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.
87 lines
2.2 KiB
C++
87 lines
2.2 KiB
C++
extern "C"
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{
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#include <stdio.h>
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#include <esp_system.h>
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#include <esp_event.h>
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#include <nvs_flash.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "sdkconfig.h"
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#include "driver/ledc.h"
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}
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#include "motordrivers.hpp"
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#include "motorctl.hpp"
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#include "config.hpp"
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//tag for logging
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static const char * TAG = "main";
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//====================================
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//========== motorctl task ===========
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//====================================
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//task for handling the motors (ramp, current limit, driver)
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void task_motorctl( void * pvParameters ){
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ESP_LOGI("motorctl-task", "starting handle loop...");
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while(1){
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motorLeft.handle();
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//10khz -> T=100us
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vTaskDelay(10 / portTICK_PERIOD_MS);
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}
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}
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//=================================
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//=========== app_main ============
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//=================================
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extern "C" void app_main(void) {
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//-------------------------------
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//---------- log level ----------
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//-------------------------------
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//set loglevel for all tags:
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esp_log_level_set("*", ESP_LOG_INFO);
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//set loglevel for individual tags:
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//esp_log_level_set("motordriver", ESP_LOG_DEBUG);
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esp_log_level_set("motor-control", ESP_LOG_DEBUG);
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//----------------------------------------------
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//--- create task for controlling the motors ---
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//----------------------------------------------
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xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 5, NULL);
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while(1){
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//--- testing the motor driver ---
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//fade up duty - forward
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// for (int duty=0; duty<=100; duty+=5) {
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// motorLeft.setTarget(motorstate_t::FWD, duty);
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// vTaskDelay(100 / portTICK_PERIOD_MS);
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// }
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//
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//--- testing controlledMotor --- (ramp)
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//brake for 1 s
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motorLeft.setTarget(motorstate_t::BRAKE);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//command 90% - reverse
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motorLeft.setTarget(motorstate_t::REV, 90);
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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//command 100% - forward
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motorLeft.setTarget(motorstate_t::FWD, 100);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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}
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}
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