jonny_jr9 8463329c60 Update configs according to new pin assignment
current config of each board now matches pin assignment
2023-09-04 08:43:20 +02:00

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#include "config.hpp"
//===================================
//======= motor configuration =======
//===================================
//--- configure left motor (hardware) ---
single100a_config_t configDriverLeft = {
.gpio_pwm = GPIO_NUM_26,
.gpio_a = GPIO_NUM_6,
.gpio_b = GPIO_NUM_16,
.ledc_timer = LEDC_TIMER_0,
.ledc_channel = LEDC_CHANNEL_0,
.aEnabledPinState = false, //-> pins inverted (mosfets)
.bEnabledPinState = false,
.resolution = LEDC_TIMER_11_BIT,
.pwmFreq = 10000
};
//--- configure right motor (hardware) ---
single100a_config_t configDriverRight = {
.gpio_pwm = GPIO_NUM_27,
.gpio_a = GPIO_NUM_2,
.gpio_b = GPIO_NUM_15,
.ledc_timer = LEDC_TIMER_1,
.ledc_channel = LEDC_CHANNEL_1,
.aEnabledPinState = false, //-> pins inverted (mosfets)
.bEnabledPinState = false,
.resolution = LEDC_TIMER_11_BIT,
.pwmFreq = 10000
};
//TODO add motor name string -> then use as log tag?
//--- configure left motor (contol) ---
motorctl_config_t configMotorControlLeft = {
.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
.currentLimitEnabled = true,
.currentSensor_adc = ADC1_CHANNEL_0, //GPIO36
.currentSensor_ratedCurrent = 50,
.currentMax = 30,
.deadTimeMs = 900 //minimum time motor is off between direction change
};
//--- configure right motor (contol) ---
motorctl_config_t configMotorControlRight = {
.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
.currentLimitEnabled = true,
.currentSensor_adc = ADC1_CHANNEL_3, //GPIO39
.currentSensor_ratedCurrent = 50,
.currentMax = 30,
.deadTimeMs = 900 //minimum time motor is off between direction change
};
//============================
//=== configure fan contol ===
//============================
fan_config_t configCooling = {
.gpio_fan = GPIO_NUM_13,
.dutyThreshold = 40,
.minOnMs = 1500,
.minOffMs = 3000,
.turnOffDelayMs = 5000,
};
//=================================
//===== create global object s =====
//=================================
//TODO outsource global variables to e.g. global.cpp and only config options here?
//create controlled motor instances (motorctl.hpp)
controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
controlledMotor motorRight(configDriverRight, configMotorControlRight);
//create buzzer object on pin 12 with gap between queued events of 100ms
buzzer_t buzzer(GPIO_NUM_12, 100);