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Merge commit 'bb338d31be6bd5d71db175c6243401b71725b41d' into power_management

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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
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12
src/motion/Motion.h
View File

@ -23,6 +23,7 @@
#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
@ -32,7 +33,7 @@
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
@ -80,12 +81,17 @@ class Motor{
ledc_channel_t channel;
Power* powerManager;
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);
@ -101,8 +107,8 @@ 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;

13
src/motion/Motor.cpp
View File

@ -4,22 +4,25 @@
#define MOTOR_LEFT_PIN 12
#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->channel = channel;
this->timer = timer;
this->duty = 0;
this->phase = phase;
};
void Motor::begin(void) {
pinMode(this->pin, OUTPUT);
ledc_channel_config_t channelConfig = {.gpio_num = this->pin,
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};
.hpoint = this->phase
};
ledc_channel_config(&channelConfig);
Serial.println("Motor begin done");
};