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)
84 lines
2.4 KiB
C++
84 lines
2.4 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_log.h"
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#include "esp_timer.h"
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}
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#include "motordrivers.hpp"
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//-------------------------------------
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//-------- struct declarations -------
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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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uint32_t msFadeUp; //acceleration of the motor (ms it should take from 0% to 100%)
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uint32_t msFadeDown; //acceleration of the motor (ms it should take from 100% to 0%)
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float currentMax;
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} motorctl_config_t;
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class controlledMotor {
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public:
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//--- functions ---
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controlledMotor(single100a_config_t config_driver, motorctl_config_t config_control); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
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void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task)
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void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
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motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
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private:
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//--- functions ---
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void init(); //creates currentsensor objects, motordriver objects and queue
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//--- objects ---
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//TODO: add currentsensor object
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//motor driver
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single100a motor;
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//queue for sending commands to the separate task running the handle() function very fast
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QueueHandle_t commandQueue = NULL;
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//--- variables ---
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//struct for storing control specific parameters
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motorctl_config_t config;
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motorstate_t state = motorstate_t::IDLE;
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float currentMax;
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float currentNow;
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float dutyTarget;
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float dutyNow;
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float dutyIncrementUp;
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float dutyIncrementDown;
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float dutyDelta;
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uint32_t ramp;
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int64_t timestampLastRunUs;
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struct motorCommand_t commandReceive = {};
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struct motorCommand_t commandSend = {};
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};
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