0165a88f1f
decrease ramp from 3000ms to 900ms (as in old project) increase max duty from testing 60 to 94 Add reboot command (untested)
91 lines
2.6 KiB
C++
91 lines
2.6 KiB
C++
#include "config.hpp"
|
|
|
|
//-----------------------------------
|
|
//------- motor configuration -------
|
|
//-----------------------------------
|
|
//--- configure left motor ---
|
|
single100a_config_t configDriverLeft = {
|
|
.gpio_pwm = GPIO_NUM_26,
|
|
.gpio_a = GPIO_NUM_16,
|
|
.gpio_b = GPIO_NUM_4,
|
|
.ledc_timer = LEDC_TIMER_0,
|
|
.ledc_channel = LEDC_CHANNEL_0,
|
|
.abInverted = true,
|
|
.resolution = LEDC_TIMER_11_BIT,
|
|
.pwmFreq = 10000
|
|
};
|
|
|
|
//--- configure right motor ---
|
|
single100a_config_t configDriverRight = {
|
|
.gpio_pwm = GPIO_NUM_27,
|
|
.gpio_a = GPIO_NUM_18,
|
|
.gpio_b = GPIO_NUM_14,
|
|
.ledc_timer = LEDC_TIMER_1,
|
|
.ledc_channel = LEDC_CHANNEL_1,
|
|
.abInverted = false,
|
|
.resolution = LEDC_TIMER_11_BIT,
|
|
.pwmFreq = 10000
|
|
};
|
|
|
|
//configure motor contol
|
|
motorctl_config_t configMotorControl = {
|
|
.msFade = 900,
|
|
.currentMax = 10
|
|
};
|
|
|
|
//create controlled motor instances
|
|
controlledMotor motorLeft(configDriverLeft, configMotorControl);
|
|
controlledMotor motorRight(configDriverRight, configMotorControl);
|
|
|
|
|
|
|
|
|
|
//--------------------------------------
|
|
//------- joystick configuration -------
|
|
//--------------------------------------
|
|
joystick_config_t configJoystick = {
|
|
.adc_x = ADC1_CHANNEL_3, //GPIO39
|
|
.adc_y = ADC1_CHANNEL_0, //GPIO36
|
|
//range around center-threshold of each axis the coordinates stays at 0 (adc value 0-4095)
|
|
.tolerance_zero = 100,
|
|
//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
|
|
.tolerance_end = 80,
|
|
//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
|
|
.tolerance_radius = 0.05,
|
|
|
|
//min and max adc values of each axis
|
|
.x_min = 975,
|
|
.x_max = 2520,
|
|
.y_min = 1005,
|
|
.y_max = 2550,
|
|
//invert adc measurement
|
|
.x_inverted = true,
|
|
.y_inverted = true
|
|
};
|
|
|
|
//create global joystic instance
|
|
evaluatedJoystick joystick(configJoystick);
|
|
|
|
//create global evaluated switch instance for button next to joystick
|
|
gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_33, true, false); //pullup true, not inverted (switch to GND use pullup of controller)
|
|
|
|
//create buzzer object on pin 12 with gap between queued events of 100ms
|
|
buzzer_t buzzer(GPIO_NUM_12, 100);
|
|
|
|
//create global control object
|
|
controlledArmchair control(&buzzer, &motorLeft, &motorRight);
|
|
|
|
|
|
//configure fan contol
|
|
fan_config_t configFanLeft = {
|
|
.gpio_fan = GPIO_NUM_2,
|
|
.msRun = 5000,
|
|
.dutyThreshold = 35
|
|
};
|
|
fan_config_t configFanRight = {
|
|
.gpio_fan = GPIO_NUM_15,
|
|
.msRun = 5000,
|
|
.dutyThreshold = 35
|
|
};
|
|
|