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Merge branch 'feature/#5-motion' into feature/#18-calibrated-movement

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This commit is contained in:
hhaupt 2024-05-12 11:38:23 +02:00
commit e21e176737
3 changed files with 92 additions and 24 deletions
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49
src/motion/Motion.cpp
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@ -2,7 +2,7 @@
* @file Motion.cpp
* @author Jonathan Schulze, Nick Hübenthal, Hans Haupt
* @brief Implementation of the Motion class.
* @version 0.1
* @version 0.2
* @date 2023-12-13
*
* @copyright Copyright (c) 2023
@ -17,14 +17,23 @@ TaskHandle_t xAntiClockwiseTaskHandle = NULL;
// Initialize the movement component.
void Motion::begin(void) {
ledc_timer_config_t motor_timer = {
.speed_mode = LEDC_MODE,
.duty_resolution = DUTY_RES,
.timer_num = TIMER,
.freq_hz = FREQUENCY,
.clk_cfg = LEDC_AUTO_CLK
};
ledc_timer_config(&motor_timer);
Motion::left.begin();
Motion::right.begin();
};
void Motion::moveTask(void * args) {
analogWrite(MOTOR_LEFT_PIN, LEFT_MOTOR_DUTY);
analogWrite(MOTOR_RIGHT_PIN, RIGHT_MOTOR_DUTY);
Motion::left.setSpeed(LEFT_MOTOR_DUTY);
Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
analogWrite(MOTOR_LEFT_PIN, 0);
analogWrite(MOTOR_RIGHT_PIN, 0);
Motion::left.setSpeed(0);
Motion::right.setSpeed(0);
vTaskDelete(xMoveTaskHandle);
};
@ -33,16 +42,16 @@ void Motion::move(uint32_t moveForMs) {
if (moveForMs > 0){
xTaskCreate(moveTask, "Move", 4096, (void*)moveForMs, 10, &xMoveTaskHandle);
} else{
analogWrite(MOTOR_LEFT_PIN, LEFT_MOTOR_DUTY);
analogWrite(MOTOR_RIGHT_PIN, RIGHT_MOTOR_DUTY);
Motion::left.setSpeed(4096);
Motion::right.setSpeed(4096);
}
};
void Motion::leftMotorTask(void * args) {
analogWrite(MOTOR_LEFT_PIN, LEFT_MOTOR_DUTY);
analogWrite(MOTOR_RIGHT_PIN, 0);
Motion::left.setSpeed(LEFT_MOTOR_DUTY);
Motion::right.setSpeed(0);
vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
analogWrite(MOTOR_LEFT_PIN, 0);
Motion::left.setSpeed(0);
vTaskDelete(xClockwiseTaskHandle);
};
@ -51,16 +60,16 @@ void Motion::rotateClockwise(uint32_t rotateForMs) {
if (rotateForMs > 0){
xTaskCreate(leftMotorTask, "LeftMotor", 4096, (void*)rotateForMs, 10, &xClockwiseTaskHandle);
} else {
analogWrite(MOTOR_LEFT_PIN,LEFT_MOTOR_DUTY);
analogWrite(MOTOR_RIGHT_PIN,0);
Motion::left.setSpeed(LEFT_MOTOR_DUTY);
Motion::right.setSpeed(0);
}
};
void Motion::rightMotorTask(void * args) {
analogWrite(MOTOR_RIGHT_PIN, RIGHT_MOTOR_DUTY);
analogWrite(MOTOR_LEFT_PIN,0);
Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
Motion::left.setSpeed(0);
vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
analogWrite(MOTOR_RIGHT_PIN, 0);
Motion::right.setSpeed(0);
vTaskDelete(xAntiClockwiseTaskHandle);
};
@ -69,13 +78,13 @@ void Motion::rotateAntiClockwise(uint32_t rotateForMs) {
if(rotateForMs > 0){
xTaskCreate(rightMotorTask, "RightMotor", 4096, (void*)rotateForMs, 10, &xAntiClockwiseTaskHandle);
} else {
analogWrite(MOTOR_RIGHT_PIN,RIGHT_MOTOR_DUTY);
analogWrite(MOTOR_LEFT_PIN,0);
Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
Motion::left.setSpeed(0);
}
};
void Motion::stop(void){
analogWrite(MOTOR_LEFT_PIN,0);
analogWrite(MOTOR_RIGHT_PIN,0);
Motion::left.setSpeed(0);
Motion::right.setSpeed(0);
}

34
src/motion/Motion.h
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@ -1,8 +1,8 @@
/**
* @file Motion.h
* @author Jonathan Schulze, Nick Hübenthal
* @author Jonathan Schulze, Nick Hübenthal, Hans Haupt
* @brief This component controls the ability to rotate and change position.
* @version 0.1
* @version 0.2
* @date 2023-12-13
*
* @copyright Copyright (c) 2023
@ -15,11 +15,31 @@
#include <Arduino.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include "driver/ledc.h"
#define LEDC_MODE LEDC_LOW_SPEED_MODE
#define TIMER LEDC_TIMER_2
#define CHANNEL_LEFT LEDC_CHANNEL_3
#define CHANNEL_RIGHT LEDC_CHANNEL_4
#define DUTY_RES LEDC_TIMER_13_BIT // Set duty resolution to 13 bits
#define FREQUENCY (5000) // Frequency in Hertz. Set frequency at 5 kHz
class Motor{
public:
Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
void begin(void);
void setSpeed(uint16_t duty);
uint16_t getSpeed(void);
protected:
uint8_t pin;
ledc_timer_t timer;
ledc_channel_t channel;
uint16_t duty;
};
class Motion{
protected:
static const uint8_t RIGHT_MOTOR_DUTY = 128;
static const uint8_t LEFT_MOTOR_DUTY = 128;
static const uint16_t RIGHT_MOTOR_DUTY = 4096;
static const uint16_t LEFT_MOTOR_DUTY = 4096;
static const int MOTOR_RIGHT_PIN = 11;
static const int MOTOR_LEFT_PIN = 12;
static void moveTask(void * args);
@ -27,6 +47,10 @@ protected:
static void rightMotorTask(void * args);
public:
//Shared Timer to sync movement
static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT);
static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT);
/**
* @brief Initialize the movement component.
*
@ -61,4 +85,6 @@ public:
static void stop(void);
};
#endif //Motion_h

33
src/motion/Motor.cpp Normal file
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@ -0,0 +1,33 @@
#include "Motion.h"
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::setSpeed(uint16_t duty){
this->duty = duty;
ledc_set_duty(LEDC_MODE,this->channel,duty);
ledc_update_duty(LEDC_MODE,this->channel);
};
uint16_t Motor::getSpeed(void){
return this->duty;
};