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cf3d4d7ced
1000 Hz is too low frequency considering the update loop for motors signal is also 1000 Hz. Decrease resolution as it's required to set larger pwm frequencies. This change should vastly improve control jitter and remove audible motors noise.
62 lines
1.6 KiB
C++
62 lines
1.6 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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#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 78000
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#define PWM_RESOLUTION 10
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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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Serial.println("Setup Motors");
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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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Serial.println("Motors initialized");
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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 duty = mapff(value, 0, 1, 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(int n) {
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Serial.printf("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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Serial.printf("Done\n");
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}
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