restructerd projekt

lib/MotorControl/motorControl.cpp

@@ -0,0 +1,167 @@
+#include "motorControl.h"
+
+MotorControl::MotorControl() {}
+
+void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uint8_t dir_2) {
+    this->pwm_pin = pwm_pin;
+    this->pwm_channel = pwm_channel;
+    this->dir_1 = dir_1;
+    this->dir_2 = dir_2;
+
+    pinMode(this->dir_1, OUTPUT);
+    pinMode(this->dir_2, OUTPUT);
+
+    digitalWrite(this->dir_1, LOW);
+    digitalWrite(this->dir_2, LOW);
+
+    ledcSetup(this->pwm_channel, PWMFREQ, PWMRES);
+    ledcAttachPin(this->pwm_pin, this->pwm_channel);
+    ledcWrite(this->pwm_channel, 0);
+}
+
+void MotorControl::loop() {
+    static uint32_t last_millis = 0;
+    uint32_t time = millis();
+
+    //Cancel if delay is not reached
+    if (time - last_millis < delay) {
+        return;
+    }
+    runMotorControl();
+    last_millis = time;
+}
+
+void MotorControl::runMotorControl() {
+    // Absolute difference between target_power and speed
+    uint8_t abs_difference = abs(this->target_power - this->power);
+
+    // Difference between target_power and speed
+    int16_t difference = this->target_power - this->power;
+
+    // Check that the target speed is close to 0 and that the abs_difference is lower than powersteps
+    if (abs(this->target_power) <  powersteps && abs_difference < powersteps) {
+        this->setRealPower(0);
+        return;
+    }
+
+    // Correct speed
+    if (abs_difference < powersteps) {
+        return;
+    }
+
+    // Positive or negative tagret speed
+    if (this->target_power >= 0) {
+        // Positive or negative speed
+        if (this->power >= 0) {
+            if (difference > 0) {
+                this->increasePower(powersteps);
+            } else {
+                this->increasePower(-powersteps);
+            }
+        } else {
+            this->increasePower(powersteps);
+        }
+
+    } else {
+        // Positive or negative speed
+        if (this->power >= 0) {
+            this->increasePower(-powersteps);
+        } else {
+            if (difference > 0) {
+                this->increasePower(powersteps);
+            } else {
+                this->increasePower(-powersteps);
+            }
+        }
+    }
+}
+
+void MotorControl::setTargetPower(int8_t power) {
+    if (power <= 100 && power >= -100) {
+        this->target_power = power;
+    } else {
+        char str[64];
+        sprintf(str, "Invalid Argument (power: %d) in setTargetPower!", power);
+    }
+}
+
+void MotorControl::stop() {
+    this->target_power = 0;
+}
+
+void MotorControl::emergencyStop() {
+    setRealPower(0);
+    while(1)
+}
+
+void MotorControl::toString() {
+    Serial.printf("Target power: %d, power: %d, direction: %d \n", this->target_power, this->power, this->direction);
+}
+
+int8_t MotorControl::getPower() {
+    return this->power;
+}
+
+int8_t MotorControl::getTargetPower() {
+    return this->target_power;
+}
+
+bool MotorControl::isTargetPowerReached() {
+    if (this->target_power == this->power)
+        return true;
+    return false;
+}
+
+bool MotorControl::isAccelerationPositive() {
+    if (power < target_power)
+        return true;
+    return false;
+}
+
+bool MotorControl::isAccelerationNegative() {
+    if (power > target_power)
+        return true;
+    return false;
+}
+
+void MotorControl::setRealPower(int8_t power) {
+    //TODO: Exceptionhandling
+    if (power <= 100 || power <= -100) {
+        this->power = power;
+    } else {
+        return;
+    }
+
+    if (power == 0) {
+        this->direction = 0;
+        digitalWrite(this->dir_1, LOW);
+        digitalWrite(this->dir_2, LOW);
+        ledcWrite(this->pwm_channel, 0);
+        return;
+    }
+
+    uint8_t pwm_val = map(abs(power), 0, 100, this->pwm_min, this->pwm_max);
+
+    if ((this->direction == 1 || this->direction == 0) && power < 0){  // new direction backward
+        this->direction = 2;
+        digitalWrite(this->dir_1, LOW);
+        digitalWrite(this->dir_2, HIGH);
+    } else if ((this->direction == 2 || this->direction == 0) && power > 0){  // new direction forward
+        this->direction = 1;
+        digitalWrite(this->dir_1, HIGH);
+        digitalWrite(this->dir_2, LOW);
+    }
+
+    ledcWrite(this->pwm_channel, pwm_val);
+}
+
+void MotorControl::increasePower(int8_t power) {
+    //TODO: Exceptionhandling
+    //TODO: make a stop befor a direction change
+    if (abs(power) > 2 * powersteps) {
+        Serial.println("Invalid Argument in MotorControl::increasePower");
+        return;
+    }
+
+    this->setRealPower(this->power + power);
+}

lib/MotorControl/motorControl.h

@@ -0,0 +1,86 @@
+/**
+ * @file motorControl.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @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 
+ * 
+ */
+class MotorControl {
+    public:
+        MotorControl();
+        void init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uint8_t dir_2);
+        void loop();
+        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);
+
+        void setPowerSteps(uint8_t steps); // Min anfahrkurve einbauen 
+        void setTargetPower(int8_t power);
+        void setDelay(uint8_t delay); // Min anfahrkurve einbauen
+        void stop();
+
+        /**
+         * @brief 
+         * 
+         */
+        void emergencyStop();
+
+        int8_t getPower();
+        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_min = PWMMIN;
+        uint8_t pwm_max = PWMMAX;
+        uint8_t dir_1;
+        uint8_t dir_2;
+        uint8_t delay = DELAY;
+        uint8_t powersteps = POWERSTEPS;
+        
+};
+
+#endif // MOTOR_CONTROL_H