aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2026-03-29 11:34:36 +00:00
Code Issues Packages Projects Releases Wiki Activity

Make motor parameters apply without reboot

Browse Source 
Add callback to parameter definition to call after parameter is changed.
This commit is contained in:
Oleg Kalachev
2026-02-19 04:56:12 +03:00
parent b2daf2587f
commit a687303062
3 changed files with 12 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
flix/motors.ino
View File

@@ -24,6 +24,7 @@ void setupMotors() {
// configure pins
for (int i = 0; i < 4; i++) {
ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
}
sendMotors();
print("Motors initialized\n");

18
flix/parameters.ino
View File

@@ -19,8 +19,9 @@ struct Parameter {
bool integer;
union { float *f; int *i; }; // pointer to the variable
float cache; // what's stored in flash
Parameter(const char *name, float *variable) : name(name), integer(false), f(variable) {};
Parameter(const char *name, int *variable) : name(name), integer(true), i(variable) {};
void (*callback)(); // called after parameter change
Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
Parameter(const char *name, int *variable, void (*callback)() = nullptr) : name(name), integer(true), i(variable), callback(callback) {};
float getValue() const { return integer ? *i : *f; };
void setValue(const float value) { if (integer) *i = value; else *f = value; };
};
@@ -67,12 +68,12 @@ Parameter parameters[] = {
{"EST_ACC_WEIGHT", &accWeight},
{"EST_RATES_LPF_A", &ratesFilter.alpha},
// motors
{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT]},
{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT]},
{"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT]},
{"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT]},
{"MOT_PWM_FREQ", &pwmFrequency},
{"MOT_PWM_RES", &pwmResolution},
{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},
{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors},
{"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT], setupMotors},
{"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT], setupMotors},
{"MOT_PWM_FREQ", &pwmFrequency, setupMotors},
{"MOT_PWM_RES", &pwmResolution, setupMotors},
{"MOT_PWM_STOP", &pwmStop},
{"MOT_PWM_MIN", &pwmMin},
{"MOT_PWM_MAX", &pwmMax},
@@ -152,6 +153,7 @@ bool setParameter(const char *name, const float value) {
if (strcasecmp(parameter.name, name) == 0) {
if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf
parameter.setValue(value);
if (parameter.callback) parameter.callback();
return true;
}
}

1
gazebo/Arduino.h
View File

@@ -165,6 +165,7 @@ void delay(uint32_t ms) {
bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; }
unsigned long __micros;
unsigned long __resetTime = 0;