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90 lines
2.7 KiB
C++
90 lines
2.7 KiB
C++
/**
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* @file Motion.h
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* @author Jonathan Schulze, Nick Hübenthal, Hans Haupt
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* @brief This component controls the ability to rotate and change position.
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* @version 0.2
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* @date 2023-12-13
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*
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* @copyright Copyright (c) 2023
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*
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*/
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#ifndef Motion_h
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#define Motion_h
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#include <stdint.h>
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#include <Arduino.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include "driver/ledc.h"
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#define LEDC_MODE LEDC_LOW_SPEED_MODE
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#define TIMER LEDC_TIMER_2
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#define CHANNEL_LEFT LEDC_CHANNEL_3
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#define CHANNEL_RIGHT LEDC_CHANNEL_4
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#define DUTY_RES LEDC_TIMER_13_BIT // Set duty resolution to 13 bits
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#define FREQUENCY (5000) // Frequency in Hertz. Set frequency at 5 kHz
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class Motor{
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public:
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Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
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void begin(void);
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void setSpeed(uint16_t duty);
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uint16_t getSpeed(void);
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protected:
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uint8_t pin;
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ledc_timer_t timer;
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ledc_channel_t channel;
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uint16_t duty;
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};
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class Motion{
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protected:
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static const uint16_t RIGHT_MOTOR_DUTY = 4096;
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static const uint16_t LEFT_MOTOR_DUTY = 4096;
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static const int MOTOR_RIGHT_PIN = 11;
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static const int MOTOR_LEFT_PIN = 12;
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static void moveTask(void * args);
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static void leftMotorTask(void * args);
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static void rightMotorTask(void * args);
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public:
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//Shared Timer to sync movement
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static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT);
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static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT);
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/**
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* @brief Initialize the movement component.
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*
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*/
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void begin(void);
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/**
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* @brief Move forward for a certain amount of time.
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* Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
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* @param moveForMs Representing the duration of forward moving in milliseconds.
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*/
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static void move(uint32_t moveForMs=0);
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/**
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* @brief Rotate clockwise for a certain amount of time.
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* Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
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* @param rotateForMs Representing the duration of rotating clockwise in milliseconds.
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*/
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static void rotateClockwise(uint32_t rotateForMs=0);
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/**
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* @brief Rotate anticlockwise for a certain amount of time.
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* Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
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* @param rotateForMs Representing the duration of rotating anticlockwise in milliseconds.
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*/
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static void rotateAntiClockwise(uint32_t rotateForMs=0);
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/**
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* @brief stops any current movement, no matter if timebased or endless
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*
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*/
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static void stop(void);
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};
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#endif //Motion_h
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