884c00e3d9
add config option for minimum time motor has to be in IDLE before changing direction. Try to prevent drivers from obvious extreme overload. At least prevent full speed switch Untested but simulated via log output
105 lines
3.4 KiB
C++
105 lines
3.4 KiB
C++
#pragma once
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extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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}
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#include "motordrivers.hpp"
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#include "currentsensor.hpp"
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//=======================================
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//====== struct/type declarations ======
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//=======================================
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//struct for sending command for one motor in the queue
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struct motorCommand_t {
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motorstate_t state;
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float duty;
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};
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//struct containing commands for two motors
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typedef struct motorCommands_t {
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motorCommand_t left;
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motorCommand_t right;
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} motorCommands_t;
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//struct with all config parameters for a motor regarding ramp and current limit
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typedef struct motorctl_config_t {
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uint32_t msFadeAccel; //acceleration of the motor (ms it takes from 0% to 100%)
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uint32_t msFadeDecel; //deceleration of the motor (ms it takes from 100% to 0%)
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bool currentLimitEnabled;
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adc1_channel_t currentSensor_adc;
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float currentSensor_ratedCurrent;
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float currentMax;
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uint32_t deadTimeMs; //time motor stays in IDLE before direction change
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} motorctl_config_t;
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//enum fade type (acceleration, deceleration)
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//e.g. used for specifying which fading should be modified with setFade, togleFade functions
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enum class fadeType_t {ACCEL, DECEL};
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//===================================
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//====== controlledMotor class ======
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//===================================
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class controlledMotor {
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public:
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//--- functions ---
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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
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void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task)
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void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
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motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
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void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading
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void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time
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bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
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//TODO set current limit method
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private:
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//--- functions ---
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void init(); //creates currentsensor objects, motordriver objects and queue
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//--- objects ---
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//motor driver
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single100a motor;
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//queue for sending commands to the separate task running the handle() function very fast
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QueueHandle_t commandQueue = NULL;
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//current sensor
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currentSensor cSensor;
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//--- variables ---
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//struct for storing control specific parameters
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motorctl_config_t config;
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motorstate_t state = motorstate_t::IDLE;
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float currentMax;
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float currentNow;
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float dutyTarget;
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float dutyNow;
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float dutyIncrementAccel;
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float dutyIncrementDecel;
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float dutyDelta;
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uint32_t msFadeAccel;
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uint32_t msFadeDecel;
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uint32_t ramp;
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int64_t timestampLastRunUs;
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bool deadTimeWaiting = false;
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uint32_t timestampsModeLastActive[4] = {};
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motorstate_t statePrev = motorstate_t::FWD;
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struct motorCommand_t commandReceive = {};
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struct motorCommand_t commandSend = {};
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};
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