j/armchair_fw
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Create class sabertooth2x60a - new driver functional

Browse Source 
currently repeatedly sends test commands from main using a created
instance of that new class
This commit is contained in:
jonny_jr9
2023-09-07 16:37:14 +02:00
parent a30ec01818
commit 98956e2bf8
3 changed files with 334 additions and 152 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
board_single/main/main.cpp
View File

@@ -1,3 +1,6 @@
#include "hal/uart_types.h"
#include "motordrivers.hpp"
#include "types.hpp"
extern "C"
{
#include <stdio.h>
@@ -161,37 +164,31 @@ void sendByte(char data){
//=========== app_main ============
//=================================
extern "C" void app_main(void) {
//TEST SAVERTOOTH driver:
//init uart:
ESP_LOGW(TAG, "initializing uart1...");
uart_config_t uart1_config = {
.baud_rate = 38400,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
//TEST SABERTOOTH driver:
//config
sabertooth2x60_config_t sabertoothConfig = {
.gpio_TX = GPIO_NUM_23,
.uart_num = UART_NUM_2
};
ESP_LOGI(TAG, "configure...");
ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config));
ESP_LOGI(TAG, "setpins...");
ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0));
ESP_LOGI(TAG, "init...");
ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0));
bool uart_isInitialized = true;
//between 1 and 127 will control motor 1. 1 is full reverse, 64 is stop and 127 is full forward.
//between 128 and 255 will control motor 2. 128 is full reverse, 192 is stop and 255 is full forward.
//Character 0 (hex 0x00) shut down both motors.
//create instance
sabertooth2x60a motors(sabertoothConfig);
//run test commands
while(1){
sendByte(0);
motors.setLeft({motorstate_t::FWD, 70});
vTaskDelay(1000 / portTICK_PERIOD_MS);
sendByte(10);
vTaskDelay(2000 / portTICK_PERIOD_MS);
sendByte(64);
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);
sendByte(120);
vTaskDelay(2000 / portTICK_PERIOD_MS);
}
// //enable 5V volate regulator