2abeefde07
very experimental needs testing/debugging, other control modes can currently be selected by editing the class definition in motorctl.hpp menu/config - add menu item to enable/disable traction control system main: pass ptr to other motor to motor object speedsensor: add method to get last update time motorctl: handle loop: - re-arrange some code sections - add several methods to get current status (needed from other motor for tcs) - add sketchy code for different control modes DUTY, CURRENT, SPEED (very basic implementation) - add experimental code for traction control
62 lines
2.0 KiB
C++
62 lines
2.0 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 "freertos/queue.h"
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#include "esp_timer.h"
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#include <driver/adc.h>
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}
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//=======================================
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//====== struct/type declarations ======
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//=======================================
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//global structs and types that need to be available for all boards
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//this file is necessary to prevent dependency loop between motordrivers.hpp and motorctl.hpp since
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//===============================
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//==== from motordrivers.hpp ====
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//===============================
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enum class motorstate_t {IDLE, FWD, REV, BRAKE};
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//definition of string array to be able to convert state enum to readable string (defined in motordrivers.cpp)
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extern const char* motorstateStr[4];
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enum class motorControlMode_t {DUTY, CURRENT, SPEED};
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//===========================
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//==== from motorctl.hpp ====
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//===========================
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//struct for sending command for one motor in the queue
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struct motorCommand_t {
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motorstate_t state;
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float duty;
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};
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//struct containing commands for two motors
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typedef struct motorCommands_t {
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motorCommand_t left;
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motorCommand_t right;
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} motorCommands_t;
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//struct with all config parameters for a motor regarding ramp and current limit
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typedef struct motorctl_config_t {
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char * name; //name for unique nvs storage-key prefix and logging
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uint32_t msFadeAccel; //acceleration of the motor (ms it takes from 0% to 100%)
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uint32_t msFadeDecel; //deceleration of the motor (ms it takes from 100% to 0%)
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bool currentLimitEnabled;
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bool tractionControlSystemEnabled;
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adc1_channel_t currentSensor_adc;
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float currentSensor_ratedCurrent;
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float currentMax;
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bool currentInverted;
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float currentSnapToZeroThreshold;
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uint32_t deadTimeMs; //time motor stays in IDLE before direction change
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} motorctl_config_t;
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//enum fade type (acceleration, deceleration)
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//e.g. used for specifying which fading should be modified with setFade, togleFade functions
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enum class fadeType_t {ACCEL, DECEL};
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