b6fd16eb2a
Changes to outsourced motorctl code made configuration of currently unused board-motorctl from V2.1 incompatible -> patch config
98 lines
3.3 KiB
C++
98 lines
3.3 KiB
C++
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#include "config.hpp"
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//===================================
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//======= motor configuration =======
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//===================================
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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_4,
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.gpio_b = GPIO_NUM_16,
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.gpio_brakeRelay = GPIO_NUM_5, //power mosfet 2
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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_15,
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.gpio_brakeRelay = GPIO_NUM_18, //power mosfet 1
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.ledc_timer = LEDC_TIMER_1,
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.ledc_channel = LEDC_CHANNEL_1,
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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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//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 = 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 = false,
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.currentSensor_adc = ADC1_CHANNEL_0, //GPIO36
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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.deadTimeMs = 900 //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 = false,
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.currentSensor_adc = ADC1_CHANNEL_3, //GPIO39
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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.deadTimeMs = 900 //minimum time motor is off between direction change
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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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single100a motorDriverLeft(configDriverLeft);
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single100a motorDriverRight(configDriverRight);
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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 with non-automatic storage duration", since sabertoothDriver object does not get destroyed anywhere - no lifetime issue
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motorSetCommandFunc_t setLeftFunc = [&motorDriverLeft](motorCommand_t cmd) {
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motorDriverLeft.set(cmd);
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};
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motorSetCommandFunc_t setRightFunc = [&motorDriverRight](motorCommand_t cmd) {
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motorDriverRight.set(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 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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