added miniskid

Miniskid/FW/lib/Cdrv8833/.gitattributes

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+# Auto detect text files and perform LF normalization
+* text=auto

Miniskid/FW/lib/Cdrv8833/.piopm

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+{"type": "library", "name": "Cdrv8833", "version": "1.0.1", "spec": {"owner": "shurillu", "id": 14351, "name": "Cdrv8833", "requirements": null, "uri": null}}

Miniskid/FW/lib/Cdrv8833/LICENSE

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+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.

Miniskid/FW/lib/Cdrv8833/README.md

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+# Cdrv8833
+
+<img src="https://github.com/shurillu/Cdrv8833/blob/f3dccc3f0448b2a2071de1e72d5ad1d12b7a835d/images/DRV8833.jpg" alt="DRV8833 module" width="180"/>
+
+### 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.
+
+<hr>
+
+### Reference
+
+#### `Cdrv8833()`
+Default constructor. The object is NOT initialized: the `init` member function must be called. Decay mode is set to SLOW.
+<br><br>
+
+#### `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). 
+<br><br>
+
+#### `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). 
+<br><br>
+
+#### `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.
+<br><br>
+
+#### `bool stop()`
+Stop the motor, using fast decay mode.
+
+Return `true` if no error occurs.
+<br><br>
+
+#### `bool brake()`
+Stop the motor, using slow decay mode.
+
+Return `true` if no error occurs.
+<br><br>
+
+#### `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
+<br><br>
+
+#### `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
+<br><br>
+
+#### `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
+
+

Miniskid/FW/lib/Cdrv8833/examples/drv8833Tester/drv8833Tester.ino

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+/*
+    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());
+        }
+    }
+}

Miniskid/FW/lib/Cdrv8833/keywords.txt

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+Cdrv8833	KEYWORD1
+
+init	KEYWORD2
+move	KEYWORD2
+stop	KEYWORD2
+brake	KEYWORD2
+setDecayMode	KEYWORD2
+setFrequency	KEYWORD2
+swapDirection	KEYWORD2
+
+drv8833DecayMode	KEYWORD3
+
+drv8833DecaySlow	LITERAL1
+drv8833DecayFast	LITERAL1

Miniskid/FW/lib/Cdrv8833/library.json

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+{
+  "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": {
+  }
+}

Miniskid/FW/lib/Cdrv8833/library.properties

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+name=Cdrv8833
+version=1.0.1
+author=Stefano Ledda <shurillu@tiscalinet.it>
+maintainer=Stefano Ledda <shurillu@tiscalinet.it>
+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

Miniskid/FW/lib/Cdrv8833/src/Cdrv8833.cpp

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+#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;
+}
+

Miniskid/FW/lib/Cdrv8833/src/Cdrv8833.h

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+#ifndef DRV8833_H
+#define DRV8833_H
+
+#include <stdint.h>
+
+// 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

Miniskid/FW/lib/README

@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html