0a2695f45f
- Change fading algorithm to handle Acceleration and Deceleration for forward and reverse separately (4 different cases) - rename variables to make fading direction more obvious e.g. msFadeUp -> msFadeAccel or dutyIncrementDon -> dutyIncrementDecel TODO: fading needs optimization
84 lines
2.4 KiB
C++
84 lines
2.4 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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//-------------------------------------
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//-------- struct 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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float currentMax;
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} motorctl_config_t;
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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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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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//TODO: add currentsensor object
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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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//--- 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 ramp;
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int64_t timestampLastRunUs;
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struct motorCommand_t commandReceive = {};
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struct motorCommand_t commandSend = {};
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};
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