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.
8 lines
159 B
C++
8 lines
159 B
C++
#pragma once
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#include "motordrivers.hpp"
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#include "motorctl.hpp"
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//create global controlledMotor instances for both motors
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extern controlledMotor motorLeft;
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