Binary motor control

main/maxxfan-controller.c

@@ -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)
+// Pin definitions for BTS7960 motor driver
-#define LED_PIN GPIO_NUM_13
+#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 = "MULTI_GPIO";
-static const char* TAG = "BLINK";
+
+// 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
+    // Configure all our pins
-    gpio_config_t io_conf = {
+    configure_gpio_pins();
-        .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
-    };
     
-    // Apply the configuration
+    ESP_LOGI(TAG, "Starting motor control sequence...");
-    gpio_config(&io_conf);
     
-    ESP_LOGI(TAG, "GPIO configured! Starting blink loop...");
-    
-    // Main loop
     while(1) {
-        // Turn LED on
+        // Test sequence: Off -> Exhaust -> Off -> Intake -> Off
-        gpio_set_level(LED_PIN, 1);
-        ESP_LOGI(TAG, "LED ON");
         
-        // Wait 1 second
+        ESP_LOGI(TAG, "=== Motor OFF ===");
-        vTaskDelay(pdMS_TO_TICKS(1000));
+        motor_disable();
+        vTaskDelay(pdMS_TO_TICKS(2000));    // Wait 2 seconds
         
-        // Turn LED off
+        ESP_LOGI(TAG, "=== Motor EXHAUST Mode ===");
-        gpio_set_level(LED_PIN, 0);
+        motor_enable_exhaust();
-        ESP_LOGI(TAG, "LED OFF");
+        vTaskDelay(pdMS_TO_TICKS(3000));    // Run for 3 seconds
         
-        // Wait 1 second
+        ESP_LOGI(TAG, "=== Motor OFF ===");
-        vTaskDelay(pdMS_TO_TICKS(1000));
+        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 ===");
     }
 }