Refactor motor control

main/motor_control.h

@@ -0,0 +1,166 @@
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/timers.h"
+#include "esp_err.h"
+#include <stdbool.h>
+
+// Motor mode enumeration
+typedef enum {
+    MOTOR_OFF,
+    MOTOR_EXHAUST,
+    MOTOR_INTAKE
+} motor_mode_t;
+
+// Motor state enumeration
+typedef enum {
+    MOTOR_STATE_IDLE,           // Motor is off or running normally
+    MOTOR_STATE_RAMPING,        // Motor is ramping up/down
+    MOTOR_STATE_STOPPING,       // Motor is stopping for direction change
+    MOTOR_STATE_COOLDOWN,       // Motor is in cooldown period
+    MOTOR_STATE_RESTARTING      // Motor is restarting after cooldown
+} motor_state_enum_t;
+
+// Motor state structure
+typedef struct {
+    motor_mode_t mode;
+    motor_mode_t pending_mode;      // Mode to switch to after cooldown
+    int target_speed;
+    int pending_speed;              // Speed to set after cooldown
+    int current_speed;
+    motor_state_enum_t state;
+    bool ramping;
+    TimerHandle_t ramp_timer;
+    TimerHandle_t cooldown_timer;
+    uint32_t cooldown_remaining_ms; // For status reporting
+    
+    // State preservation
+    motor_mode_t last_on_mode;      // Last non-OFF mode for ON button
+    int last_on_speed;              // Last non-zero speed for ON button
+    bool user_turned_off;           // Track if user manually turned off
+} motor_state_t;
+
+// Public API functions
+
+/**
+ * @brief Initialize the motor control system
+ * 
+ * Sets up GPIO pins, PWM channels, and creates FreeRTOS timers for ramping and cooldown.
+ * Must be called before any other motor control functions.
+ * 
+ * @return ESP_OK on success, ESP_FAIL on error
+ */
+esp_err_t motor_control_init(void);
+
+/**
+ * @brief Set motor speed and mode
+ * 
+ * Controls the motor with automatic ramping and direction change safety.
+ * Handles cooldown periods when changing directions to prevent mechanical stress.
+ * 
+ * @param mode Motor mode (MOTOR_OFF, MOTOR_EXHAUST, MOTOR_INTAKE)
+ * @param speed_percent Speed percentage (0-100)
+ */
+void motor_set_speed(motor_mode_t mode, int speed_percent);
+
+/**
+ * @brief Get current motor state
+ * 
+ * Returns a pointer to the current motor state structure for status reporting.
+ * The returned pointer should not be modified directly.
+ * 
+ * @return Pointer to motor_state_t structure
+ */
+const motor_state_t* motor_get_state(void);
+
+/**
+ * @brief Update cooldown time tracking
+ * 
+ * Should be called periodically (e.g., every 1 second) to update the
+ * cooldown_remaining_ms field for status reporting.
+ */
+void motor_update_cooldown_time(void);
+
+/**
+ * @brief Get motor mode as string
+ * 
+ * @param mode Motor mode enum value
+ * @return String representation of the mode
+ */
+const char* motor_mode_to_string(motor_mode_t mode);
+
+/**
+ * @brief Get motor state as string
+ * 
+ * @param state Motor state enum value
+ * @return String representation of the state
+ */
+const char* motor_state_to_string(motor_state_enum_t state);
+
+/**
+ * @brief Check if motor is currently ramping
+ * 
+ * @return true if motor is ramping, false otherwise
+ */
+bool motor_is_ramping(void);
+
+/**
+ * @brief Check if motor is in cooldown
+ * 
+ * @return true if motor is in cooldown, false otherwise
+ */
+bool motor_is_in_cooldown(void);
+
+/**
+ * @brief Get cooldown remaining time in milliseconds
+ * 
+ * @return Remaining cooldown time in milliseconds, 0 if not in cooldown
+ */
+uint32_t motor_get_cooldown_remaining(void);
+
+/**
+ * @brief Set the "last on" state for the ON button functionality
+ * 
+ * This is called automatically when the motor is turned on, but can be
+ * called manually to set the default state for the ON button.
+ * 
+ * @param mode Motor mode (should be MOTOR_EXHAUST or MOTOR_INTAKE)
+ * @param speed Speed percentage (1-100)
+ */
+void motor_set_last_on_state(motor_mode_t mode, int speed);
+
+/**
+ * @brief Get the "last on" state
+ * 
+ * @param mode Pointer to store the last on mode
+ * @param speed Pointer to store the last on speed
+ */
+void motor_get_last_on_state(motor_mode_t* mode, int* speed);
+
+/**
+ * @brief Resume last motor state (ON button functionality)
+ * 
+ * Sets the motor to the last known good state (mode and speed).
+ * This is typically called when the user presses an "ON" button.
+ */
+void motor_resume_last_state(void);
+
+/**
+ * @brief Set user turned off flag
+ * 
+ * Tracks whether the user manually turned off the motor.
+ * This affects state restoration behavior after power loss.
+ * 
+ * @param turned_off true if user manually turned off, false otherwise
+ */
+void motor_set_user_turned_off(bool turned_off);
+
+/**
+ * @brief Get user turned off flag
+ * 
+ * @return true if user manually turned off, false otherwise
+ */
+bool motor_get_user_turned_off(void);
+
+#endif // MOTOR_CONTROL_H