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Binary motor control

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This commit is contained in:
Stephen Minakian
2025-07-08 19:03:09 -06:00
parent d0fb62af9b
commit 5aedf53175
1 changed files with 100 additions and 28 deletions
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main/maxxfan-controller.c
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@ -4,44 +4,116 @@
#include "driver/gpio.h"
#include "esp_log.h"
// Define which GPIO pin to use (most ESP32 boards have LED on GPIO2)
#define LED_PIN GPIO_NUM_13
// Pin definitions for BTS7960 motor driver
#define LED_PIN GPIO_NUM_13 // Onboard LED for status
#define MOTOR_R_EN GPIO_NUM_18 // BTS7960 R_EN pin
#define MOTOR_L_EN GPIO_NUM_19 // BTS7960 L_EN pin
#define PWM_R_PIN GPIO_NUM_21 // BTS7960 R_PWM pin (we'll just use as GPIO for now)
#define PWM_L_PIN GPIO_NUM_22 // BTS7960 L_PWM pin (we'll just use as GPIO for now)
// Tag for logging
static const char* TAG = "BLINK";
static const char* TAG = "MULTI_GPIO";
// Function to configure all GPIO pins
void configure_gpio_pins(void)
{
ESP_LOGI(TAG, "Configuring GPIO pins...");
// Create bit mask for all our output pins
uint64_t pin_mask = (1ULL << LED_PIN) |
(1ULL << MOTOR_R_EN) |
(1ULL << MOTOR_L_EN) |
(1ULL << PWM_R_PIN) |
(1ULL << PWM_L_PIN);
gpio_config_t io_conf = {
.pin_bit_mask = pin_mask, // Set all pins at once
.mode = GPIO_MODE_OUTPUT, // All are outputs
.pull_up_en = GPIO_PULLUP_DISABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE
};
gpio_config(&io_conf);
// Initialize all pins to LOW (off)
gpio_set_level(LED_PIN, 0);
gpio_set_level(MOTOR_R_EN, 0);
gpio_set_level(MOTOR_L_EN, 0);
gpio_set_level(PWM_R_PIN, 0);
gpio_set_level(PWM_L_PIN, 0);
ESP_LOGI(TAG, "All GPIO pins configured and initialized to LOW");
}
// Simulate turning motor on (enable pins HIGH, direction set)
void motor_enable_exhaust(void)
{
ESP_LOGI(TAG, "Motor ENABLE - Exhaust Mode");
gpio_set_level(LED_PIN, 1); // LED on for status
// For exhaust: only enable R side, disable L side
gpio_set_level(MOTOR_R_EN, 1); // Enable R half-bridge for exhaust
gpio_set_level(MOTOR_L_EN, 0); // Disable L half-bridge (not needed)
vTaskDelay(pdMS_TO_TICKS(50)); // Small delay for enable to settle
gpio_set_level(PWM_R_PIN, 1); // "PWM" on for exhaust direction
gpio_set_level(PWM_L_PIN, 0); // Other direction off
}
// Simulate changing to intake mode
void motor_enable_intake(void)
{
ESP_LOGI(TAG, "Motor ENABLE - Intake Mode");
gpio_set_level(LED_PIN, 1); // LED on for status
// For intake: only enable L side, disable R side
gpio_set_level(MOTOR_R_EN, 0); // Disable R half-bridge (not needed)
gpio_set_level(MOTOR_L_EN, 1); // Enable L half-bridge for intake
vTaskDelay(pdMS_TO_TICKS(50));
gpio_set_level(PWM_R_PIN, 0); // Switch directions
gpio_set_level(PWM_L_PIN, 1); // "PWM" on for intake direction
}
// Turn motor completely off
void motor_disable(void)
{
ESP_LOGI(TAG, "Motor DISABLE");
gpio_set_level(LED_PIN, 0); // LED off for status
gpio_set_level(MOTOR_R_EN, 0); // Disable motor driver
gpio_set_level(MOTOR_L_EN, 0);
gpio_set_level(PWM_R_PIN, 0); // Turn off both "PWM" pins
gpio_set_level(PWM_L_PIN, 0);
}
void app_main(void)
{
ESP_LOGI(TAG, "Starting blink example!");
ESP_LOGI(TAG, "Starting multi-GPIO motor control test!");
// Configure the GPIO pin as output
gpio_config_t io_conf = {
.pin_bit_mask = (1ULL << LED_PIN), // Bit mask for the pin
.mode = GPIO_MODE_OUTPUT, // Set as output mode
.pull_up_en = GPIO_PULLUP_DISABLE, // Disable pull-up
.pull_down_en = GPIO_PULLDOWN_DISABLE, // Disable pull-down
.intr_type = GPIO_INTR_DISABLE // Disable interrupt
};
// Configure all our pins
configure_gpio_pins();
// Apply the configuration
gpio_config(&io_conf);
ESP_LOGI(TAG, "Starting motor control sequence...");
ESP_LOGI(TAG, "GPIO configured! Starting blink loop...");
// Main loop
while(1) {
// Turn LED on
gpio_set_level(LED_PIN, 1);
ESP_LOGI(TAG, "LED ON");
// Test sequence: Off -> Exhaust -> Off -> Intake -> Off
// Wait 1 second
vTaskDelay(pdMS_TO_TICKS(1000));
ESP_LOGI(TAG, "=== Motor OFF ===");
motor_disable();
vTaskDelay(pdMS_TO_TICKS(2000)); // Wait 2 seconds
// Turn LED off
gpio_set_level(LED_PIN, 0);
ESP_LOGI(TAG, "LED OFF");
ESP_LOGI(TAG, "=== Motor EXHAUST Mode ===");
motor_enable_exhaust();
vTaskDelay(pdMS_TO_TICKS(3000)); // Run for 3 seconds
// Wait 1 second
vTaskDelay(pdMS_TO_TICKS(1000));
ESP_LOGI(TAG, "=== Motor OFF ===");
motor_disable();
vTaskDelay(pdMS_TO_TICKS(2000));
ESP_LOGI(TAG, "=== Motor INTAKE Mode ===");
motor_enable_intake();
vTaskDelay(pdMS_TO_TICKS(3000)); // Run for 3 seconds
ESP_LOGI(TAG, "=== Cycle Complete - Restarting ===");
}
}