With this changes the motors are faded down (same as already existing fading up)
when the target duty suddenly decreases.
It can be configured or disabled with setting msFadeDown to 0 in config struct of
motorctl object.
- Add new config parameter msFadeDown
- Change msFade to msFadeDown
- Add fade down functionality to motorctl instead of just setting the
duty to lower value
!!!TODO: fix major BUG when motor direction changes suddenly (before fade got to
0) the motor immediately starts in other direction with previous duty
(no/less fading up happening)
- Add class for controlling fans for cooling the motor drivers
- Add configuration for left and right fan to config.cpp
- Create fan task in main.cpp
- Add getStatus function to controlledMotor class
- add new function to joystick.hpp/cpp
- reads data from joystick and generates commands for driving in
"joystick" mode
- returns struct with commands for both motors
- main.cpp
- add code for testing the new function
- enable 5v regulator (needed for pullups AB left motor)
- add newly created motorRight to handle function
- add new struct with two motorcommands to motorctl.hpp
- Create class 'controlledMotor':
- handles 'fading / ramp' of the pwm duty
- handles current limit **not implemented yet**
- has .handle function that is intended to be run very fast in another task
commands are sent via queue
- Create config.hpp
- Globally available instance motorLeft of controlledMotor class
- Create config.cpp
- Configuration of motordriver and control parameters for motorLeft
- Add config.cpp and motorctl.cpp to cmakelists
- main.cpp:
- create 'task_motorctl' which repeatedly runs motorLeft.handle()
- modify testing code for testing the new class
- comments
The fading/ramp capability of the new class was tested successfully
using a breakoutboard with an led.
