68 lines
1.9 KiB
C++
68 lines
1.9 KiB
C++
#include "config.hpp"
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//-----------------------------------
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//------- motor configuration -------
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//-----------------------------------
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//--- configure left motor ---
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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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.abInverted = true,
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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 ---
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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_18,
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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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.abInverted = 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 motor contol
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motorctl_config_t configMotorControl = {
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.msFade = 3000,
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.currentMax = 10
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};
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//create controlled motor instances
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controlledMotor motorLeft(configDriverLeft, configMotorControl);
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controlledMotor motorRight(configDriverRight, configMotorControl);
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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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//range around center-threshold of each axis the coordinates stays at 0 (adc value 0-4095)
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.tolerance_zero = 100,
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//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
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.tolerance_end = 80,
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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 = 0.05,
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//min and max adc values of each axis
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.x_min = 975,
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.x_max = 2520,
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.y_min = 1005,
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.y_max = 2550,
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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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//create global joystic instance
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evaluatedJoystick joystick(configJoystick);
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