b0d0b568a3
- create class 'single100a' in motordrivers.hpp and motordrivers.cpp - add code for testing the driver in main.cpp (test with led was successful) - update cmakelists, to also compile the new .cpp file
63 lines
1.5 KiB
C++
63 lines
1.5 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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extern "C" void app_main(void) {
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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 motordriver to DEBUG for testing
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esp_log_level_set("motordriver", ESP_LOG_DEBUG);
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//configure motor driver
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_14,
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.gpio_a = GPIO_NUM_12,
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.gpio_b = GPIO_NUM_13,
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.ledc_timer = LEDC_TIMER_0,
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.ledc_channel = LEDC_CHANNEL_0,
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.abInverted = true,
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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//create driver instance for motor left
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single100a motorLeft(configDriverLeft);
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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.set(motorstate_t::FWD, duty);
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vTaskDelay(100 / portTICK_PERIOD_MS);
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}
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//brake for 1 s
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motorLeft.set(motorstate_t::BRAKE);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//stay at 100% - reverse
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motorLeft.set(motorstate_t::REV, 150);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//stay at idle (default duty)
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motorLeft.set(motorstate_t::IDLE);
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vTaskDelay(2000 / portTICK_PERIOD_MS);
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}
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}
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