436c528eaf
With this changes the motors are faded down (same as already existing fading up) when the target duty suddenly decreases. It can be configured or disabled with setting msFadeDown to 0 in config struct of motorctl object. - Add new config parameter msFadeDown - Change msFade to msFadeDown - Add fade down functionality to motorctl instead of just setting the duty to lower value !!!TODO: fix major BUG when motor direction changes suddenly (before fade got to 0) the motor immediately starts in other direction with previous duty (no/less fading up happening)
131 lines
3.9 KiB
C++
131 lines
3.9 KiB
C++
#include "config.hpp"
|
|
|
|
//-----------------------------------
|
|
//------- motor configuration -------
|
|
//-----------------------------------
|
|
//--- configure left motor ---
|
|
single100a_config_t configDriverLeft = {
|
|
.gpio_pwm = GPIO_NUM_26,
|
|
.gpio_a = GPIO_NUM_16,
|
|
.gpio_b = GPIO_NUM_4,
|
|
.ledc_timer = LEDC_TIMER_0,
|
|
.ledc_channel = LEDC_CHANNEL_0,
|
|
.abInverted = true,
|
|
.resolution = LEDC_TIMER_11_BIT,
|
|
.pwmFreq = 10000
|
|
};
|
|
|
|
//--- configure right motor ---
|
|
single100a_config_t configDriverRight = {
|
|
.gpio_pwm = GPIO_NUM_27,
|
|
.gpio_a = GPIO_NUM_18,
|
|
.gpio_b = GPIO_NUM_14,
|
|
.ledc_timer = LEDC_TIMER_1,
|
|
.ledc_channel = LEDC_CHANNEL_1,
|
|
.abInverted = false,
|
|
.resolution = LEDC_TIMER_11_BIT,
|
|
.pwmFreq = 10000
|
|
};
|
|
|
|
//--- configure motor contol ---
|
|
motorctl_config_t configMotorControl = {
|
|
.msFadeUp = 1500,
|
|
.msFadeDown = 3000,
|
|
.currentMax = 10
|
|
};
|
|
|
|
//create controlled motor instances
|
|
controlledMotor motorLeft(configDriverLeft, configMotorControl);
|
|
controlledMotor motorRight(configDriverRight, configMotorControl);
|
|
|
|
|
|
|
|
//------------------------------
|
|
//------- control config -------
|
|
//------------------------------
|
|
control_config_t configControl = {
|
|
.defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
|
|
//--- timeout ---
|
|
.timeoutMs = 5*60*1000, //time of inactivity after which the mode gets switched to IDLE
|
|
.timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive
|
|
//--- http mode ---
|
|
|
|
};
|
|
|
|
|
|
|
|
//-------------------------------
|
|
//----- httpJoystick config -----
|
|
//-------------------------------
|
|
httpJoystick_config_t configHttpJoystickMain{
|
|
.toleranceZeroX_Per = 1, //percentage around joystick axis the coordinate snaps to 0
|
|
.toleranceZeroY_Per = 6,
|
|
.toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1
|
|
.timeoutMs = 2500 //time no new data was received before the motors get turned off
|
|
};
|
|
|
|
|
|
|
|
//--------------------------------------
|
|
//------- joystick configuration -------
|
|
//--------------------------------------
|
|
joystick_config_t configJoystick = {
|
|
.adc_x = ADC1_CHANNEL_3, //GPIO39
|
|
.adc_y = ADC1_CHANNEL_0, //GPIO36
|
|
//percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
|
|
.tolerance_zeroX_per = 3,
|
|
.tolerance_zeroY_per = 7,
|
|
//percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
|
|
.tolerance_end_per = 5,
|
|
//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
|
|
.tolerance_radius = 0.05,
|
|
|
|
//min and max adc values of each axis
|
|
.x_min = 975,
|
|
.x_max = 2520,
|
|
.y_min = 1005,
|
|
.y_max = 2550,
|
|
//invert adc measurement
|
|
.x_inverted = true,
|
|
.y_inverted = true
|
|
};
|
|
|
|
|
|
|
|
//----------------------------
|
|
//--- configure fan contol ---
|
|
//----------------------------
|
|
fan_config_t configFanLeft = {
|
|
.gpio_fan = GPIO_NUM_2,
|
|
.msRun = 5000,
|
|
.dutyThreshold = 35
|
|
};
|
|
fan_config_t configFanRight = {
|
|
.gpio_fan = GPIO_NUM_15,
|
|
.msRun = 5000,
|
|
.dutyThreshold = 35
|
|
};
|
|
|
|
|
|
|
|
//=================================
|
|
//===== create global objects =====
|
|
//=================================
|
|
//create global joystic instance
|
|
evaluatedJoystick joystick(configJoystick);
|
|
|
|
//create global evaluated switch instance for button next to joystick
|
|
gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_33, true, false); //pullup true, not inverted (switch to GND use pullup of controller)
|
|
|
|
//create buzzer object on pin 12 with gap between queued events of 100ms
|
|
buzzer_t buzzer(GPIO_NUM_12, 100);
|
|
|
|
//create global httpJoystick object
|
|
httpJoystick httpJoystickMain(configHttpJoystickMain);
|
|
|
|
//create global control object
|
|
controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);
|
|
|
|
|
|
|