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Rename motor indexes constant names

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The original names are overly verbose.
Make motor pins disabled by default on all platforms except classic esp32.
Make config more clear.
This commit is contained in:
Oleg Kalachev
2026-08-17 06:01:07 +03:00
parent 5296531e20
commit 647d68f1b7
6 changed files with 38 additions and 32 deletions
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flix/cli.ino
+6 -6
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@@ -8,7 +8,7 @@
#include "util.h" #include "util.h"
#include "filter.h" #include "filter.h"
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int MOT_RL, MOT_RR, MOT_FR, MOT_FL;
extern const int RAW, ACRO, STAB, AUTO; extern const int RAW, ACRO, STAB, AUTO;
extern const int W_AP, W_STA, W_ESPNOW; extern const int W_AP, W_STA, W_ESPNOW;
extern float t, dt, loopRate; extern float t, dt, loopRate;
@@ -152,7 +152,7 @@ void doCommand(String str, bool echo = false) {
configWiFi(W_ESPNOW, arg0.c_str(), arg1.c_str()); configWiFi(W_ESPNOW, arg0.c_str(), arg1.c_str());
} else if (command == "mot") { } else if (command == "mot") {
print("front-right %g front-left %g rear-right %g rear-left %g\n", print("front-right %g front-left %g rear-right %g rear-left %g\n",
motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]); motors[MOT_FR], motors[MOT_FL], motors[MOT_RR], motors[MOT_RL]);
} else if (command == "log") { } else if (command == "log") {
printLogHeader(); printLogHeader();
if (arg0 == "dump") printLogData(); if (arg0 == "dump") printLogData();
@@ -161,13 +161,13 @@ void doCommand(String str, bool echo = false) {
} else if (command == "ca") { } else if (command == "ca") {
calibrateAccel(); calibrateAccel();
} else if (command == "mfr") { } else if (command == "mfr") {
testMotor(MOTOR_FRONT_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat()); testMotor(MOT_FR, arg0.isEmpty() ? 0.2 : arg0.toFloat());
} else if (command == "mfl") { } else if (command == "mfl") {
testMotor(MOTOR_FRONT_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat()); testMotor(MOT_FL, arg0.isEmpty() ? 0.2 : arg0.toFloat());
} else if (command == "mrr") { } else if (command == "mrr") {
testMotor(MOTOR_REAR_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat()); testMotor(MOT_RR, arg0.isEmpty() ? 0.2 : arg0.toFloat());
} else if (command == "mrl") { } else if (command == "mrl") {
testMotor(MOTOR_REAR_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat()); testMotor(MOT_RL, arg0.isEmpty() ? 0.2 : arg0.toFloat());
} else if (command == "sys") { } else if (command == "sys") {
#ifdef ESP32 #ifdef ESP32
print("Chip: %s\n", ESP.getChipModel()); print("Chip: %s\n", ESP.getChipModel());
flix/config.h
+12 -6
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@@ -12,16 +12,22 @@ void setDefaults() {
pwmFrequency = 38000; pwmFrequency = 38000;
#endif #endif
#ifdef CONFIG_IDF_TARGET_ESP32
// classic esp32 configuration
motorPins[MOT_RL] = 12;
motorPins[MOT_RR] = 13;
motorPins[MOT_FR] = 14;
motorPins[MOT_FL] = 15;
#endif
#ifdef FLIX2 #ifdef FLIX2
imuModel = 4; // ICM-40609-D imuModel = 4; // ICM-40609-D
imuIntPin = 10; imuIntPin = 10;
imuCsPin = 14; imuCsPin = 14;
motorPins[MOTOR_REAR_LEFT] = 41;
motorPins[MOTOR_REAR_RIGHT] = 7;
motorPins[MOTOR_FRONT_RIGHT] = 18;
motorPins[MOTOR_FRONT_LEFT] = 38;
voltagePin = 3; voltagePin = 3;
motorPins[MOT_RL] = 41;
motorPins[MOT_RR] = 7;
motorPins[MOT_FR] = 18;
motorPins[MOT_FL] = 38;
#endif #endif
} }
flix/control.ino
+6 -6
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@@ -29,7 +29,7 @@ Vector maxRate(radians(360), radians(360), radians(360));
float tiltMax = radians(30); float tiltMax = radians(30);
int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int MOT_RL, MOT_RR, MOT_FR, MOT_FL;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
void control() { void control() {
@@ -119,13 +119,13 @@ void controlTorque() {
return; return;
} }
motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.x - torqueTarget.y + torqueTarget.z; motors[MOT_FL] = thrustTarget + torqueTarget.x - torqueTarget.y + torqueTarget.z;
motors[MOTOR_FRONT_RIGHT] = thrustTarget - torqueTarget.x - torqueTarget.y - torqueTarget.z; motors[MOT_FR] = thrustTarget - torqueTarget.x - torqueTarget.y - torqueTarget.z;
motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z; motors[MOT_RL] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z; motors[MOT_RR] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;
// Prioritize angle control over thrust control // Prioritize angle control over thrust control
desaturate(motors[MOTOR_FRONT_LEFT], motors[MOTOR_FRONT_RIGHT], motors[MOTOR_REAR_LEFT], motors[MOTOR_REAR_RIGHT]); desaturate(motors[MOT_FL], motors[MOT_FR], motors[MOT_RL], motors[MOT_RR]);
motors[0] = constrain(motors[0], 0, 1); motors[0] = constrain(motors[0], 0, 1);
motors[1] = constrain(motors[1], 0, 1); motors[1] = constrain(motors[1], 0, 1);
flix/motors.ino
+2 -2
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@@ -7,14 +7,14 @@
float motors[4]; // normalized motor thrusts in range [0..1] float motors[4]; // normalized motor thrusts in range [0..1]
int motorPins[4] = {12, 13, 14, 15}; // default pin numbers int motorPins[4] = {-1, -1, -1, -1}; // default pin numbers
int pwmFrequency = 78000; int pwmFrequency = 78000;
int pwmResolution = 10; int pwmResolution = 10;
int pwmStop = 0; int pwmStop = 0;
int pwmMin = 0; int pwmMin = 0;
int pwmMax = -1; // -1 means duty cycle mode int pwmMax = -1; // -1 means duty cycle mode
const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3; const int MOT_RL = 0, MOT_RR = 1, MOT_FR = 2, MOT_FL = 3;
void setupMotors() { void setupMotors() {
print("Setup motors\n"); print("Setup motors\n");
flix/parameters.ino
+4 -4
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@@ -87,10 +87,10 @@ Parameter parameters[] = {
{"EST_LVL_WEIGHT", &levelWeight}, {"EST_LVL_WEIGHT", &levelWeight},
{"EST_RATES_LPF_A", &ratesFilter.alpha}, {"EST_RATES_LPF_A", &ratesFilter.alpha},
// motors // motors
{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors}, {"MOT_PIN_FL", &motorPins[MOT_FL], setupMotors},
{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors}, {"MOT_PIN_FR", &motorPins[MOT_FR], setupMotors},
{"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT], setupMotors}, {"MOT_PIN_RL", &motorPins[MOT_RL], setupMotors},
{"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT], setupMotors}, {"MOT_PIN_RR", &motorPins[MOT_RR], setupMotors},
{"MOT_PWM_FREQ", &pwmFrequency, setupMotors}, {"MOT_PWM_FREQ", &pwmFrequency, setupMotors},
{"MOT_PWM_RES", &pwmResolution, setupMotors}, {"MOT_PWM_RES", &pwmResolution, setupMotors},
{"MOT_PWM_STOP", &pwmStop}, {"MOT_PWM_STOP", &pwmStop},
gazebo/simulator.cpp
+8 -8
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@@ -98,10 +98,10 @@ public:
const double maxThrust = 0.03 * ONE_G; // ~30 g, https://youtu.be/VtKI4Pjx8Sk?&t=78 const double maxThrust = 0.03 * ONE_G; // ~30 g, https://youtu.be/VtKI4Pjx8Sk?&t=78
const float scale0 = 1.0, scale1 = 1.1, scale2 = 0.9, scale3 = 1.05; // imitating motors asymmetry const float scale0 = 1.0, scale1 = 1.1, scale2 = 0.9, scale3 = 1.05; // imitating motors asymmetry
float mfl = scale0 * maxThrust * motors[MOTOR_FRONT_LEFT]; float mfl = scale0 * maxThrust * motors[MOT_FL];
float mfr = scale1 * maxThrust * motors[MOTOR_FRONT_RIGHT]; float mfr = scale1 * maxThrust * motors[MOT_FR];
float mrl = scale2 * maxThrust * motors[MOTOR_REAR_LEFT]; float mrl = scale2 * maxThrust * motors[MOT_RL];
float mrr = scale3 * maxThrust * motors[MOTOR_REAR_RIGHT]; float mrr = scale3 * maxThrust * motors[MOT_RR];
body->AddLinkForce(Vector3d(0.0, 0.0, mfl), Vector3d(dist, dist, 0.0)); body->AddLinkForce(Vector3d(0.0, 0.0, mfl), Vector3d(dist, dist, 0.0));
body->AddLinkForce(Vector3d(0.0, 0.0, mfr), Vector3d(dist, -dist, 0.0)); body->AddLinkForce(Vector3d(0.0, 0.0, mfr), Vector3d(dist, -dist, 0.0));
@@ -110,10 +110,10 @@ public:
// torque // torque
const double maxTorque = 0.0024 * ONE_G; // ~24 g*cm const double maxTorque = 0.0024 * ONE_G; // ~24 g*cm
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale0 * maxTorque * motors[MOTOR_FRONT_LEFT])); body->AddRelativeTorque(Vector3d(0.0, 0.0, scale0 * maxTorque * motors[MOT_FL]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale1 * -maxTorque * motors[MOTOR_FRONT_RIGHT])); body->AddRelativeTorque(Vector3d(0.0, 0.0, scale1 * -maxTorque * motors[MOT_FR]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale2 * -maxTorque * motors[MOTOR_REAR_LEFT])); body->AddRelativeTorque(Vector3d(0.0, 0.0, scale2 * -maxTorque * motors[MOT_RL]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale3 * maxTorque * motors[MOTOR_REAR_RIGHT])); body->AddRelativeTorque(Vector3d(0.0, 0.0, scale3 * maxTorque * motors[MOT_RR]));
} }
void initNode() { void initNode() {