175 lines
6.0 KiB
C++
175 lines
6.0 KiB
C++
#include "config.hpp"
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//===================================
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//======= motor configuration =======
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//===================================
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/* ==> currently using other driver
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//--- configure left motor (hardware) ---
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_26,
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.gpio_a = GPIO_NUM_16,
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.gpio_b = GPIO_NUM_4,
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.ledc_timer = LEDC_TIMER_0,
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.ledc_channel = LEDC_CHANNEL_0,
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.aEnabledPinState = false, //-> pins inverted (mosfets)
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.bEnabledPinState = false,
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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//--- configure right motor (hardware) ---
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single100a_config_t configDriverRight = {
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.gpio_pwm = GPIO_NUM_27,
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.gpio_a = GPIO_NUM_2,
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.gpio_b = GPIO_NUM_14,
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.ledc_timer = LEDC_TIMER_1,
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.ledc_channel = LEDC_CHANNEL_1,
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.aEnabledPinState = false, //-> pin inverted (mosfet)
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.bEnabledPinState = true, //-> not inverted (direct)
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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*/
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//--- configure sabertooth driver --- (controls both motors in one instance)
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sabertooth2x60_config_t sabertoothConfig = {
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.gpio_TX = GPIO_NUM_25,
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.uart_num = UART_NUM_2
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};
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//TODO add motor name string -> then use as log tag?
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//--- configure left motor (contol) ---
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motorctl_config_t configMotorControlLeft = {
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.msFadeAccel = 1800, //acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 2500, //deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_4, //GPIO32
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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.deadTimeMs = 300 //minimum time motor is off between direction change
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};
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//--- configure right motor (contol) ---
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motorctl_config_t configMotorControlRight = {
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.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = true,
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.currentSensor_adc = ADC1_CHANNEL_5, //GPIO33
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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.deadTimeMs = 300 //minimum time motor is off between direction change
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};
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//==============================
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//======= control config =======
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//==============================
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control_config_t configControl = {
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.defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
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//--- timeout ---
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.timeoutMs = 5*60*1000, //time of inactivity after which the mode gets switched to IDLE
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.timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive
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//--- http mode ---
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};
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//===============================
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//===== httpJoystick config =====
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//===============================
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httpJoystick_config_t configHttpJoystickMain{
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.toleranceZeroX_Per = 1, //percentage around joystick axis the coordinate snaps to 0
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.toleranceZeroY_Per = 6,
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.toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1
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.timeoutMs = 2500 //time no new data was received before the motors get turned off
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};
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//======================================
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//======= joystick configuration =======
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//======================================
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joystick_config_t configJoystick = {
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.adc_x = ADC1_CHANNEL_3, //GPIO39
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.adc_y = ADC1_CHANNEL_0, //GPIO36
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//percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
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.tolerance_zeroX_per = 7, //6
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.tolerance_zeroY_per = 10, //7
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//percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
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.tolerance_end_per = 4,
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//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
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.tolerance_radius = 0.09,
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//min and max adc values of each axis, !!!AFTER INVERSION!!! is applied:
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.x_min = 1392, //=> x=-1
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.x_max = 2650, //=> x=1
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.y_min = 1390, //=> y=-1
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.y_max = 2640, //=> y=1
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//invert adc measurement
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.x_inverted = true,
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.y_inverted = true
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};
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//============================
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//=== configure fan contol ===
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//============================
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fan_config_t configCooling = {
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.gpio_fan = GPIO_NUM_13,
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.dutyThreshold = 40,
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.minOnMs = 1500,
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.minOffMs = 3000,
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.turnOffDelayMs = 5000,
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};
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//=================================
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//===== create global objects =====
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//=================================
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//TODO outsource global variables to e.g. global.cpp and only config options here?
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//create sabertooth motor driver instance
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sabertooth2x60a sabertoothDriver(sabertoothConfig);
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//--- controlledMotor ---
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//functions for updating the duty via certain/current driver that can then be passed to controlledMotor
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//-> makes it possible to easily use different motor drivers
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//note: ignoring warning "capture of variable 'sabertoothDriver' with non-automatic storage duration", since sabertoothDriver object does not get destroyed anywhere - no lifetime issue
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motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd) {
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sabertoothDriver.setLeft(cmd);
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};
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motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd) {
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sabertoothDriver.setRight(cmd);
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};
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//create controlled motor instances (motorctl.hpp)
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controlledMotor motorLeft(setLeftFunc, configMotorControlLeft);
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controlledMotor motorRight(setRightFunc, configMotorControlRight);
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//create global joystic instance (joystick.hpp)
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evaluatedJoystick joystick(configJoystick);
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//create global evaluated switch instance for button next to joystick
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gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_21, true, false); //pullup true, not inverted (switch to GND use pullup of controller)
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//create buzzer object on pin 12 with gap between queued events of 100ms
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buzzer_t buzzer(GPIO_NUM_12, 100);
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//create global httpJoystick object (http.hpp)
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httpJoystick httpJoystickMain(configHttpJoystickMain);
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//create global control object (control.hpp)
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controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);
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//create global automatedArmchair object (for auto-mode) (auto.hpp)
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automatedArmchair armchair;
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