diff --git a/FW/lib/Cdrv8833/.gitattributes b/FW/lib/Cdrv8833/.gitattributes new file mode 100644 index 0000000..dfe0770 --- /dev/null +++ b/FW/lib/Cdrv8833/.gitattributes @@ -0,0 +1,2 @@ +# Auto detect text files and perform LF normalization +* text=auto diff --git a/FW/lib/Cdrv8833/.piopm b/FW/lib/Cdrv8833/.piopm new file mode 100644 index 0000000..5132e4a --- /dev/null +++ b/FW/lib/Cdrv8833/.piopm @@ -0,0 +1 @@ +{"type": "library", "name": "Cdrv8833", "version": "1.0.1", "spec": {"owner": "shurillu", "id": 14351, "name": "Cdrv8833", "requirements": null, "uri": null}} \ No newline at end of file diff --git a/FW/lib/Cdrv8833/LICENSE b/FW/lib/Cdrv8833/LICENSE new file mode 100644 index 0000000..e959659 --- /dev/null +++ b/FW/lib/Cdrv8833/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2022 Stefano Ledda + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/FW/lib/Cdrv8833/README.md b/FW/lib/Cdrv8833/README.md new file mode 100644 index 0000000..2509e4e --- /dev/null +++ b/FW/lib/Cdrv8833/README.md @@ -0,0 +1,109 @@ +# Cdrv8833 + +DRV8833 module + +### Introduction +Cdrv883 is a wrapper class for using modules based on DRV8833 H-bridge from Texas Instruments. + +### News ++ First public version released. + +### Simple usage +See the drv8833Tester example provided in the [examples folder](https://github.com/shurillu/Cdrv8833/tree/main/examples/drv8833Tester). + +### Changelog ++ 1.0.0 Initial version. + +
+ +### Reference + +#### `Cdrv8833()` +Default constructor. The object is NOT initialized: the `init` member function must be called. Decay mode is set to SLOW. +

+ +#### `Cdrv8833(uint8_t in1Pin, uint8_t in2Pin, uint8_t channel, bool swapDirection = false)` +Specialized constructor. Decay mode is set to SLOW. + +input: ++ `in1Pin`: DRV8833 AIN1/BIN1 ++ `in2Pin`: DRV8833 AIN2/BIN2 ++ `channel`: ESP32 PWM channel (0..15) - ESP32 ledc functions ++ `swapDirection`: swap motor rotation direction + +There are 16 independent channels for PWM modulation inside the ESP32 SOC. Every motor need to have its own channel in order to work independently each other. + +Swapping the motor rotation direction is useful (for example): ++ wrong cabling ++ using two motors to drive a two wheels vehicle (left wheel, right wheel). +

+ +#### `bool init(uint8_t in1Pin, uint8_t in2Pin, uint8_t channel, bool swapDirection = false)` +Initialize the object. Decay mode is set to SLOW. + +input: ++ `in1Pin`: DRV8833 AIN1/BIN1 ++ `in2Pin`: DRV8833 AIN2/BIN2 ++ `channel`: ESP32 PWM channel (0..15) - ESP32 ledc functions ++ `swapDirection`: swap motor rotation direction + +Return `true` if no error occurs. + +There are 16 independent channels for PWM modulation inside the ESP32 SOC. Every motor need to have its own channel in order to work independently each other. + +Swapping the motor rotation direction is useful (for example): ++ wrong cabling ++ using two motors to drive a two wheels vehicle (left wheel, right wheel). +

+ +#### `bool move(int8_t power)` +Set motor rotation direction/speed. + +input: ++ `power`: rotation power. -100..100 + +Return `true` if no error occurs. + +The `power` parameter set the rotation speed and the direction. Negative values means reverse rotation direction. Value span to -100 (full speed reverse direction) to 100 (full speed forward direction). + +Zero stop the motor rotation. +

+ +#### `bool stop()` +Stop the motor, using fast decay mode. + +Return `true` if no error occurs. +

+ +#### `bool brake()` +Stop the motor, using slow decay mode. + +Return `true` if no error occurs. +

+ +#### `void setDecayMode(drv8833DecayMode decayMode)` +Set the decay mode. Default decay mode is set to SLOW. + +input: ++ `decayMode`: new decay mode. Values are + + `drv8833DecaySlow` good torque, but high power consumption + + `drv8833DecayFast` poor torque, but low power consumption +

+ +#### `void setFrequency(uint32_t frequency)` +Set the frequency used for the PWM modulation(for ESP32 ledc functions). Default value is 5000Hz. Allowed values are 1Hz..50000Hz. + +input: ++ `frequency`: new frequency in Hertz. 1..50000Hz +

+ +#### `void swapDirection(bool swapDirection)` +Swap the motor rotation direction. +Useful for wrong cabling / driving two opposite motors (left wheel and right wheel of a vehicle) + +input: ++ `swapDirection`: swap/unswap the motor rotation direction + + `true`: swap rotation direction + + `false`: default rotation direction + + diff --git a/FW/lib/Cdrv8833/examples/drv8833Tester/drv8833Tester.ino b/FW/lib/Cdrv8833/examples/drv8833Tester/drv8833Tester.ino new file mode 100644 index 0000000..c8e7784 --- /dev/null +++ b/FW/lib/Cdrv8833/examples/drv8833Tester/drv8833Tester.ino @@ -0,0 +1,83 @@ +/* + Name: drv8833Tester.ino + Created: 16/08/2022 10:06:02 + Author: Stefano Ledda + Email: shurillu@tiscalinet.it + GitHub: https://github.com/shurillu/Cdrv8833 + Note: Simple sketch to test the DRV8833 H-Bridge + - connect the GPIO 12 to the xIN1 of the DRV8833 module + - connect the GPIO 13 to the xIN2 of the DRV8833 module + - connect the positive pole of the motor to the xOUT1 of the DRV8833 module + - connect the negative pole of the motor to the xOUT2 of the DRV8833 module + - power the DRV8833 module (if the motor is small, 5V and <500mA, you can power + the module pulling the 5V and GND from the ESP32 board) + - load the sketch + - use the serial console to send commands +*/ + +#include "Cdrv8833.h" + +#define IN1_PIN 12 // in1 pin from one of the two DRV8833 H-bridge +#define IN2_PIN 13 // in2 pin from one of the two DRV8833 H-bridge +#define CHANNEL 0 // there are 16 unique PWM channels (0..15) +#define SWAP false // swap motor rotation direction + +Cdrv8833 myMotor; // default constructor + +// you can initialize the object directly with the specialized constructor: +// Cdrv8833 myMotor2(IN1_PIN, IN2_PIN, CHANNEL, SWAP); + +void setup() +{ + Serial.begin(115200); + Serial.println("\n"); + Serial.println("DRV8833 tester"); + Serial.println("--------------"); + Serial.printf("IN1 pin: %u\nIN2 pin: %u\n\n", IN1_PIN, IN2_PIN); + + Serial.println("SWAP - swap motor rotation direction."); + Serial.println("NOSWAP - restore motor rotation direction."); + Serial.println("SLOW - decay mode SLOW - good torque, high power consumption."); + Serial.println("FAST - decay mode FAST - poor torque, low power consumption."); + Serial.println("MOVEXXX - start rotation (XXX = -100..100)."); + Serial.println("STOP - stop the motor."); + + // initialize the object. Not needed if the initialization is done with the specialized constructor + myMotor.init(IN1_PIN, IN2_PIN, CHANNEL, SWAP); +} + +void loop() +{ + String command; + if (Serial.available()) { // check Serial for new command + command = Serial.readString(); // read the new command from Serial + command.toLowerCase(); // convert it to lowercase + + if (command.equals("swap")) { + myMotor.swapDirection(true); // swap rotation direction + Serial.println("--> swapped rotation direction."); + } + else if (command.equals("noswap")) { + myMotor.swapDirection(false); // default rotation direction + Serial.println("--> default rotation direction."); + } + else if (command.equals("slow")) { + myMotor.setDecayMode(drv8833DecaySlow); // decay mode SLOW + Serial.println("--> Decay mode SLOW - good torque."); + } + else if (command.equals("fast")) { + myMotor.setDecayMode(drv8833DecayFast); // decay mode FAST + Serial.println("--> Decay mode FAST - poor torque."); + } + else if (command.equals("stop")) { + myMotor.stop(); // stop moto rotation + Serial.println("--> Motor stopped."); + } + else if (command.startsWith("move")) { + command.replace("move", ""); // remove the word "move" + command.replace(" ", ""); // remove spaces (if present) + myMotor.move(command.toInt()); // start rotation at desired speed + Serial.printf("--> Motor rotation speed: %ld.\n", command.toInt()); + } + } +} diff --git a/FW/lib/Cdrv8833/keywords.txt b/FW/lib/Cdrv8833/keywords.txt new file mode 100644 index 0000000..09344c0 --- /dev/null +++ b/FW/lib/Cdrv8833/keywords.txt @@ -0,0 +1,14 @@ +Cdrv8833 KEYWORD1 + +init KEYWORD2 +move KEYWORD2 +stop KEYWORD2 +brake KEYWORD2 +setDecayMode KEYWORD2 +setFrequency KEYWORD2 +swapDirection KEYWORD2 + +drv8833DecayMode KEYWORD3 + +drv8833DecaySlow LITERAL1 +drv8833DecayFast LITERAL1 diff --git a/FW/lib/Cdrv8833/library.json b/FW/lib/Cdrv8833/library.json new file mode 100644 index 0000000..3874c72 --- /dev/null +++ b/FW/lib/Cdrv8833/library.json @@ -0,0 +1,19 @@ +{ + "name": "Cdrv8833", + "keywords": "DRV8833, motor driver, ESP32, h-bridge", + "description": "ESP32 class for the TI DRV8833 motor driver. Designed for unipolar (DC) motors only (not stepper).", + "homepage": "https://github.com/shurillu/Cdrv8833", + "repository": { + "type": "git", + "url": "https://github.com/shurillu/Cdrv8833.git" + }, + "version": "1.0.1", + "authors": { + "name": "Stefano Ledda", + "email": "shurillu@tiscalinet.it" + }, + "frameworks": "arduino", + "platforms": "esp32", + "dependencies": { + } +} diff --git a/FW/lib/Cdrv8833/library.properties b/FW/lib/Cdrv8833/library.properties new file mode 100644 index 0000000..307102b --- /dev/null +++ b/FW/lib/Cdrv8833/library.properties @@ -0,0 +1,9 @@ +name=Cdrv8833 +version=1.0.1 +author=Stefano Ledda +maintainer=Stefano Ledda +sentence=ESP32 class for the TI DRV8833 motor driver. Designed for unipolar (DC) motors only (not stepper). +paragraph=An easy to use class for driving DC motors with the Texas Instruments DRV8833 driver. Designed only for ESP32 platform. +category=Communication +url=https://github.com/shurillu/Cdrv8833 +architectures=esp32 diff --git a/FW/lib/Cdrv8833/src/Cdrv8833.cpp b/FW/lib/Cdrv8833/src/Cdrv8833.cpp new file mode 100644 index 0000000..91e8ae3 --- /dev/null +++ b/FW/lib/Cdrv8833/src/Cdrv8833.cpp @@ -0,0 +1,138 @@ +#include "Cdrv8833.h" +#include "esp32-hal-gpio.h" + +Cdrv8833::Cdrv8833() { + // not initialized + m_in1Pin = -1; + m_in2Pin = -1; + m_power = 0; + m_swapDirection = false; + m_decayMode = drv8833DecaySlow; +} + +Cdrv8833::Cdrv8833(uint8_t in1Pin, uint8_t in2Pin, uint8_t channel, bool swapDirection) { + init(in1Pin, in2Pin, channel, swapDirection); +} + +Cdrv8833::~Cdrv8833() { + stop(); +} + +bool Cdrv8833::init(uint8_t in1Pin, uint8_t in2Pin, uint8_t channel, bool swapDirection) { + if (channel > 15) + return false; + if ((m_in1Pin != -1) && (m_in2Pin != -1)) + stop(); + pinMode(in1Pin, OUTPUT); + pinMode(in2Pin, OUTPUT); + m_in1Pin = in1Pin; + m_in2Pin = in2Pin; + m_power = 0; + m_swapDirection = swapDirection; + m_channel = channel; + m_decayMode = drv8833DecaySlow; + ledcSetup(channel, PWM_FREQUENCY, PWM_BIT_RESOLUTION); + return true; +} + +bool Cdrv8833::move(int8_t power) { + if (-1 == m_in1Pin) + return false; + if (-1 == m_in2Pin) + return false; + if (0 == power) { + stop(); + return true; + } + if (power > 100) + power = 100; + if (power < -100) + power = -100; + m_power = power; + + if (m_swapDirection) + power = -power; + float value = (float)((1 << PWM_BIT_RESOLUTION) - 1) * ((float)abs(power))/100.0; + uint32_t dutyCycle; + + if ((value - trunc(value)) < 0.5) + dutyCycle = value; + else + dutyCycle = value + 1; + + if (drv8833DecaySlow == m_decayMode) + dutyCycle = ((1 << PWM_BIT_RESOLUTION) - 1) - dutyCycle; + + if (power > 0) { // forward + if (drv8833DecayFast == m_decayMode) { + // forward fast decay + ledcDetachPin(m_in2Pin); + digitalWrite(m_in2Pin, LOW); + ledcAttachPin(m_in1Pin, m_channel); + } + else { + // forward slow decay + ledcDetachPin(m_in1Pin); + digitalWrite(m_in1Pin, HIGH); + ledcAttachPin(m_in2Pin, m_channel); + } + } + else { // reverse + if (drv8833DecayFast == m_decayMode) { + // reverse fast decay + ledcDetachPin(m_in1Pin); + digitalWrite(m_in1Pin, LOW); + ledcAttachPin(m_in2Pin, m_channel); + } + else { + // reverse slow decay + ledcDetachPin(m_in2Pin); + digitalWrite(m_in2Pin, HIGH); + ledcAttachPin(m_in1Pin, m_channel); + } + } + ledcWrite(m_channel, dutyCycle); + return true; +} + +bool Cdrv8833::stop() { + if (-1 == m_in1Pin) + return false; + if (-1 == m_in2Pin) + return false; + ledcDetachPin(m_in1Pin); + ledcDetachPin(m_in2Pin); + digitalWrite(m_in1Pin, LOW); + digitalWrite(m_in2Pin, LOW); + m_power = 0; + return true; +} + +bool Cdrv8833::brake() { + if (-1 == m_in1Pin) + return false; + if (-1 == m_in2Pin) + return false; + ledcDetachPin(m_in1Pin); + ledcDetachPin(m_in2Pin); + digitalWrite(m_in1Pin, HIGH); + digitalWrite(m_in2Pin, HIGH); + m_power = 0; + return true; +} + +void Cdrv8833::setDecayMode(drv8833DecayMode decayMode) { + stop(); + m_decayMode = decayMode; +} + +void Cdrv8833::setFrequency(uint32_t frequency) { + stop(); + ledcChangeFrequency(m_channel, frequency, PWM_BIT_RESOLUTION); +} + +void Cdrv8833::swapDirection(bool swapDirection) { + stop(); + m_swapDirection = swapDirection; +} + diff --git a/FW/lib/Cdrv8833/src/Cdrv8833.h b/FW/lib/Cdrv8833/src/Cdrv8833.h new file mode 100644 index 0000000..f6c1044 --- /dev/null +++ b/FW/lib/Cdrv8833/src/Cdrv8833.h @@ -0,0 +1,91 @@ +#ifndef DRV8833_H +#define DRV8833_H + +#include + +// default values +#define PWM_FREQUENCY 5000 // 1 - 50000 Hz +#define PWM_BIT_RESOLUTION 8 // pwm bit resolution + +// https://learn.adafruit.com/improve-brushed-dc-motor-performance/choosing-decay-mode-and-pwm-frequency +// DRV8833 PWM: min - 1Hz, max - 50KHz (provare 100-500Hz) +// PWM utilizzare le funzioni ledc + +// slow decay -> good torque, high power consumption +// fast decay -> poor torque, low power consumption +enum drv8833DecayMode { + drv8833DecaySlow = 0, + drv8833DecayFast = 1 +}; + +class Cdrv8833 { +public: + // default constructor. Default decay mode: SLOW + Cdrv8833(); + + // Specialized constructor. Default decay mode: SLOW + // input: + // in1Pin : DRV8833 AIN1/BIN1 + // in2Pin : DRV8833 AIN2/BIN2 + // channel : ESP32 PWM channel (0..15) - ESP32 ledc functions + // swapDirection: swap motor rotation direction + Cdrv8833(uint8_t in1Pin, uint8_t in2Pin, uint8_t channel, bool swapDirection = false); + ~Cdrv8833(); + + // Initialize the DRV8833 object. Default decay mode: SLOW + // input: + // in1Pin : DRV8833 AIN1/BIN1 + // in2Pin : DRV8833 AIN2/BIN2 + // channel : ESP32 PWM channel (0..15) - ESP32 ledc functions + // swapDirection: swap motor rotation direction + // return: + // true if no error occurs. + bool init(uint8_t in1Pin, uint8_t in2Pin, uint8_t channel, bool swapDirection = false); + + // Set motor rotation direction/speed + // input: + // power: rotation power. -100..100 + // Negative numbers mean reverse rotation; positive numbers mean forward direction. + // Zero stop the rotation + // return: + // true if no error occurs. + bool move(int8_t power); // use fast decay -> smooth movement + + // Stop the motor, using fast decay mode + // return: + // true if no error occurs. + bool stop(); + + // Stop the motor, using slow decay mode + // return: + // true if no error occurs. + bool brake(); + + // Set the decay mode. Default decay mode: SLOW + // input: + // decayMode: new decay mode. Values are + // drv8833DecaySlow - good torque, high power consumption + // drv8833DecayFast - poor torque, low power consumption + void setDecayMode(drv8833DecayMode decayMode); + + // Set the PWM frequency (for ESP32 ledc functions) + // input: + // frequency: new frequency in Hertz. 1..50000Hz. + void setFrequency(uint32_t frequency); + + // Swap the motor rotation direction. + // Useful for wrong cabling / driving two opposite motors (left wheel + right wheel motor of a vehicle) + // input: + // swapDirection: true -> swap rotation direction + void swapDirection(bool swapDirection); + +private: + int8_t m_in1Pin; + int8_t m_in2Pin; + bool m_swapDirection; + drv8833DecayMode m_decayMode; + uint8_t m_channel; + int8_t m_power; +}; + +#endif diff --git a/FW/platformio.ini b/FW/platformio.ini index 3423f24..dd3518b 100644 --- a/FW/platformio.ini +++ b/FW/platformio.ini @@ -18,9 +18,8 @@ lib_deps = ottowinter/ESPAsyncWebServer-esphome@^3.1.0 ArduinoWebsockets AsyncTCP - joaolopesf/ESP32MotorControl@^0.1.0 + shurillu/Cdrv8833@^1.0.1 build_flags = -DCORE_DEBUG_LEVEL=3 -DNDEF_DEBUG=1 -upload_protocol = espota ;esptool -upload_port = MiniSkidi.local +upload_protocol = esptool diff --git a/FW/src/Motors.cpp b/FW/src/Motors.cpp index fa83cc3..c1b3bc0 100644 --- a/FW/src/Motors.cpp +++ b/FW/src/Motors.cpp @@ -5,35 +5,14 @@ bool removeArmMomentum = false; Servo bucketServo; Servo auxServo; -void motor::drive(int dirspeed) -{ - if (dirspeed == 0) - { - motorStop(motorindex); - } - if (dirspeed > 0) - { - // map(value, fromLow, fromHigh, toLow, toHigh) - uint8_t speed = map(dirspeed, -255, 0, 0, 100); - log_i("motor(%u) forward", m_index); - motorForward(motorindex, speed); - } - else - { - uint8_t speed = map(dirspeed, 0, 255, 0, 100); - log_i("motor(%u) reverse", m_index); - motorReverse(motorindex, speed); - } -} - std::vector motorPins = { {RMOTOR_IN1, RMOTOR_IN2}, // RIGHT_MOTOR Pins (IN1, IN2) {LMOTOR_IN1, LMOTOR_IN2}, // LEFT_MOTOR Pins - // {ARM_IN1, ARM_IN2}, //ARM_MOTOR pins + {ARM_IN1, ARM_IN2}, //ARM_MOTOR pins }; -#define NUMMOTORS 2 +#define NUMMOTORS 3 motor motors[NUMMOTORS]; void setupmotors() @@ -41,30 +20,76 @@ void setupmotors() for (int i = 0; i < NUMMOTORS; i++) { - 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].init(motorPins[i].pinIN1, motorPins[i].pinIN2, i+2, false); // pinMode(motorPins[i].pinIN1, OUTPUT); + motors[i].stop(); motors[i].setindex(i); + log_i("motor(%d) initialized", i); + delay(50); } bucketServo.attach(bucketServoPin); - auxServo.attach(auxServoPin); - auxControl(default_auxControl); - bucketTilt(default_bucketTilt); + //auxServo.attach(auxServoPin); + //auxControl(default_auxControl); + bucketServo.write(default_bucketTilt); } 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); + if(dirspeed == 0) + { + motors[num].stop(); + log_v("stop"); + } + else + { + log_i("drive motor %u, speed %d", num, dirspeed); + uint8_t speed = map(dirspeed, -255, 255, -100, 100); + motors[num].move(speed); + motors[num].prevsetpoint = dirspeed; + } + } + else + { + log_e("invalid motor num %d", num); + } +} +int prevBucketAngle = 0; +uint32_t lastbuckettimer = 0; +void bucketTilt(int bucketServoValue) +{ + if(millis()- lastbuckettimer > BUCKETTIMER) + { + int servo = 0; + if(bucketServoValue == 0) + { + return; + } + else if(bucketServoValue > 0) + { + servo = prevBucketAngle + SERVOSTEP; + log_i("bucket UP (%d)", servo); + } + else + { + servo = prevBucketAngle - SERVOSTEP; + log_i("bucket DOWN (%d)", servo); + + } + + if(servo > SERVOMAX) servo = SERVOMAX; + if(servo < SERVOMIN) servo = SERVOMIN; + + bucketServo.write(servo); + lastbuckettimer = millis(); } } -void bucketTilt(int bucketServoValue) +void AbsBucketTilt(int bucketServoValue) { bucketServo.write(bucketServoValue); } + void auxControl(int auxServoValue) { auxServo.write(auxServoValue); diff --git a/FW/src/html.cpp b/FW/src/html.cpp index f36c9d9..4af4b57 100644 --- a/FW/src/html.cpp +++ b/FW/src/html.cpp @@ -2,186 +2,199 @@ //https://mischianti.org/online-converter-file-to-cpp-gzip-byte-array-3/ -//File: web_smars.html.gz, Size: 2875 const uint8_t web_smars_html_gz[] PROGMEM = { -0x1F, 0x8B, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xC5, 0x1A, 0x6B, 0x6F, 0xDB, 0x46, -0xF2, 0xBB, 0x7F, 0xC5, 0x44, 0xC1, 0xD5, 0x54, 0x2C, 0x51, 0x0F, 0x37, 0x6D, 0x6A, 0x59, 0x2E, -0x1C, 0xDB, 0x71, 0x53, 0x38, 0xAD, 0x61, 0xF9, 0xEA, 0x18, 0x87, 0x83, 0xB1, 0x22, 0x57, 0xD2, -0x26, 0x4B, 0x2E, 0xB1, 0x5C, 0x4A, 0x72, 0x5B, 0xFF, 0xF7, 0x9B, 0x59, 0xBE, 0x29, 0xC9, 0x49, -0x0E, 0x38, 0x9C, 0x80, 0x58, 0xE4, 0xEC, 0xCC, 0xEC, 0xEC, 0xBC, 0x67, 0x95, 0xE3, 0x17, 0xE7, -0xBF, 0x9F, 0xDD, 0xDE, 0x5F, 0x5F, 0xC0, 0xC2, 0x04, 0xF2, 0x64, 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PROGMEM; diff --git a/FW/src/motors.h b/FW/src/motors.h index 6400d75..253ace7 100644 --- a/FW/src/motors.h +++ b/FW/src/motors.h @@ -2,7 +2,8 @@ #include #include -#include "ESP32MotorControl.h" +//#include "ESP32MotorControl.h" +#include "Cdrv8833.h" #include //by Kevin Harrington @@ -12,17 +13,12 @@ #define LEFT_MOTOR 0 #define ARM_MOTOR 2 -#define FORWARD 1 -#define BACKWARD -1 -#define UP 1 -#define DOWN 2 -#define LEFT 3 -#define RIGHT 4 -#define ARMUP 5 -#define ARMDOWN 6 -#define STOP 0 +#define SERVOSTEP 5 +#define SERVOMIN 0 +#define SERVOMAX 180 +#define BUCKETTIMER 100 struct MOTOR_PINS { @@ -33,11 +29,6 @@ struct MOTOR_PINS //general functions void setupmotors(); void loop_motors(); -//void moveCar(int inputValue, bool horizontal); - -//motor functions -//void rotateMotor(int motorNumber, int motorDirection); -//void setMomentum(bool val); void drivemotor(uint8_t num, int dirspeed); @@ -45,12 +36,20 @@ void drivemotor(uint8_t num, int dirspeed); //Servo functions void bucketTilt(int bucketServoValue); void auxControl(int auxServoValue); +void AbsBucketTilt(int bucketServoValue); -class motor: public ESP32MotorControl + + +class motor: public Cdrv8833 { const uint8_t motorindex = 0; + public: - uint8_t m_index; + + uint8_t m_index; + int prevsetpoint = 0; + + void drive(int dirspeed); void setindex(uint8_t index) diff --git a/FW/src/webserver.cpp b/FW/src/webserver.cpp index f677a25..8a13b90 100644 --- a/FW/src/webserver.cpp +++ b/FW/src/webserver.cpp @@ -5,15 +5,24 @@ WebsocketsServer server; AsyncWebServer webserver(80); WebsocketsClient client; -int LValue, RValue, commaIndex; +//int LValue, RValue, ArmValue, commaIndex; // handle http messages void handle_message(WebsocketsMessage msg) { - commaIndex = msg.data().indexOf(','); - LValue = msg.data().substring(0, commaIndex).toInt(); - RValue = msg.data().substring(commaIndex + 1).toInt(); + log_i("%s", msg.data()); + uint8_t commaIndex = msg.data().indexOf(','); + int LValue = msg.data().substring(0, commaIndex).toInt(); + commaIndex = msg.data().indexOf(',',commaIndex+1); + int RValue = msg.data().substring(commaIndex + 1).toInt(); + commaIndex = msg.data().indexOf(',',commaIndex+1); + int ArmValue = msg.data().substring(commaIndex + 1).toInt(); + commaIndex = msg.data().indexOf(',',commaIndex+1); + int bucketValue = msg.data().substring(commaIndex + 1).toInt(); + drivemotor(0, LValue); drivemotor(1, RValue); + drivemotor(2, ArmValue); + bucketTilt(bucketValue); } void setup_webserver() @@ -35,11 +44,17 @@ void setup_webserver() } - +uint32_t webservertimer = 0; + void loop_webserver() { - if (client.available()) { - client.poll(); - delay(50); + if(millis() - webservertimer > WEBSERVER_LOOP) + { + if (client.available()) + { + client.poll(); + } + webservertimer = millis(); } + } \ No newline at end of file diff --git a/FW/src/webserver.h b/FW/src/webserver.h index 074f6a6..91c61a3 100644 --- a/FW/src/webserver.h +++ b/FW/src/webserver.h @@ -11,6 +11,7 @@ #include #include +#define WEBSERVER_LOOP 50 void loop_webserver(); void setup_webserver(); diff --git a/FW/web_smars.html b/FW/web_smars.html new file mode 100644 index 0000000..9e08dfd --- /dev/null +++ b/FW/web_smars.html @@ -0,0 +1,278 @@ + + + + + + + + Mini Skidi + + + + + + + +
+ +
+
+
+ + + + + +