75 lines
1.7 KiB
C++
75 lines
1.7 KiB
C++
#ifndef DRIVE_MOTOR
|
|
#define DRIVE_MOTOR
|
|
|
|
#include <Arduino.h>
|
|
|
|
class DriveMotor {
|
|
|
|
private:
|
|
|
|
//defaults are for EPS32 dev board
|
|
static const uint8_t enable_pin = 26;
|
|
static const uint8_t forward_pin = 27; //Clockwise
|
|
static const uint8_t backward_pin = 14; //Counter-clockwise
|
|
static const uint8_t encoder_a_pin = 33;
|
|
static const uint8_t encoder_b_pin = 25;
|
|
|
|
const uint32_t pwm_frequency = 5000;
|
|
const uint8_t pwm_channel = 0;
|
|
const uint8_t pwm_resolution = 10;
|
|
const uint16_t pwm_maximum = 1024; //8 = 255, 10 = 1024, 16 = 65535
|
|
|
|
const uint8_t ppr = 11;
|
|
const float ratio = 187.0 / 3.0;
|
|
const uint32_t pulses_per_rotation = (int) round((float) ppr * ratio);
|
|
const uint8_t frames_per_rotation = 18;
|
|
const float pulses_per_frame = (float) pulses_per_rotation / (float) frames_per_rotation;
|
|
|
|
volatile uint32_t pwm_duty_cycle = 0;
|
|
|
|
static int32_t pulses;
|
|
|
|
//state
|
|
volatile long timer = 0;
|
|
volatile long start_time = 0;
|
|
volatile int32_t start_rotation = 0;
|
|
volatile int32_t start_frame = 0;
|
|
|
|
//measure
|
|
volatile float rpm = 0.0;
|
|
volatile float rpm_max = -1.0;
|
|
volatile float rpm_min = 100000.0;
|
|
volatile float rpm_avg = -1.0;
|
|
volatile int32_t rotations = 0;
|
|
volatile int32_t last_rotation = 0;
|
|
|
|
volatile float fps = 0.0;
|
|
volatile float fps_max = -1.0;
|
|
volatile float fps_min = 100000.0;
|
|
volatile float fps_avg = -1.0;
|
|
volatile int32_t frames = 0;
|
|
volatile int32_t last_frame = 0;
|
|
|
|
//target
|
|
volatile float target_fps = 0.0;
|
|
volatile float target_rpm = 0.0;
|
|
|
|
public:
|
|
|
|
DriveMotor();
|
|
void Setup();
|
|
void Loop();
|
|
void Start();
|
|
void Stop();
|
|
void SetSpeed(float speed);
|
|
|
|
float CalculateFPS (long time_length, uint32_t frames);
|
|
float CalculateRPM (long time_length, uint32_t rotations);
|
|
|
|
protected:
|
|
|
|
static void ReadEncoder();
|
|
|
|
};
|
|
|
|
#endif |