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MCPWM Implementation update for ESP-IDF 5.0 #90

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merged 11 commits into from
Feb 1, 2024
Merged

MCPWM Implementation update for ESP-IDF 5.0 #90

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541806d
Added new mcpwm interface
SuperChamp234 Oct 26, 2023
9e89c43
Update .gitignore
SuperChamp234 Jan 10, 2024
bf23d26
Add get_motor_driver_status function
SuperChamp234 Jan 31, 2024
83850f6
update bitmask in bar_graph.c
SuperChamp234 Jan 31, 2024
59f299d
Fix header file include guards
SuperChamp234 Jan 31, 2024
b586181
Update motor driver configuration to have macros for frequency and re…
SuperChamp234 Jan 31, 2024
3b22f08
Refactor motor driver code and remove unnecessary imports
SuperChamp234 Jan 31, 2024
0fb2c89
Add servo.h header file, which was removed by mistake
SuperChamp234 Jan 31, 2024
c5e30ab
Fix motor driver and remove unnecessary include
SuperChamp234 Jan 31, 2024
2071ad3
Add esp_log.h include
SuperChamp234 Jan 31, 2024
7435bdc
added description for mapping.
SuperChamp234 Feb 1, 2024
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4 changes: 3 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
set(srcs "src/i2cdev.c" "src/adc.c" "src/bar_graph.c" "src/switches.c" "src/lsa.c" "src/motor_driver.c" "src/mpu6050.c" "src/servo.c" "src/utils.c")
cmake_minimum_required(VERSION 3.22)

set(srcs "src/i2cdev.c" "src/adc.c" "src/bar_graph.c" "src/switches.c" "src/lsa.c" "src/mcpwm_interface.c" "src/mpu6050.c" "src/servo.c" "src/utils.c" "src/motor_driver.c")
set(include_dirs include)

if(CONFIG_ENABLE_OLED)
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32 changes: 13 additions & 19 deletions examples/motor_driver_normal/main/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,27 +27,21 @@
#include "freertos/task.h"
#include "sra_board.h"

static const char* TAG_SWITCH_CONTROL_MOTOR = "switch_control";
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static const char* TAG = "MOTOR";
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void app_main(void)
{
enable_motor_driver(a, NORMAL_MODE); // Enable motor driver A in Normal Mode
while(1)
{
// Rotate Motors A_0 and A_1 in FORWARD direction
set_motor_speed(MOTOR_A_0, MOTOR_FORWARD, 80);
ESP_LOGI(TAG_SWITCH_CONTROL_MOTOR, "MOTOR_A_0 FORWARD");
set_motor_speed(MOTOR_A_1, MOTOR_FORWARD, 80);
ESP_LOGI(TAG_SWITCH_CONTROL_MOTOR, "MOTOR_A_1 FORWARD");

vTaskDelay(2000 / portTICK_PERIOD_MS);

// Rotate Motors A_0 and A_1 in BACKWARD direction
set_motor_speed(MOTOR_A_0, MOTOR_BACKWARD, 80);
ESP_LOGI(TAG_SWITCH_CONTROL_MOTOR, "MOTOR_A_0 BACKWARD");
set_motor_speed(MOTOR_A_1, MOTOR_BACKWARD, 80);
ESP_LOGI(TAG_SWITCH_CONTROL_MOTOR, "MOTOR_A_1 BACKWARD");

vTaskDelay(2000 / portTICK_PERIOD_MS);
motor_handle_t motor1;
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enable_motor_driver(&motor1, MOTOR_A_1);
while(1){
set_motor_speed(motor1, MOTOR_FORWARD, 60);
ESP_LOGI(TAG, "Forward");
vTaskDelay(1000 / portTICK_PERIOD_MS);
set_motor_speed(motor1, MOTOR_BACKWARD, 60);
ESP_LOGI(TAG, "Backward");
vTaskDelay(1000 / portTICK_PERIOD_MS);
set_motor_speed(motor1, MOTOR_STOP, 0);
ESP_LOGI(TAG, "Stop");
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}
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