phillip/dezibot
1
0
Fork 0
mirror of https://gitlab.dit.htwk-leipzig.de/phillip.kuehne/dezibot.git synced 2025-07-05 02:01:42 +02:00
Code Issues Packages Projects Releases Wiki Activity

Improve power denial handling

Browse Source
This commit is contained in:
Phillip Kühne
2025-02-13 22:57:55 +01:00
parent 35c11f42e2
commit 0d6977e148
3 changed files with 81 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files

117
src/motion/Motor.cpp
View File

@ -1,72 +1,71 @@
#include "Motion.h"
#include "power/Power.h"
#define MOTOR_LEFT_PIN 12
#define MOTOR_LEFT_PIN 12
#define MOTOR_RIGHT_PIN 11
Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel){
this->pin = pin;
this->channel = channel;
this->timer = timer;
this->duty = 0;
Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel) {
this->pin = pin;
this->channel = channel;
this->timer = timer;
this->duty = 0;
};
void Motor::begin(void){
pinMode(this->pin,OUTPUT);
ledc_channel_config_t channelConfig = {
.gpio_num = this->pin,
.speed_mode = LEDC_MODE,
.channel = this->channel,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = this->timer,
.duty = 0, // Set duty to 0%
.hpoint = 0
};
ledc_channel_config(&channelConfig);
Serial.println("Motor begin done");
void Motor::begin(void) {
pinMode(this->pin, OUTPUT);
ledc_channel_config_t channelConfig = {.gpio_num = this->pin,
.speed_mode = LEDC_MODE,
.channel = this->channel,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = this->timer,
.duty = 0, // Set duty to 0%
.hpoint = 0};
ledc_channel_config(&channelConfig);
Serial.println("Motor begin done");
};
void Motor::setSpeed(uint16_t duty){
const float dutyFactor = duty / static_cast<float>(1 << DUTY_RES);
const float current = PowerParameters::CurrentConsumptions::CURRENT_MOTOR_T_ON * dutyFactor;
if (this->pin == MOTOR_LEFT_PIN) {
if (!Power::waitForCurrentAllowance(
PowerParameters::PowerConsumers::MOTOR_LEFT, current,
MOTOR_MAX_EXECUTION_DELAY_MS, NULL)) {
ESP_LOGW(TAG,
"Power to set LEFT MOTOR to speed %d not granted in time. "
"Skipping.",
duty);
}
} else {
if (!Power::waitForCurrentAllowance(
PowerParameters::PowerConsumers::MOTOR_RIGHT, current,
MOTOR_MAX_EXECUTION_DELAY_MS, NULL)) {
ESP_LOGW(TAG,
"Power to set RIGHT MOTOR to speed %d not granted in time. "
"Skipping.",
duty);
}
bool Motor::setSpeed(uint16_t duty) {
const float dutyFactor = duty / static_cast<float>(1 << DUTY_RES);
const float current =
PowerParameters::CurrentConsumptions::CURRENT_MOTOR_T_ON * dutyFactor;
if (this->pin == MOTOR_LEFT_PIN) {
if (!Power::waitForCurrentAllowance(
PowerParameters::PowerConsumers::MOTOR_LEFT, current,
MOTOR_MAX_EXECUTION_DELAY_MS, NULL)) {
ESP_LOGW(TAG,
"Power to set LEFT MOTOR to speed %d not granted in time. "
"Skipping.",
duty);
return false;
}
int difference = duty-this->getSpeed();
if (difference > 0){
for(int i = 0;i<difference;i+=difference/20){
this->duty += difference/20;
ledc_set_duty(LEDC_MODE,this->channel,duty);
ledc_update_duty(LEDC_MODE,this->channel);
delayMicroseconds(5);
}
} else {
for(int i = 0;i>difference;i-=abs(difference/20)){
this->duty -= abs(difference/20);
ledc_set_duty(LEDC_MODE,this->channel,duty);
ledc_update_duty(LEDC_MODE,this->channel);
delayMicroseconds(5);
}
} else {
if (!Power::waitForCurrentAllowance(
PowerParameters::PowerConsumers::MOTOR_RIGHT, current,
MOTOR_MAX_EXECUTION_DELAY_MS, NULL)) {
ESP_LOGW(TAG,
"Power to set RIGHT MOTOR to speed %d not granted in time. "
"Skipping.",
duty);
return false;
}
}
int difference = duty - this->getSpeed();
if (difference > 0) {
for (int i = 0; i < difference; i += difference / 20) {
this->duty += difference / 20;
ledc_set_duty(LEDC_MODE, this->channel, duty);
ledc_update_duty(LEDC_MODE, this->channel);
delayMicroseconds(5);
}
} else {
for (int i = 0; i > difference; i -= abs(difference / 20)) {
this->duty -= abs(difference / 20);
ledc_set_duty(LEDC_MODE, this->channel, duty);
ledc_update_duty(LEDC_MODE, this->channel);
delayMicroseconds(5);
}
}
return true;
};
uint16_t Motor::getSpeed(void){
return this->duty;
};
uint16_t Motor::getSpeed(void) { return this->duty; };