b03baa4687
- add second pcb board_control, currently copy of previous board - not enough pins -> board_control handle ui send motorcommands via uart board_motorctl handle motors
152 lines
5.1 KiB
C++
152 lines
5.1 KiB
C++
#include "config.hpp"
|
|
|
|
//===================================
|
|
//======= motor configuration =======
|
|
//===================================
|
|
//--- configure left motor (hardware) ---
|
|
single100a_config_t configDriverLeft = {
|
|
.gpio_pwm = GPIO_NUM_26,
|
|
.gpio_a = GPIO_NUM_16,
|
|
.gpio_b = GPIO_NUM_4,
|
|
.ledc_timer = LEDC_TIMER_0,
|
|
.ledc_channel = LEDC_CHANNEL_0,
|
|
.aEnabledPinState = false, //-> pins inverted (mosfets)
|
|
.bEnabledPinState = false,
|
|
.resolution = LEDC_TIMER_11_BIT,
|
|
.pwmFreq = 10000
|
|
};
|
|
|
|
//--- configure right motor (hardware) ---
|
|
single100a_config_t configDriverRight = {
|
|
.gpio_pwm = GPIO_NUM_27,
|
|
.gpio_a = GPIO_NUM_2,
|
|
.gpio_b = GPIO_NUM_14,
|
|
.ledc_timer = LEDC_TIMER_1,
|
|
.ledc_channel = LEDC_CHANNEL_1,
|
|
.aEnabledPinState = false, //-> pin inverted (mosfet)
|
|
.bEnabledPinState = true, //-> not inverted (direct)
|
|
.resolution = LEDC_TIMER_11_BIT,
|
|
.pwmFreq = 10000
|
|
};
|
|
|
|
|
|
//TODO add motor name string -> then use as log tag?
|
|
//--- configure left motor (contol) ---
|
|
motorctl_config_t configMotorControlLeft = {
|
|
.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
|
|
.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
|
|
.currentLimitEnabled = true,
|
|
.currentSensor_adc = ADC1_CHANNEL_6, //GPIO34
|
|
.currentSensor_ratedCurrent = 50,
|
|
.currentMax = 30,
|
|
.deadTimeMs = 900 //minimum time motor is off between direction change
|
|
};
|
|
|
|
//--- configure right motor (contol) ---
|
|
motorctl_config_t configMotorControlRight = {
|
|
.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
|
|
.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
|
|
.currentLimitEnabled = true,
|
|
.currentSensor_adc = ADC1_CHANNEL_4, //GPIO32
|
|
.currentSensor_ratedCurrent = 50,
|
|
.currentMax = 30,
|
|
.deadTimeMs = 900 //minimum time motor is off between direction change
|
|
};
|
|
|
|
|
|
|
|
//==============================
|
|
//======= control config =======
|
|
//==============================
|
|
control_config_t configControl = {
|
|
.defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
|
|
//--- timeout ---
|
|
.timeoutMs = 5*60*1000, //time of inactivity after which the mode gets switched to IDLE
|
|
.timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive
|
|
//--- http mode ---
|
|
|
|
};
|
|
|
|
|
|
|
|
//===============================
|
|
//===== httpJoystick config =====
|
|
//===============================
|
|
httpJoystick_config_t configHttpJoystickMain{
|
|
.toleranceZeroX_Per = 1, //percentage around joystick axis the coordinate snaps to 0
|
|
.toleranceZeroY_Per = 6,
|
|
.toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1
|
|
.timeoutMs = 2500 //time no new data was received before the motors get turned off
|
|
};
|
|
|
|
|
|
|
|
//======================================
|
|
//======= joystick configuration =======
|
|
//======================================
|
|
joystick_config_t configJoystick = {
|
|
.adc_x = ADC1_CHANNEL_3, //GPIO39
|
|
.adc_y = ADC1_CHANNEL_0, //GPIO36
|
|
//percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
|
|
.tolerance_zeroX_per = 7, //6
|
|
.tolerance_zeroY_per = 10, //7
|
|
//percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
|
|
.tolerance_end_per = 4,
|
|
//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
|
|
.tolerance_radius = 0.09,
|
|
|
|
//min and max adc values of each axis, !!!AFTER INVERSION!!! is applied:
|
|
.x_min = 1392, //=> x=-1
|
|
.x_max = 2650, //=> x=1
|
|
.y_min = 1390, //=> y=-1
|
|
.y_max = 2640, //=> y=1
|
|
//invert adc measurement
|
|
.x_inverted = true,
|
|
.y_inverted = true
|
|
};
|
|
|
|
|
|
|
|
//============================
|
|
//=== configure fan contol ===
|
|
//============================
|
|
fan_config_t configCooling = {
|
|
.gpio_fan = GPIO_NUM_13,
|
|
.dutyThreshold = 40,
|
|
.minOnMs = 1500,
|
|
.minOffMs = 3000,
|
|
.turnOffDelayMs = 5000,
|
|
};
|
|
|
|
|
|
|
|
|
|
//=================================
|
|
//===== create global objects =====
|
|
//=================================
|
|
//TODO outsource global variables to e.g. global.cpp and only config options here?
|
|
|
|
//create controlled motor instances (motorctl.hpp)
|
|
controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
|
|
controlledMotor motorRight(configDriverRight, configMotorControlRight);
|
|
|
|
//create global joystic instance (joystick.hpp)
|
|
evaluatedJoystick joystick(configJoystick);
|
|
|
|
//create global evaluated switch instance for button next to joystick
|
|
gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_25, true, false); //pullup true, not inverted (switch to GND use pullup of controller)
|
|
|
|
//create buzzer object on pin 12 with gap between queued events of 100ms
|
|
buzzer_t buzzer(GPIO_NUM_12, 100);
|
|
|
|
//create global httpJoystick object (http.hpp)
|
|
httpJoystick httpJoystickMain(configHttpJoystickMain);
|
|
|
|
//create global control object (control.hpp)
|
|
controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);
|
|
|
|
//create global automatedArmchair object (for auto-mode) (auto.hpp)
|
|
automatedArmchair armchair;
|
|
|
|
|