f7ce61c666
- add new function to joystick.hpp/cpp
- reads data from joystick and generates commands for driving in
"joystick" mode
- returns struct with commands for both motors
- main.cpp
- add code for testing the new function
- enable 5v regulator (needed for pullups AB left motor)
- add newly created motorRight to handle function
- add new struct with two motorcommands to motorctl.hpp
113 lines
3.4 KiB
C++
113 lines
3.4 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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#include "motorctl.hpp"
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#include "config.hpp"
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//tag for logging
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static const char * TAG = "main";
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//====================================
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//========== motorctl task ===========
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//====================================
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//task for handling the motors (ramp, current limit, driver)
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void task_motorctl( void * pvParameters ){
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ESP_LOGI(TAG, "starting handle loop...");
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while(1){
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motorRight.handle();
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motorLeft.handle();
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//10khz -> T=100us
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vTaskDelay(50 / portTICK_PERIOD_MS);
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}
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}
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//=================================
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//=========== app_main ============
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//=================================
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extern "C" void app_main(void) {
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//enable 5V volate regulator
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gpio_pad_select_gpio(GPIO_NUM_17);
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gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
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gpio_set_level(GPIO_NUM_17, 1);
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//-------------------------------
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//---------- log level ----------
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//-------------------------------
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//set loglevel for all tags:
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esp_log_level_set("*", ESP_LOG_WARN);
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//set loglevel for individual tags:
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//esp_log_level_set("motordriver", ESP_LOG_DEBUG);
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//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
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//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
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esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
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//----------------------------------------------
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//--- create task for controlling the motors ---
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//----------------------------------------------
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xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 5, NULL);
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while(1){
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vTaskDelay(400 / portTICK_PERIOD_MS);
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//--- testing joystick commands ---
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motorCommands_t commands = joystick_generateCommandsDriving(joystick);
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motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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//motorRight.setTarget(commands.right.state, commands.right.duty);
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//--- testing joystick class ---
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//joystickData_t data = joystick.getData();
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//ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
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// joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
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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.setTarget(motorstate_t::FWD, duty);
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// vTaskDelay(100 / portTICK_PERIOD_MS);
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// }
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//--- testing controlledMotor --- (ramp)
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// //brake for 1 s
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// motorLeft.setTarget(motorstate_t::BRAKE);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// //command 90% - reverse
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// motorLeft.setTarget(motorstate_t::REV, 90);
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// vTaskDelay(5000 / portTICK_PERIOD_MS);
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// //command 100% - forward
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// motorLeft.setTarget(motorstate_t::FWD, 100);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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}
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}
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