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.
71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
#pragma once
|
|
|
|
extern "C"
|
|
{
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "freertos/queue.h"
|
|
#include "esp_log.h"
|
|
#include "esp_timer.h"
|
|
}
|
|
|
|
#include "motordrivers.hpp"
|
|
|
|
|
|
|
|
|
|
typedef struct motorctl_config_t {
|
|
uint32_t msFade; //acceleration of the motor (ms it should take from 0 to 100%)
|
|
float currentMax;
|
|
} motorctl_config_t;
|
|
|
|
|
|
|
|
class controlledMotor {
|
|
public:
|
|
//--- functions ---
|
|
controlledMotor(single100a_config_t config_driver, motorctl_config_t config_control); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
|
|
void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task)
|
|
void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
|
|
|
|
|
|
private:
|
|
//--- functions ---
|
|
void init(); //creates currentsensor objects, motordriver objects and queue
|
|
|
|
//--- objects ---
|
|
//TODO: add currentsensor object
|
|
//motor driver
|
|
single100a motor;
|
|
//queue for sending commands to the separate task running the handle() function very fast
|
|
QueueHandle_t commandQueue = NULL;
|
|
|
|
//--- variables ---
|
|
//struct for storing control specific parameters
|
|
motorctl_config_t config;
|
|
|
|
motorstate_t state = motorstate_t::IDLE;
|
|
|
|
float currentMax;
|
|
float currentNow;
|
|
|
|
float dutyTarget;
|
|
float dutyNow;
|
|
float dutyIncrement;
|
|
float dutyDelta;
|
|
|
|
uint32_t ramp;
|
|
int64_t timestampLastRunUs;
|
|
|
|
//structs for sending commands in the queue
|
|
struct motorCommand_t {
|
|
motorstate_t state;
|
|
float duty;
|
|
};
|
|
struct motorCommand_t commandReceive = {};
|
|
struct motorCommand_t commandSend = {};
|
|
|
|
|
|
|
|
};
|