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esp23 motor class

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This commit is contained in:
Willem Oldemans
2023-11-08 08:50:58 +01:00
parent 183b087ed7
commit 41828b9a20
5 changed files with 32 additions and 31 deletions
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2
FW/platformio.ini
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@@ -22,5 +22,5 @@ lib_deps =
build_flags = build_flags =
-DCORE_DEBUG_LEVEL=3 -DCORE_DEBUG_LEVEL=3
-DNDEF_DEBUG=1 -DNDEF_DEBUG=1
upload_protocol = espota upload_protocol = espota ;esptool
upload_port = MiniSkidi.local upload_port = MiniSkidi.local

50
FW/src/Motors.cpp
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@@ -5,46 +5,46 @@ bool removeArmMomentum = false;
Servo bucketServo; Servo bucketServo;
Servo auxServo; Servo auxServo;
void motor::drive(int dirspeed) void motor::drive(int dirspeed)
{ {
if(dirspeed == 0) if (dirspeed == 0)
{ {
motorStop(motorindex); motorStop(motorindex);
} }
if(dirspeed > 0) if (dirspeed > 0)
{ {
//map(value, fromLow, fromHigh, toLow, toHigh) // map(value, fromLow, fromHigh, toLow, toHigh)
uint8_t speed = map(dirspeed,-255,0,0,100); uint8_t speed = map(dirspeed, -255, 0, 0, 100);
log_i("motor forward"); log_i("motor(%u) forward", m_index);
motorForward(motorindex, speed); motorForward(motorindex, speed);
} }
else else
{ {
uint8_t speed = map(dirspeed,0,255,0,100); uint8_t speed = map(dirspeed, 0, 255, 0, 100);
log_i("motor reverse"); log_i("motor(%u) reverse", m_index);
motorReverse(motorindex, speed); motorReverse(motorindex, speed);
} }
} }
std::vector<MOTOR_PINS> motorPins =
{
std::vector<MOTOR_PINS> motorPins = {RMOTOR_IN1, RMOTOR_IN2}, // RIGHT_MOTOR Pins (IN1, IN2)
{ {LMOTOR_IN1, LMOTOR_IN2}, // LEFT_MOTOR Pins
{RMOTOR_IN1, RMOTOR_IN2}, //RIGHT_MOTOR Pins (IN1, IN2) // {ARM_IN1, ARM_IN2}, //ARM_MOTOR pins
{LMOTOR_IN1, LMOTOR_IN2}, //LEFT_MOTOR Pins
// {ARM_IN1, ARM_IN2}, //ARM_MOTOR pins
}; };
motor motors[2]; #define NUMMOTORS 2
motor motors[NUMMOTORS];
void setupmotors() void setupmotors()
{ {
for (int i = 0; i < motorPins.size(); i++) for (int i = 0; i < NUMMOTORS; i++)
{ {
motors[i].attachMotor(motorPins[i].pinIN1,motorPins[i].pinIN2); // pinMode(motorPins[i].pinIN1, OUTPUT); log_i("motor(%u) initialized", motors[i].m_index);
motors[i].attachMotor(motorPins[i].pinIN1, motorPins[i].pinIN2); // pinMode(motorPins[i].pinIN1, OUTPUT);
motors[i].motorStop(0); motors[i].motorStop(0);
motors[i].setindex(i);
} }
bucketServo.attach(bucketServoPin); bucketServo.attach(bucketServoPin);
auxServo.attach(auxServoPin); auxServo.attach(auxServoPin);
@@ -54,20 +54,18 @@ void setupmotors()
void drivemotor(uint8_t num, int dirspeed) void drivemotor(uint8_t num, int dirspeed)
{ {
if(num < motorPins.size()) if (num < motorPins.size())
{ {
log_i("drive motor %u, speed %d", num, dirspeed);
motors[num].drive(dirspeed); motors[num].drive(dirspeed);
} }
} }
void bucketTilt(int bucketServoValue) void bucketTilt(int bucketServoValue)
{ {
bucketServo.write(bucketServoValue); bucketServo.write(bucketServoValue);
} }
void auxControl(int auxServoValue) void auxControl(int auxServoValue)
{ {
auxServo.write(auxServoValue); auxServo.write(auxServoValue);
} }

2
FW/src/config.h
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@@ -15,7 +15,7 @@
//defaults //defaults
#define default_auxControl 150 #define default_auxControl 150
#define default_bucketTilt 100 #define default_bucketTilt 200

7
FW/src/motors.h
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@@ -49,7 +49,12 @@ void auxControl(int auxServoValue);
class motor: public ESP32MotorControl class motor: public ESP32MotorControl
{ {
const uint8_t motorindex = 0; const uint8_t motorindex = 0;
public: public:
uint8_t m_index;
void drive(int dirspeed); void drive(int dirspeed);
void setindex(uint8_t index)
{
m_index = index;
}
}; };

2
FW/src/webserver.cpp
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@@ -18,8 +18,6 @@ void handle_message(WebsocketsMessage msg) {
void setup_webserver() void setup_webserver()
{ {
Serial.begin(9600);
// HTTP handler assignment // HTTP handler assignment
webserver.on("/", HTTP_GET, [](AsyncWebServerRequest * request) { webserver.on("/", HTTP_GET, [](AsyncWebServerRequest * request) {
AsyncWebServerResponse *response = request->beginResponse_P(200, "text/html", web_smars_html_gz, web_smars_html_gz_len); AsyncWebServerResponse *response = request->beginResponse_P(200, "text/html", web_smars_html_gz, web_smars_html_gz_len);