121 lines
3.3 KiB
C++
121 lines
3.3 KiB
C++
/**
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* @file motorControl.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Inherits a class to control a motor with pwm signal.
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* @version 0.1
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* @date 2021-12-09
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*
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* @copyright Copyright (c) 2021
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*
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*/
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#ifndef MOTOR_CONTROL_H
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#define MOTOR_CONTROL_H
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#include <cstdint>
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#include <string>
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#include <iostream>
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#include <Arduino.h>
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#include "component.h"
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/**
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* @brief A class which use PWM to control the power of DC Motor
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* You can control the acceleration of the motor, for example to
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* prevent a damage on your H-Bridge.
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*/
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class MotorControl : public Component {
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public:
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MotorControl();
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/**
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* @brief Initialize the motorController
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*
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* @param pwmPin The output pin for the signal on the esp.
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* @param pwmChannel One of the pwm channels from the esp.
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* @param dir_1 First direction pin for the H-Bridge.
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* @param dir_2 Second direction pin for the H-Bridge.
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*/
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void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);
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/**
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* @brief Set the minimum duty cycle
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*
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* @param min duty cycle in percent
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*/
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void setMinPwm(uint8_t min);
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/**
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* @brief Set the maximum duty cycle
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*
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* @param max duty cycle in percent
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*/
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void setMaxPwm(uint8_t max);
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/**
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* @brief Set the Target Power
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*
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* If the given power is greater than 100 or smaller than -100, then
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* this function only print an error to consol.
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*
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* @param power power in percent
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*/
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void setTargetPower(int8_t power);
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/**
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* @brief Stops the motor like setTargetPower() to 0
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*
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*/
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void stop();
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/**
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* @brief Stops the motor immediately
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*
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*/
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void emergencyStop();
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/**
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* @brief Get the current power
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*
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* @return int8_t percent of power (-100 to 100)
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*/
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int8_t getPower() const { return this->power; };
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/**
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* @brief Get the target power
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*
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* @return int8_t percent of power (-100 to 100)
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*/
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int8_t getTargetPower() const { return this->targetPower; };
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uint16_t getDutycycle() const { return this->dutycycle; }
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bool isTargetPowerReached() const;
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bool isAccelerationPositive() const;
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bool isAccelerationNegative() const;
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private:
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void run() override;
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void setRealPower(int8_t power);
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void increasePower(int8_t power);
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static constexpr uint8_t loopDelay = 10;
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static constexpr uint16_t pwmFreq = 16000;
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static constexpr uint8_t pwmRes = 8;
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static constexpr uint8_t powerSteps = 2; // A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
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static constexpr uint8_t pwmMin = 55;
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static constexpr uint8_t pwmMax = 98; // Max 98% of 2^PWM_RES
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int8_t targetPower = 0;
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int8_t power = 0;
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uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
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uint8_t pwmPin;
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uint8_t pwmChannel;
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uint16_t dutycycle = 0;
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uint8_t dutycycleMin;
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uint8_t dutycycleMax;
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uint8_t dir_1;
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uint8_t dir_2;
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};
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#endif // MOTOR_CONTROL_H
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