to control motor 2
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data = static_cast<uint8_t>(192 - (-dutyPerSigned / 100.0) * 64);
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} else if (dutyPerSigned <= 100.0) {
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// Scale positive values between 0 and 100 to control motor 2
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data = static_cast<uint8_t>(192 + (dutyPerSigned / 100.0) * 63);
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}
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ESP_LOGW(TAG, "set right motor to duty=%.2f, (data=%d)", dutyPerSigned, data);
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sendByte(data);
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}
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//-------------------------
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//--- setLeft, setRight ---
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//-------------------------
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//using motorCommand_t struct
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void sabertooth2x60a::setLeft(motorCommand_t motorCommand_f){
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float dutyTarget = motorCommandToSignedDuty(motorCommand_f);
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setLeft(dutyTarget);
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}
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void sabertooth2x60a::setRight(motorCommand_t motorCommand_f){
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float dutyTarget = motorCommandToSignedDuty(motorCommand_f);
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setRight(dutyTarget);
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}
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@ -9,6 +9,7 @@ extern "C"
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#include "driver/ledc.h"
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#include "esp_err.h"
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#include "driver/uart.h"
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}
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#include <cmath>
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@ -26,16 +27,16 @@ extern "C"
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//struct with all config parameters for single100a motor driver
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typedef struct single100a_config_t {
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gpio_num_t gpio_pwm;
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gpio_num_t gpio_a;
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||||
gpio_num_t gpio_b;
|
||||
gpio_num_t gpio_pwm;
|
||||
gpio_num_t gpio_a;
|
||||
gpio_num_t gpio_b;
|
||||
gpio_num_t gpio_brakeRelay;
|
||||
ledc_timer_t ledc_timer;
|
||||
ledc_channel_t ledc_channel;
|
||||
ledc_timer_t ledc_timer;
|
||||
ledc_channel_t ledc_channel;
|
||||
bool aEnabledPinState;
|
||||
bool bEnabledPinState;
|
||||
ledc_timer_bit_t resolution;
|
||||
int pwmFreq;
|
||||
ledc_timer_bit_t resolution;
|
||||
int pwmFreq;
|
||||
} single100a_config_t;
|
||||
|
||||
|
||||
@ -44,58 +45,94 @@ typedef struct single100a_config_t {
|
||||
//------- single100a class -------
|
||||
//--------------------------------
|
||||
class single100a {
|
||||
public:
|
||||
//--- constructor ---
|
||||
single100a(single100a_config_t config_f); //provide config struct (see above)
|
||||
public:
|
||||
//--- constructor ---
|
||||
single100a(single100a_config_t config_f); //provide config struct (see above)
|
||||
|
||||
//--- functions ---
|
||||
void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above)
|
||||
//TODO: add functions to get the current state and duty
|
||||
//--- functions ---
|
||||
void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above)
|
||||
//TODO: add functions to get the current state and duty
|
||||
|
||||
private:
|
||||
//--- functions ---
|
||||
void init(); //initialize pwm and gpio outputs, calculate maxDuty
|
||||
private:
|
||||
//--- functions ---
|
||||
void init(); //initialize pwm and gpio outputs, calculate maxDuty
|
||||
|
||||
//--- variables ---
|
||||
single100a_config_t config;
|
||||
uint32_t dutyMax;
|
||||
motorstate_t state = motorstate_t::IDLE;
|
||||
//--- variables ---
|
||||
single100a_config_t config;
|
||||
uint32_t dutyMax;
|
||||
motorstate_t state = motorstate_t::IDLE;
|
||||
bool brakeWaitingForRelay = false;
|
||||
uint32_t timestamp_brakeRelayPowered;
|
||||
};
|
||||
|
||||
|
||||
////struct with all config parameters for single100a motor driver
|
||||
//typedef struct sabertooth2x60_config_t {
|
||||
// gpio_num_t gpio_TX;
|
||||
// ledc_timer_t ledc_timer;
|
||||
// ledc_channel_t ledc_channel;
|
||||
// bool aEnabledPinState;
|
||||
// bool bEnabledPinState;
|
||||
// ledc_timer_bit_t resolution;
|
||||
// int pwmFreq;
|
||||
//} single100a_config_t;
|
||||
//
|
||||
////=================================
|
||||
////======= sabertooth 2x60a ========
|
||||
////=================================
|
||||
//class single100a {
|
||||
// public:
|
||||
// //--- constructor ---
|
||||
// single100a(single100a_config_t config_f); //provide config struct (see above)
|
||||
//
|
||||
// //--- functions ---
|
||||
// void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above)
|
||||
// //TODO: add functions to get the current state and duty
|
||||
//
|
||||
// private:
|
||||
// //--- functions ---
|
||||
// void init(); //initialize pwm and gpio outputs, calculate maxDuty
|
||||
//
|
||||
// //--- variables ---
|
||||
// single100a_config_t config;
|
||||
// uint32_t dutyMax;
|
||||
// motorstate_t state = motorstate_t::IDLE;
|
||||
// bool brakeWaitingForRelay = false;
|
||||
// uint32_t timestamp_brakeRelayPowered;
|
||||
//};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//==========================================
|
||||
//===== sabertooth 2x60A motor driver ======
|
||||
//==========================================
|
||||
|
||||
//struct with all config parameters for single100a motor driver
|
||||
typedef struct {
|
||||
gpio_num_t gpio_TX;
|
||||
uart_port_t uart_num; //(UART_NUM_1/2)
|
||||
} sabertooth2x60_config_t;
|
||||
|
||||
|
||||
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);
|
||||
void setRight(float dutyPerSigned);
|
||||
//set mode and duty of the motor (see motorstate_t above)
|
||||
void setLeft(motorCommand_t command);
|
||||
void setRight(motorCommand_t command);
|
||||
//TODO: add functions to get the current state and duty
|
||||
|
||||
private:
|
||||
//--- functions ---
|
||||
void sendByte(char data);
|
||||
void init(); //initialize uart
|
||||
|
||||
//--- variables ---
|
||||
sabertooth2x60_config_t config;
|
||||
uint32_t dutyMax;
|
||||
motorstate_t state = motorstate_t::IDLE;
|
||||
bool uart_isInitialized = false;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
// //wrap motor drivers in a common class
|
||||
// //-> different drivers can be used easily without changing code in motorctl etc
|
||||
// //TODO add UART as driver?
|
||||
// enum driverType_t {SINGLE100A, SABERTOOTH};
|
||||
//
|
||||
// template <typename driverType> class motors_t {
|
||||
// public:
|
||||
// motors_t (single100a_config_t config_left, single100a_config_t config_right);
|
||||
// motors_t (sabertooth2x60_config_t);
|
||||
//
|
||||
// setLeft(motorstate_t state);
|
||||
// setRight(motorstate_t state);
|
||||
// set(motorCommands_t);
|
||||
// private:
|
||||
// enum driverType_t driverType;
|
||||
// sabertooth2x60_config_t config_saber;
|
||||
// single100a_config_t config_single;
|
||||
// }
|
||||
//
|
||||
//
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user