0037f4a836
Bug was fixed in previous commit already Only changed code slightly (better readable) work with duty instead of data Optimize comments in motordriver
153 lines
3.8 KiB
C++
153 lines
3.8 KiB
C++
#pragma once
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extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/gpio.h"
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#include "esp_log.h"
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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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#include "freertos/semphr.h"
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}
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#include <cmath>
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#include "types.hpp"
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//-------------------------------
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//----- CommandToSignedDuty -----
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//-------------------------------
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//convert motor command (FWD/REV/INDLE, duty) to value from -100 to 100
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float motorCommandToSignedDuty(motorCommand_t cmd);
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//====================================
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//===== single100a motor driver ======
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//====================================
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//--------------------------------------------
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//---- struct, enum, variable declarations ---
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//--------------------------------------------
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//motorstate_t, motorstateStr outsourced to common/types.hpp
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#include "types.hpp"
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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;
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gpio_num_t gpio_brakeRelay;
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ledc_timer_t ledc_timer;
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ledc_channel_t ledc_channel;
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bool aEnabledPinState;
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bool bEnabledPinState;
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ledc_timer_bit_t resolution;
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int pwmFreq;
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} single100a_config_t;
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//--------------------------------
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//------- single100a class -------
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//--------------------------------
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class single100a {
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public:
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//--- constructor ---
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single100a(single100a_config_t config_f); //provide config struct (see above)
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//--- functions ---
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void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above)
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void set(motorCommand_t cmd);
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//TODO: add functions to get the current state and duty
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private:
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//--- functions ---
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void init(); //initialize pwm and gpio outputs, calculate maxDuty
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//--- variables ---
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single100a_config_t config;
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uint32_t dutyMax;
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motorstate_t state = motorstate_t::IDLE;
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bool brakeWaitingForRelay = false;
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uint32_t timestamp_brakeRelayPowered;
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};
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//==========================================
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//===== sabertooth 2x60A motor driver ======
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//==========================================
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//struct with all config parameters for sabertooth2x60a driver
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typedef struct {
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gpio_num_t gpio_TX;
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uart_port_t uart_num; //(UART_NUM_1/2)
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} sabertooth2x60_config_t;
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//controll via simplified serial
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//=> set dip switches to 'simplified serial 9600 Baud' according to manual 101011
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class sabertooth2x60a {
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public:
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//--- constructor ---
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sabertooth2x60a(sabertooth2x60_config_t config_f); //provide config struct (see above)
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//--- functions ---
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//set motor speed with float value from -100 to 100
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void setLeft(float dutyPerSigned);
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void setRight(float dutyPerSigned);
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//set mode and duty of the motor (see motorstate_t above)
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void setLeft(motorCommand_t command);
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void setRight(motorCommand_t command);
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//TODO: add functions to get the current state and duty
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private:
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//--- functions ---
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void sendByte(char data);
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void init(); //initialize uart
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//--- variables ---
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sabertooth2x60_config_t config;
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uint32_t dutyMax;
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motorstate_t state = motorstate_t::IDLE;
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bool uart_isInitialized = false;
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SemaphoreHandle_t uart_mutex;
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float dutyLeft = 0;
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float dutyRight = 0;
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};
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// //wrap motor drivers in a common class
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// //-> different drivers can be used easily without changing code in motorctl etc
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// //TODO add UART as driver?
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// enum driverType_t {SINGLE100A, SABERTOOTH};
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//
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// template <typename driverType> class motors_t {
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// public:
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// motors_t (single100a_config_t config_left, single100a_config_t config_right);
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// motors_t (sabertooth2x60_config_t);
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//
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// setLeft(motorstate_t state);
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// setRight(motorstate_t state);
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// set(motorCommands_t);
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// private:
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// enum driverType_t driverType;
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// sabertooth2x60_config_t config_saber;
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// single100a_config_t config_single;
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// }
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//
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//
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