a6de6c4c10
- add currentsensor class - add current limit to motorctl handle function - add config options for curring limit for each motor - update connection plan with more detailed driver-box overview
21 lines
511 B
C++
21 lines
511 B
C++
#include <driver/adc.h>
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//supported current sensor working method:
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//0V = -ratedCurrent
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//centerVoltage = 0A
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//3.3V = ratedCurrent
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class currentSensor{
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public:
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currentSensor (adc1_channel_t adcChannel_f, float ratedCurrent);
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void calibrateZeroAmpere(void); //set current voltage to voltage representing 0A
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float read(void); //get current ampere
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private:
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adc1_channel_t adcChannel;
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float ratedCurrent;
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uint32_t measure;
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float voltage;
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float current;
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float centerVoltage = 3.3/2;
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};
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