moving files

lib/MotorControl/motorControl.h

@@ -0,0 +1,164 @@
+/**
+ * @file motorControl.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Inherits a class to control a motor with pwm signal.
+ * @version 0.1
+ * @date 2021-12-09
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+
+#include <cstdint>
+#include <string>
+#include <Arduino.h>
+
+#define DELAY 10
+#define PWMFREQ 16000
+#define PWMRES 8
+#define POWERSTEPS 2       //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
+#define PWMMIN 50
+#define PWMMAX 95         // Max 98% of 2^PWM_RES
+
+/**
+ * @brief A class which use PWM to control the power of DC Motor
+ * You can control the acceleration of the motor, for example to
+ * prevent a damage on your H-Bridge.
+ */
+class MotorControl {
+    public:
+        MotorControl();
+
+        /**
+         * @brief Initalize the motorcontroler
+         * 
+         * @param pwm_pin The output pin for the signal on the esp.
+         * @param pwm_channel One of the pwm channels from the esp.
+         * @param dir_1 First direction pin for the H-Bridge.
+         * @param dir_2 Second direction pin for the H-Bridge.
+         */
+        void init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uint8_t dir_2);
+
+        /**
+         * @brief Calls runMotorControl() to update the pwm signal
+         * 
+         * This function should be called every mainloop. If the delay is not reached, than the
+         * functions returns immediately.
+         * @see runMotorControl()
+         * @see DELAY
+         */
+        void loop();
+
+        /**
+         * @brief Normaly called repeatedly by loop() to update the pwm signal.
+         * 
+         * Checks the difference between target power and current power to
+         * increase or decrease the duty cycle. The amount of decrease or increase
+         * is set by setPowerSetps() (default = 2).
+         */
+        void runMotorControl();
+
+        /**
+         * @brief Set the minimum duty cycle
+         * 
+         * @param min duty cycle in percent
+         */
+        void setMinPwm(uint8_t min);
+
+        /**
+         * @brief Set the maximum duty cycle
+         * 
+         * @param max duty cycle in percent
+         */
+        void setMaxPwm(uint8_t max);
+
+        /**
+         * @brief Set the Power Steps
+         * 
+         * Set the increment of the steps with which the dutycycle is
+         * increased or decreased. Note the dependency between the increment
+         * and delay().
+         * 
+         * The formula for the time between 0% and 100% power is:
+         *      time[ms] = delay * ( 100 / increment )
+         *      500 ms are recommended
+         * 
+         * @see setDelay()
+         * 
+         * @param increment 
+         * @return time from 0% power to 100% power in Milliseconds
+         */
+        uint16_t setPowerSteps(uint8_t increment);
+
+        /**
+         * @brief Set the Target Power
+         * 
+         * @param power power in percent 
+         */
+        void setTargetPower(int8_t power);
+
+        /**
+         * @brief Set the min delay between each loop
+         * 
+         * Note the dependency between delay and
+         * setPowerSteps().
+         * 
+         * @see setPowerSteps()
+         * 
+         * @param delay time in Milliseconds
+         * @return time from 0% power to 100% power in Milliseconds
+         */
+        uint16_t setDelay(uint8_t delay);
+
+        /**
+         * @brief Stops the motor like setTargetPower() to 0
+         * 
+         */
+        void stop();
+
+        /**
+         * @brief Stops the motor immediately
+         * 
+         */
+        void emergencyStop();
+
+        /**
+         * @brief Get the current power
+         * 
+         * @return int8_t percent of power (-100 to 100)
+         */
+        int8_t getPower();
+
+        /**
+         * @brief Get the target power
+         * 
+         * @return int8_t percent of power (-100 to 100)
+         */
+        int8_t getTargetPower();
+        bool isTargetPowerReached();
+        bool isAccelerationPositive();
+        bool isAccelerationNegative();
+
+    private:
+        void setRealPower(int8_t power);
+        void increasePower(int8_t power);
+
+        int8_t target_power = 0;
+        int8_t power = 0;
+        uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
+
+        uint8_t pwm_pin;
+        uint8_t pwm_channel;
+        uint8_t pwm_res = PWMRES;
+        uint8_t dutycycle_min;
+        uint8_t dutycycle_max;
+        uint8_t dir_1;
+        uint8_t dir_2;
+        uint8_t delay = DELAY;
+        uint8_t powersteps = POWERSTEPS;
+        
+};
+
+#endif // MOTOR_CONTROL_H