2fcf17feda
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for thatMajor Rework all files - Remove global variables, pass pointers to tasks
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for that
NOTES: - tested on breakoutboard only
- known issue that slow encoder events are not recognized
(especially in menu) - slowing down motorctl helps
107 lines
3.5 KiB
C++
107 lines
3.5 KiB
C++
#pragma once
|
|
|
|
extern "C"
|
|
{
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "freertos/queue.h"
|
|
#include "esp_log.h"
|
|
#include "esp_timer.h"
|
|
}
|
|
|
|
#include "motordrivers.hpp"
|
|
#include "currentsensor.hpp"
|
|
|
|
|
|
//=======================================
|
|
//====== struct/type declarations ======
|
|
//=======================================
|
|
//outsourced to common/types.hpp
|
|
#include "types.hpp"
|
|
|
|
typedef void (*motorSetCommandFunc_t)(motorCommand_t cmd);
|
|
|
|
|
|
//===================================
|
|
//====== controlledMotor class ======
|
|
//===================================
|
|
class controlledMotor {
|
|
public:
|
|
//--- functions ---
|
|
controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
|
|
void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task)
|
|
void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
|
|
motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
|
|
|
|
uint32_t getFade(fadeType_t fadeType); //get currently set acceleration or deceleration fading time
|
|
void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading
|
|
void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time
|
|
bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
|
|
|
|
float getCurrentA() {return cSensor.read();}; //read current-sensor of this motor (Ampere)
|
|
|
|
//TODO set current limit method
|
|
|
|
private:
|
|
//--- functions ---
|
|
void init(); //creates currentsensor objects, motordriver objects and queue
|
|
|
|
//--- objects ---
|
|
//queue for sending commands to the separate task running the handle() function very fast
|
|
QueueHandle_t commandQueue = NULL;
|
|
//current sensor
|
|
currentSensor cSensor;
|
|
|
|
//function pointer that sets motor duty (driver)
|
|
motorSetCommandFunc_t motorSetCommand;
|
|
|
|
//--- variables ---
|
|
//TODO add name for logging?
|
|
//struct for storing control specific parameters
|
|
motorctl_config_t config;
|
|
motorstate_t state = motorstate_t::IDLE;
|
|
|
|
float currentMax;
|
|
float currentNow;
|
|
|
|
float dutyTarget;
|
|
float dutyNow;
|
|
float dutyIncrementAccel;
|
|
float dutyIncrementDecel;
|
|
float dutyDelta;
|
|
|
|
uint32_t msFadeAccel;
|
|
uint32_t msFadeDecel;
|
|
|
|
uint32_t ramp;
|
|
int64_t timestampLastRunUs;
|
|
|
|
bool deadTimeWaiting = false;
|
|
uint32_t timestampsModeLastActive[4] = {};
|
|
motorstate_t statePrev = motorstate_t::FWD;
|
|
|
|
struct motorCommand_t commandReceive = {};
|
|
struct motorCommand_t commandSend = {};
|
|
|
|
uint32_t timestamp_commandReceived = 0;
|
|
bool receiveTimeout = false;
|
|
};
|
|
|
|
|
|
|
|
// struct with variables passed to task from main
|
|
typedef struct task_motorctl_parameters_t {
|
|
controlledMotor * motorLeft;
|
|
controlledMotor * motorRight;
|
|
} task_motorctl_parameters_t;
|
|
|
|
|
|
//====================================
|
|
//========== motorctl task ===========
|
|
//====================================
|
|
//task that inititialized the display, displays welcome message
|
|
//and releatedly updates the display with certain content
|
|
//note: pointer to required objects have to be provided as task-parameter
|
|
void task_motorctl( void * task_motorctl_parameters );
|
|
|