phillip/dezibot
1
0
Fork 0
mirror of https://gitlab.dit.htwk-leipzig.de/phillip.kuehne/dezibot.git synced 2025-05-19 02:51:47 +02:00
Code Issues Packages Projects Releases Wiki Activity

Merge commit 'bb338d31be6bd5d71db175c6243401b71725b41d' into power_management

Browse Source
This commit is contained in:
Phillip Kühne 2025-02-15 23:36:59 +01:00
commit ff11ad95b0
Signed by: phillip
GPG Key ID: E4C1C4D2F90902AA
2 changed files with 28 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/motion/Motion.h
View File

@ -23,6 +23,7 @@
#define CHANNEL_LEFT LEDC_CHANNEL_3 #define CHANNEL_LEFT LEDC_CHANNEL_3
#define CHANNEL_RIGHT LEDC_CHANNEL_4 #define CHANNEL_RIGHT LEDC_CHANNEL_4
#define DUTY_RES LEDC_TIMER_13_BIT // Set duty resolution to 13 bits #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 FREQUENCY (5000) // Frequency in Hertz. Set frequency at 5 kHz
#define DEFAULT_BASE_VALUE 3900 #define DEFAULT_BASE_VALUE 3900
@ -32,7 +33,7 @@
class Motor{ class Motor{
public: 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 * @brief Initializes the motor
@ -80,12 +81,17 @@ class Motor{
ledc_channel_t channel; ledc_channel_t channel;
Power* powerManager; Power* powerManager;
uint16_t duty; 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{ class Motion{
protected: protected:
static inline uint16_t RIGHT_MOTOR_DUTY = DEFAULT_BASE_VALUE; static inline uint16_t RIGHT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
static inline uint16_t LEFT_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_RIGHT_PIN = 11;
static const int MOTOR_LEFT_PIN = 12; static const int MOTOR_LEFT_PIN = 12;
static void moveTask(void * args); static void moveTask(void * args);
@ -101,8 +107,8 @@ protected:
public: public:
//Instances of the motors, so they can also be used from outside to set values for the motors directly. //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 left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT,LEFT_MOTOR_PHASE);
static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT); 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) //MotionDetection instance, for motion Correction and user (access with dezibot.motion.detection)
static inline MotionDetection detection; static inline MotionDetection detection;

35
src/motion/Motor.cpp
View File

@ -4,24 +4,27 @@
#define MOTOR_LEFT_PIN 12 #define MOTOR_LEFT_PIN 12
#define MOTOR_RIGHT_PIN 11 #define MOTOR_RIGHT_PIN 11
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->pin = pin;
this->channel = channel; this->channel = channel;
this->timer = timer; this->timer = timer;
this->duty = 0; this->duty = 0;
this->phase = phase;
}; };
void Motor::begin(void) { void Motor::begin(void){
pinMode(this->pin, OUTPUT); pinMode(this->pin,OUTPUT);
ledc_channel_config_t channelConfig = {.gpio_num = this->pin, ledc_channel_config_t channelConfig = {
.speed_mode = LEDC_MODE, .gpio_num = this->pin,
.channel = this->channel, .speed_mode = LEDC_MODE,
.intr_type = LEDC_INTR_DISABLE, .channel = this->channel,
.timer_sel = this->timer, .intr_type = LEDC_INTR_DISABLE,
.duty = 0, // Set duty to 0% .timer_sel = this->timer,
.hpoint = 0}; .duty = 0, // Set duty to 0%
ledc_channel_config(&channelConfig); .hpoint = this->phase
Serial.println("Motor begin done"); };
ledc_channel_config(&channelConfig);
Serial.println("Motor begin done");
}; };
bool Motor::setSpeed(uint16_t duty) { bool Motor::setSpeed(uint16_t duty) {