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d60628e14d
Implement receiving and sending SERIAL_CONTROL message Use global defined print function instead of Serial.printf
68 lines
1.9 KiB
C++
68 lines
1.9 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// Motors output control using MOSFETs
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// In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400)
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#include "util.h"
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#define MOTOR_0_PIN 12 // rear left
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#define MOTOR_1_PIN 13 // rear right
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#define MOTOR_2_PIN 14 // front right
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#define MOTOR_3_PIN 15 // front left
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#define PWM_FREQUENCY 1000
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#define PWM_RESOLUTION 12
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#define PWM_STOP 0
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#define PWM_MIN 0
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#define PWM_MAX 1000000 / PWM_FREQUENCY
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// Motors array indexes:
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const int MOTOR_REAR_LEFT = 0;
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const int MOTOR_REAR_RIGHT = 1;
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const int MOTOR_FRONT_RIGHT = 2;
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const int MOTOR_FRONT_LEFT = 3;
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void setupMotors() {
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print("Setup Motors\n");
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// configure pins
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ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
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ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
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ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
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ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
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sendMotors();
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print("Motors initialized\n");
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}
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int getDutyCycle(float value) {
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value = constrain(value, 0, 1);
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float pwm = mapff(value, 0, 1, PWM_MIN, PWM_MAX);
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if (value == 0) pwm = PWM_STOP;
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float duty = mapff(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
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return round(duty);
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}
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void sendMotors() {
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ledcWrite(MOTOR_0_PIN, getDutyCycle(motors[0]));
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ledcWrite(MOTOR_1_PIN, getDutyCycle(motors[1]));
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ledcWrite(MOTOR_2_PIN, getDutyCycle(motors[2]));
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ledcWrite(MOTOR_3_PIN, getDutyCycle(motors[3]));
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}
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bool motorsActive() {
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return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
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}
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void testMotor(uint8_t n) {
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print("Testing motor %d\n", n);
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motors[n] = 1;
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delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
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sendMotors();
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delay(3000);
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motors[n] = 0;
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sendMotors();
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print("Done\n");
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}
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