76e8bac113
- outsoruce common files and separate common types from source files (new common/types.hpp) - split source files to 2 board folders (relevant only, no duplicate) - currently boards compile successfull but not functional at all - comment out currently incompatible code
83 lines
2.6 KiB
C++
83 lines
2.6 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 (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_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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.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_14,
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.ledc_timer = LEDC_TIMER_1,
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.ledc_channel = LEDC_CHANNEL_1,
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.aEnabledPinState = false, //-> pin inverted (mosfet)
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.bEnabledPinState = true, //-> not inverted (direct)
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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 = true,
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.currentSensor_adc = ADC1_CHANNEL_6, //GPIO34
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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 = true,
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.currentSensor_adc = ADC1_CHANNEL_4, //GPIO32
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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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//create controlled motor instances (motorctl.hpp)
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controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
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controlledMotor motorRight(configDriverRight, 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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