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PWM motor control

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This commit is contained in:
Stephen Minakian
2025-07-09 09:10:05 -06:00
parent 5aedf53175
commit 9df678702a
1 changed files with 163 additions and 62 deletions
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223
main/maxxfan-controller.c
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@ -2,32 +2,46 @@
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "driver/ledc.h"
#include "esp_log.h"
// Pin definitions for BTS7960 motor driver
// Pin definitions
#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)
#define PWM_R_PIN GPIO_NUM_21 // BTS7960 R_PWM pin
#define PWM_L_PIN GPIO_NUM_22 // BTS7960 L_PWM pin
static const char* TAG = "MULTI_GPIO";
// PWM configuration
#define PWM_FREQUENCY 1000 // 1kHz PWM frequency
#define PWM_RESOLUTION LEDC_TIMER_8_BIT // 8-bit resolution (0-255)
#define PWM_R_CHANNEL LEDC_CHANNEL_0
#define PWM_L_CHANNEL LEDC_CHANNEL_1
static const char* TAG = "PWM_MOTOR";
// Motor state
typedef enum {
MOTOR_OFF,
MOTOR_EXHAUST,
MOTOR_INTAKE
} motor_mode_t;
static motor_mode_t current_mode = MOTOR_OFF;
static int current_speed = 0; // 0-100%
// 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
// Configure enable pins as regular GPIO
uint64_t pin_mask = (1ULL << LED_PIN) |
(1ULL << MOTOR_R_EN) |
(1ULL << MOTOR_L_EN) |
(1ULL << PWM_R_PIN) |
(1ULL << PWM_L_PIN);
(1ULL << MOTOR_L_EN);
gpio_config_t io_conf = {
.pin_bit_mask = pin_mask, // Set all pins at once
.mode = GPIO_MODE_OUTPUT, // All are outputs
.pin_bit_mask = pin_mask,
.mode = GPIO_MODE_OUTPUT,
.pull_up_en = GPIO_PULLUP_DISABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE
@ -35,85 +49,172 @@ void configure_gpio_pins(void)
gpio_config(&io_conf);
// Initialize all pins to LOW (off)
// Initialize enable pins to LOW
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");
ESP_LOGI(TAG, "GPIO pins configured");
}
// Simulate turning motor on (enable pins HIGH, direction set)
void motor_enable_exhaust(void)
void configure_pwm(void)
{
ESP_LOGI(TAG, "Motor ENABLE - Exhaust Mode");
gpio_set_level(LED_PIN, 1); // LED on for status
ESP_LOGI(TAG, "Configuring PWM...");
// 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
// Configure PWM timer
ledc_timer_config_t timer_conf = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.timer_num = LEDC_TIMER_0,
.duty_resolution = PWM_RESOLUTION,
.freq_hz = PWM_FREQUENCY,
.clk_cfg = LEDC_AUTO_CLK
};
ledc_timer_config(&timer_conf);
gpio_set_level(PWM_R_PIN, 1); // "PWM" on for exhaust direction
gpio_set_level(PWM_L_PIN, 0); // Other direction off
// Configure PWM channel for R_PWM
ledc_channel_config_t channel_conf = {
.channel = PWM_R_CHANNEL,
.duty = 0,
.gpio_num = PWM_R_PIN,
.speed_mode = LEDC_LOW_SPEED_MODE,
.hpoint = 0,
.timer_sel = LEDC_TIMER_0
};
ledc_channel_config(&channel_conf);
// Configure PWM channel for L_PWM
channel_conf.channel = PWM_L_CHANNEL;
channel_conf.gpio_num = PWM_L_PIN;
ledc_channel_config(&channel_conf);
ESP_LOGI(TAG, "PWM configured - Frequency: %dHz, Resolution: %d-bit",
PWM_FREQUENCY, PWM_RESOLUTION);
}
// Simulate changing to intake mode
void motor_enable_intake(void)
void set_motor_speed(motor_mode_t mode, int speed_percent)
{
ESP_LOGI(TAG, "Motor ENABLE - Intake Mode");
gpio_set_level(LED_PIN, 1); // LED on for status
if (speed_percent < 0) speed_percent = 0;
if (speed_percent > 100) speed_percent = 100;
// 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));
current_mode = mode;
current_speed = speed_percent;
gpio_set_level(PWM_R_PIN, 0); // Switch directions
gpio_set_level(PWM_L_PIN, 1); // "PWM" on for intake direction
}
// Convert percentage to PWM duty value (0-255 for 8-bit)
uint32_t duty = (speed_percent * 255) / 100;
// 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);
if (mode == MOTOR_OFF || speed_percent == 0) {
ESP_LOGI(TAG, "Motor OFF");
// Turn off LED
gpio_set_level(LED_PIN, 0);
// Disable both enables
gpio_set_level(MOTOR_R_EN, 0);
gpio_set_level(MOTOR_L_EN, 0);
// Set both PWM to 0
ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL, 0);
ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL, 0);
ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL);
ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL);
} else if (mode == MOTOR_EXHAUST) {
ESP_LOGI(TAG, "Motor EXHAUST - Speed: %d%% (PWM duty: %d/255)",
speed_percent, duty);
// Turn on LED
gpio_set_level(LED_PIN, 1);
// Enable R side, disable L side
gpio_set_level(MOTOR_R_EN, 1);
gpio_set_level(MOTOR_L_EN, 0);
// Small delay for enables to settle
vTaskDelay(pdMS_TO_TICKS(10));
// Set PWM: R side active, L side off
ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL, duty);
ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL, 0);
ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL);
ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL);
} else if (mode == MOTOR_INTAKE) {
ESP_LOGI(TAG, "Motor INTAKE - Speed: %d%% (PWM duty: %d/255)",
speed_percent, duty);
// Turn on LED
gpio_set_level(LED_PIN, 1);
// Enable L side, disable R side
gpio_set_level(MOTOR_R_EN, 0);
gpio_set_level(MOTOR_L_EN, 1);
// Small delay for enables to settle
vTaskDelay(pdMS_TO_TICKS(10));
// Set PWM: L side active, R side off
ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL, 0);
ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL, duty);
ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL);
ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL);
}
}
void app_main(void)
{
ESP_LOGI(TAG, "Starting multi-GPIO motor control test!");
ESP_LOGI(TAG, "Starting PWM motor control test!");
// Configure all our pins
// Configure hardware
configure_gpio_pins();
configure_pwm();
ESP_LOGI(TAG, "Starting motor control sequence...");
ESP_LOGI(TAG, "Starting motor speed test sequence...");
while(1) {
// Test sequence: Off -> Exhaust -> Off -> Intake -> Off
// Test sequence: demonstrate variable speed control
ESP_LOGI(TAG, "=== Motor OFF ===");
motor_disable();
vTaskDelay(pdMS_TO_TICKS(2000)); // Wait 2 seconds
ESP_LOGI(TAG, "\n=== EXHAUST MODE SPEED TEST ===");
ESP_LOGI(TAG, "=== Motor EXHAUST Mode ===");
motor_enable_exhaust();
vTaskDelay(pdMS_TO_TICKS(3000)); // Run for 3 seconds
// Exhaust: ramp up from 0 to 100%
for (int speed = 0; speed <= 100; speed += 25) {
set_motor_speed(MOTOR_EXHAUST, speed);
vTaskDelay(pdMS_TO_TICKS(2000)); // 2 seconds at each speed
}
ESP_LOGI(TAG, "=== Motor OFF ===");
motor_disable();
// Turn off
set_motor_speed(MOTOR_OFF, 0);
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, "\n=== INTAKE MODE SPEED TEST ===");
ESP_LOGI(TAG, "=== Cycle Complete - Restarting ===");
// Intake: ramp up from 0 to 100%
for (int speed = 0; speed <= 100; speed += 25) {
set_motor_speed(MOTOR_INTAKE, speed);
vTaskDelay(pdMS_TO_TICKS(2000)); // 2 seconds at each speed
}
// Turn off
set_motor_speed(MOTOR_OFF, 0);
vTaskDelay(pdMS_TO_TICKS(2000));
ESP_LOGI(TAG, "\n=== SMOOTH SPEED CHANGES ===");
// Demonstrate smooth speed changes in exhaust mode
set_motor_speed(MOTOR_EXHAUST, 30);
vTaskDelay(pdMS_TO_TICKS(2000));
set_motor_speed(MOTOR_EXHAUST, 60);
vTaskDelay(pdMS_TO_TICKS(2000));
set_motor_speed(MOTOR_EXHAUST, 90);
vTaskDelay(pdMS_TO_TICKS(2000));
set_motor_speed(MOTOR_EXHAUST, 40);
vTaskDelay(pdMS_TO_TICKS(2000));
set_motor_speed(MOTOR_OFF, 0);
vTaskDelay(pdMS_TO_TICKS(3000));
ESP_LOGI(TAG, "\n=== Cycle Complete - Restarting ===");
}
}