From bb338d31be6bd5d71db175c6243401b71725b41d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Phillip=20K=C3=BChne?= <phillip.kuehne@stud.htwk-leipzig.de>
Date: Thu, 28 Nov 2024 20:41:54 +0100
Subject: [PATCH] Phase shift right motor PWM signal by 180 degrees

---
 src/motion/Motion.h  | 14 ++++++++++----
 src/motion/Motor.cpp |  5 +++--
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/src/motion/Motion.h b/src/motion/Motion.h
index 2a7ed8a..84e395b 100644
--- a/src/motion/Motion.h
+++ b/src/motion/Motion.h
@@ -22,11 +22,12 @@
 #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 PHASE_180_DEG      (1 << (DUTY_RES))/2 // (2**DUTY_RES)/2 Set phase to 180 degrees 
 #define FREQUENCY          (5000) // Frequency in Hertz. Set frequency at 5 kHz
 #define DEFAULT_BASE_VALUE  3900
 class Motor{
     public:
-        Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
+        Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel, int phase=0);
         
         /**
          * @brief Initializes the motor 
@@ -52,14 +53,19 @@ class Motor{
         uint8_t pin;
         ledc_timer_t timer;
         ledc_channel_t channel;
-       
+
         uint16_t duty;
+        // The phase of the pwm signal, expressed as a number betweeen 0 and
+        // the maximum value representable by the pwm timer resolution.
+        int phase;
 };
 
 class Motion{
 protected:
     static inline uint16_t RIGHT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
     static inline uint16_t LEFT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
+    static inline int LEFT_MOTOR_PHASE = 0;
+    static inline int RIGHT_MOTOR_PHASE = PHASE_180_DEG;
     static const int MOTOR_RIGHT_PIN = 11; 
     static const int MOTOR_LEFT_PIN = 12;
     static void moveTask(void * args);
@@ -75,8 +81,8 @@ protected:
 
 public:
     //Instances of the motors, so they can also be used from outside to set values for the motors directly.
-    static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT);
-    static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT);
+    static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT,LEFT_MOTOR_PHASE);
+    static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT,RIGHT_MOTOR_PHASE);
     
     //MotionDetection instance, for motion Correction and user (access with dezibot.motion.detection)
     static inline MotionDetection detection;
diff --git a/src/motion/Motor.cpp b/src/motion/Motor.cpp
index 0c26a58..bc084ad 100644
--- a/src/motion/Motor.cpp
+++ b/src/motion/Motor.cpp
@@ -1,10 +1,11 @@
 #include "Motion.h"
 
-Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel){
+Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel, int phase){
     this->pin = pin;
     this->channel = channel;
     this->timer = timer;
     this->duty = 0;
+    this->phase = phase;
 };
 
 void Motor::begin(void){
@@ -16,7 +17,7 @@ void Motor::begin(void){
         .intr_type      = LEDC_INTR_DISABLE,
         .timer_sel      = this->timer,
         .duty           = 0, // Set duty to 0%
-        .hpoint         = 0
+        .hpoint         = this->phase
     };
     ledc_channel_config(&channelConfig);
     Serial.println("Motor begin done");