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.
98 lines
3.5 KiB
C++
98 lines
3.5 KiB
C++
#include "motorctl.hpp"
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//tag for logging
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static const char * TAG = "motor-control";
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//=============================
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//======== constructor ========
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//=============================
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//constructor, simultaniously initialize instance of motor driver 'motor' with provided config (see below line after ':')
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controlledMotor::controlledMotor(single100a_config_t config_driver, motorctl_config_t config_control): motor(config_driver) {
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//copy parameters for controlling the motor
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config = config_control;
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init();
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//TODO: add currentsensor object here
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}
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//============================
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//========== init ============
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//============================
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void controlledMotor::init(){
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commandQueue = xQueueCreate( 1, sizeof( struct motorCommand_t ) );
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}
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//==============================
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//=========== handle ===========
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//==============================
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//function that controls the motor driver and handles fading/ramp and current limit
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void controlledMotor::handle(){
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//TODO: current sensor
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//TODO: delay when switching direction?
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//TODO: History: skip fading when motor was running fast recently
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//--- receive commands from queue ---
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if( xQueueReceive( commandQueue, &commandReceive, ( TickType_t ) 0 ) )
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{
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ESP_LOGD(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
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state = commandReceive.state;
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dutyTarget = commandReceive.duty;
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}
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//--- calculate increment ---
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//calculate increment with passed time since last run and configured fade time
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int64_t usPassed = esp_timer_get_time() - timestampLastRunUs;
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dutyIncrement = ( usPassed / ((float)config.msFade * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
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//--- calculate difference ---
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dutyDelta = dutyTarget - dutyNow;
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//positive: need to increase by that value
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//negative: need to decrease
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//--- fade up ---
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if(dutyDelta > dutyIncrement){ //target duty his higher than current duty -> fade up
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ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrement, (int)usPassed);
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dutyNow += dutyIncrement; //increase duty by increment
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//--- set lower ---
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} else { //target duty is lower than current duty -> immediately set to target
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ESP_LOGV(TAG, "*setting to target*: target=%.2f%% - previous=%.2f%% ", dutyTarget, dutyNow);
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dutyNow = dutyTarget; //set target duty
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}
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//--- apply to motor ---
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//apply target duty and state to motor driver
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motor.set(state, dutyNow);
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//--- update timestamp ---
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timestampLastRunUs = esp_timer_get_time(); //update timestamp last run with current timestamp in microseconds
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}
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//===============================
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//========== setTarget ==========
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//===============================
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//function to set the target mode and duty of a motor
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//puts the provided command in a queue for the handle function running in another task
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void controlledMotor::setTarget(motorstate_t state_f, float duty_f){
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commandSend = {
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.state = state_f,
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.duty = duty_f
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};
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ESP_LOGD(TAG, "Inserted command to queue: state=%s, duty=%.2f", motorstateStr[(int)commandSend.state], commandSend.duty);
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//send command to queue (overwrite if an old command is still in the queue and not processed)
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xQueueOverwrite( commandQueue, ( void * )&commandSend);
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//xQueueSend( commandQueue, ( void * )&commandSend, ( TickType_t ) 0 );
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}
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