restructerd projekt

2021-12-12 16:53:19 +01:00
parent 54e84e4b5d
commit a1d59c18ad
26 changed files with 492 additions and 487 deletions
@@ -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