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

src/motion/Motion.cpp

@@ -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);
+    Motion::left.setSpeed(LEFT_MOTOR_DUTY);
-    analogWrite(MOTOR_RIGHT_PIN, RIGHT_MOTOR_DUTY);
+    Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
     vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
-    analogWrite(MOTOR_LEFT_PIN, 0);
+    Motion::left.setSpeed(0);
-    analogWrite(MOTOR_RIGHT_PIN, 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);
+        Motion::left.setSpeed(4096);
-        analogWrite(MOTOR_RIGHT_PIN, RIGHT_MOTOR_DUTY);
+        Motion::right.setSpeed(4096);
     }
 };
 
 void Motion::leftMotorTask(void * args) {
-    analogWrite(MOTOR_LEFT_PIN, LEFT_MOTOR_DUTY);
+    Motion::left.setSpeed(LEFT_MOTOR_DUTY);
-    analogWrite(MOTOR_RIGHT_PIN, 0);
+    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);
+        Motion::left.setSpeed(LEFT_MOTOR_DUTY);
-        analogWrite(MOTOR_RIGHT_PIN,0);
+        Motion::right.setSpeed(0);
     }
 };
 
 void Motion::rightMotorTask(void * args) {
-    analogWrite(MOTOR_RIGHT_PIN, RIGHT_MOTOR_DUTY);
+    Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
-    analogWrite(MOTOR_LEFT_PIN,0);
+    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);
+        Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
-        analogWrite(MOTOR_LEFT_PIN,0);
+        Motion::left.setSpeed(0);
     }
 };
 
 void Motion::stop(void){
-    analogWrite(MOTOR_LEFT_PIN,0);
+    Motion::left.setSpeed(0);
-    analogWrite(MOTOR_RIGHT_PIN,0);
+    Motion::right.setSpeed(0);
 }
  

src/motion/Motion.h

@@ -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 uint16_t RIGHT_MOTOR_DUTY = 4096;
-    static const uint8_t LEFT_MOTOR_DUTY = 128;
+    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

src/motion/Motor.cpp

@@ -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;
+};