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149c62568f
Move command parsing to doCommand Parse command with splitString instead of stringToken Trim commands Move cliTestMotor to the bottom Rename parseInput to handleInput, which is more clear Move motor test function to motors.ino
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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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 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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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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