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more refactor bug fixes

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kleiax
2023-10-13 14:17:51 +02:00
parent f0474027be
commit a7930e2915
14 changed files with 21 additions and 655 deletions
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lib/MotorControl/motorControl.cpp
+5 -24
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@@ -33,6 +33,7 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
ledcSetup(this->pwmChannel, MotorControl::pwmFreq, MotorControl::pwmRes);
ledcAttachPin(this->pwmPin, this->pwmChannel);
ledcWrite(this->pwmChannel, 0);
std::cout << "Init pwm" << std::endl;
}
void MotorControl::run()
@@ -56,7 +57,7 @@ void MotorControl::run()
return;
}
// Positive or negative tagret speed
// Positive or negative target speed
if (this->targetPower >= 0)
{
// Positive or negative speed
@@ -97,28 +98,6 @@ void MotorControl::run()
}
}
void MotorControl::setMinPwm(uint8_t min)
{
if (min > MotorControl::maxPwmMin)
{
min = MotorControl::maxPwmMin;
}
// transform percentage to real pwm value
min = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (min / 100.0));
this->dutycycleMin = min;
}
void MotorControl::setMaxPwm(uint8_t max)
{
if (max > 100)
{
max = 100;
}
// transform percentage to real pwm value
max = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (max / 100.0));
this->dutycycleMax = max;
}
void MotorControl::setTargetPower(int8_t power)
{
if (power <= 100 && power >= -100)
@@ -174,10 +153,11 @@ void MotorControl::setRealPower(int8_t power)
digitalWrite(this->dir_2, LOW);
ledcWrite(this->pwmChannel, 0);
this->dutycycle = 0;
std::cout << "abort" << std::endl;
return;
}
const uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
const uint8_t pwm_val = map(abs(power), 0, 100, MotorControl::minPwmVal, MotorControl::maxPwmVal);
if ((this->direction == 1 || this->direction == 0) && power < 0)
{ // new direction backward
@@ -192,6 +172,7 @@ void MotorControl::setRealPower(int8_t power)
digitalWrite(this->dir_2, LOW);
}
std::cout << "MotorControl::setRealPower pwm_val: " << (int) pwm_val << " channel:" << (int) this->pwmChannel << std::endl;
ledcWrite(this->pwmChannel, pwm_val);
this->dutycycle = pwm_val;
}