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Make motor parameters apply without reboot

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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
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1
flix/motors.ino
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@@ -24,6 +24,7 @@ void setupMotors() {
// configure pins // configure pins
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
ledcAttach(motorPins[i], pwmFrequency, pwmResolution); ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
} }
sendMotors(); sendMotors();
print("Motors initialized\n"); print("Motors initialized\n");

18
flix/parameters.ino
View File

@@ -19,8 +19,9 @@ struct Parameter {
bool integer; bool integer;
union { float *f; int *i; }; // pointer to the variable union { float *f; int *i; }; // pointer to the variable
float cache; // what's stored in flash float cache; // what's stored in flash
Parameter(const char *name, float *variable) : name(name), integer(false), f(variable) {}; void (*callback)(); // called after parameter change
Parameter(const char *name, int *variable) : name(name), integer(true), i(variable) {}; 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; }; float getValue() const { return integer ? *i : *f; };
void setValue(const float value) { if (integer) *i = value; else *f = value; }; void setValue(const float value) { if (integer) *i = value; else *f = value; };
}; };
@@ -67,12 +68,12 @@ Parameter parameters[] = {
{"EST_ACC_WEIGHT", &accWeight}, {"EST_ACC_WEIGHT", &accWeight},
{"EST_RATES_LPF_A", &ratesFilter.alpha}, {"EST_RATES_LPF_A", &ratesFilter.alpha},
// motors // motors
{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT]}, {"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},
{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT]}, {"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors},
{"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT]}, {"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT], setupMotors},
{"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT]}, {"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT], setupMotors},
{"MOT_PWM_FREQ", &pwmFrequency}, {"MOT_PWM_FREQ", &pwmFrequency, setupMotors},
{"MOT_PWM_RES", &pwmResolution}, {"MOT_PWM_RES", &pwmResolution, setupMotors},
{"MOT_PWM_STOP", &pwmStop}, {"MOT_PWM_STOP", &pwmStop},
{"MOT_PWM_MIN", &pwmMin}, {"MOT_PWM_MIN", &pwmMin},
{"MOT_PWM_MAX", &pwmMax}, {"MOT_PWM_MAX", &pwmMax},
@@ -152,6 +153,7 @@ bool setParameter(const char *name, const float value) {
if (strcasecmp(parameter.name, name) == 0) { if (strcasecmp(parameter.name, name) == 0) {
if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf
parameter.setValue(value); parameter.setValue(value);
if (parameter.callback) parameter.callback();
return true; 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 ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
bool ledcWrite(uint8_t pin, uint32_t duty) { 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 __micros;
unsigned long __resetTime = 0; unsigned long __resetTime = 0;