84bfe211ac
- Create class 'controlledMotor':
- handles 'fading / ramp' of the pwm duty
- handles current limit **not implemented yet**
- has .handle function that is intended to be run very fast in another task
commands are sent via queue
- Create config.hpp
- Globally available instance motorLeft of controlledMotor class
- Create config.cpp
- Configuration of motordriver and control parameters for motorLeft
- Add config.cpp and motorctl.cpp to cmakelists
- main.cpp:
- create 'task_motorctl' which repeatedly runs motorLeft.handle()
- modify testing code for testing the new class
- comments
The fading/ramp capability of the new class was tested successfully
using a breakoutboard with an led.
23 lines
502 B
C++
23 lines
502 B
C++
#include "config.hpp"
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//configure motor driver
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_14,
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.gpio_a = GPIO_NUM_12,
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.gpio_b = GPIO_NUM_13,
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.ledc_timer = LEDC_TIMER_0,
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.ledc_channel = LEDC_CHANNEL_0,
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.abInverted = true,
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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motorctl_config_t configControlLeft = {
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.msFade = 5000,
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.currentMax = 10
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};
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//create controlled motor
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controlledMotor motorLeft(configDriverLeft, configControlLeft);
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