220 lines
6.7 KiB
C
Executable File
220 lines
6.7 KiB
C
Executable File
#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/gpio.h"
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#include "driver/ledc.h"
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#include "esp_log.h"
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// Pin definitions
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#define LED_PIN GPIO_NUM_13 // Onboard LED for status
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#define MOTOR_R_EN GPIO_NUM_18 // BTS7960 R_EN pin
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#define MOTOR_L_EN GPIO_NUM_19 // BTS7960 L_EN pin
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#define PWM_R_PIN GPIO_NUM_21 // BTS7960 R_PWM pin
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#define PWM_L_PIN GPIO_NUM_22 // BTS7960 L_PWM pin
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// PWM configuration
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#define PWM_FREQUENCY 1000 // 1kHz PWM frequency
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#define PWM_RESOLUTION LEDC_TIMER_8_BIT // 8-bit resolution (0-255)
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#define PWM_R_CHANNEL LEDC_CHANNEL_0
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#define PWM_L_CHANNEL LEDC_CHANNEL_1
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static const char* TAG = "PWM_MOTOR";
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// Motor state
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typedef enum {
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MOTOR_OFF,
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MOTOR_EXHAUST,
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MOTOR_INTAKE
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} motor_mode_t;
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static motor_mode_t current_mode = MOTOR_OFF;
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static int current_speed = 0; // 0-100%
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void configure_gpio_pins(void)
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{
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ESP_LOGI(TAG, "Configuring GPIO pins...");
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// Configure enable pins as regular GPIO
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uint64_t pin_mask = (1ULL << LED_PIN) |
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(1ULL << MOTOR_R_EN) |
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(1ULL << MOTOR_L_EN);
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gpio_config_t io_conf = {
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.pin_bit_mask = pin_mask,
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.mode = GPIO_MODE_OUTPUT,
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.pull_up_en = GPIO_PULLUP_DISABLE,
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.pull_down_en = GPIO_PULLDOWN_DISABLE,
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.intr_type = GPIO_INTR_DISABLE
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};
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gpio_config(&io_conf);
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// Initialize enable pins to LOW
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gpio_set_level(LED_PIN, 0);
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gpio_set_level(MOTOR_R_EN, 0);
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gpio_set_level(MOTOR_L_EN, 0);
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ESP_LOGI(TAG, "GPIO pins configured");
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}
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void configure_pwm(void)
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{
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ESP_LOGI(TAG, "Configuring PWM...");
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// Configure PWM timer
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ledc_timer_config_t timer_conf = {
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.speed_mode = LEDC_LOW_SPEED_MODE,
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.timer_num = LEDC_TIMER_0,
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.duty_resolution = PWM_RESOLUTION,
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.freq_hz = PWM_FREQUENCY,
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.clk_cfg = LEDC_AUTO_CLK
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};
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ledc_timer_config(&timer_conf);
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// Configure PWM channel for R_PWM
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ledc_channel_config_t channel_conf = {
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.channel = PWM_R_CHANNEL,
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.duty = 0,
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.gpio_num = PWM_R_PIN,
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.speed_mode = LEDC_LOW_SPEED_MODE,
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.hpoint = 0,
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.timer_sel = LEDC_TIMER_0
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};
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ledc_channel_config(&channel_conf);
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// Configure PWM channel for L_PWM
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channel_conf.channel = PWM_L_CHANNEL;
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channel_conf.gpio_num = PWM_L_PIN;
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ledc_channel_config(&channel_conf);
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ESP_LOGI(TAG, "PWM configured - Frequency: %dHz, Resolution: %d-bit",
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PWM_FREQUENCY, PWM_RESOLUTION);
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}
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void set_motor_speed(motor_mode_t mode, int speed_percent)
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{
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if (speed_percent < 0) speed_percent = 0;
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if (speed_percent > 100) speed_percent = 100;
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current_mode = mode;
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current_speed = speed_percent;
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// Convert percentage to PWM duty value (0-255 for 8-bit)
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uint32_t duty = (speed_percent * 255) / 100;
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if (mode == MOTOR_OFF || speed_percent == 0) {
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ESP_LOGI(TAG, "Motor OFF");
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// Turn off LED
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gpio_set_level(LED_PIN, 0);
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// Disable both enables
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gpio_set_level(MOTOR_R_EN, 0);
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gpio_set_level(MOTOR_L_EN, 0);
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// Set both PWM to 0
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL, 0);
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL, 0);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL);
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} else if (mode == MOTOR_EXHAUST) {
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ESP_LOGI(TAG, "Motor EXHAUST - Speed: %d%% (PWM duty: %d/255)",
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speed_percent, duty);
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// Turn on LED
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gpio_set_level(LED_PIN, 1);
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// Enable R side, disable L side
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gpio_set_level(MOTOR_R_EN, 1);
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gpio_set_level(MOTOR_L_EN, 0);
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// Small delay for enables to settle
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vTaskDelay(pdMS_TO_TICKS(10));
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// Set PWM: R side active, L side off
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL, duty);
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL, 0);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL);
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} else if (mode == MOTOR_INTAKE) {
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ESP_LOGI(TAG, "Motor INTAKE - Speed: %d%% (PWM duty: %d/255)",
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speed_percent, duty);
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// Turn on LED
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gpio_set_level(LED_PIN, 1);
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// Enable L side, disable R side
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gpio_set_level(MOTOR_R_EN, 0);
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gpio_set_level(MOTOR_L_EN, 1);
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// Small delay for enables to settle
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vTaskDelay(pdMS_TO_TICKS(10));
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// Set PWM: L side active, R side off
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL, 0);
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL, duty);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL);
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}
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}
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void app_main(void)
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{
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ESP_LOGI(TAG, "Starting PWM motor control test!");
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// Configure hardware
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configure_gpio_pins();
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configure_pwm();
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ESP_LOGI(TAG, "Starting motor speed test sequence...");
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while(1) {
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// Test sequence: demonstrate variable speed control
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ESP_LOGI(TAG, "\n=== EXHAUST MODE SPEED TEST ===");
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// Exhaust: ramp up from 0 to 100%
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for (int speed = 0; speed <= 100; speed += 25) {
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set_motor_speed(MOTOR_EXHAUST, speed);
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vTaskDelay(pdMS_TO_TICKS(2000)); // 2 seconds at each speed
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}
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// Turn off
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set_motor_speed(MOTOR_OFF, 0);
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vTaskDelay(pdMS_TO_TICKS(2000));
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ESP_LOGI(TAG, "\n=== INTAKE MODE SPEED TEST ===");
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// Intake: ramp up from 0 to 100%
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for (int speed = 0; speed <= 100; speed += 25) {
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set_motor_speed(MOTOR_INTAKE, speed);
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vTaskDelay(pdMS_TO_TICKS(2000)); // 2 seconds at each speed
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}
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// Turn off
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set_motor_speed(MOTOR_OFF, 0);
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vTaskDelay(pdMS_TO_TICKS(2000));
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ESP_LOGI(TAG, "\n=== SMOOTH SPEED CHANGES ===");
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// Demonstrate smooth speed changes in exhaust mode
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set_motor_speed(MOTOR_EXHAUST, 30);
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vTaskDelay(pdMS_TO_TICKS(2000));
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set_motor_speed(MOTOR_EXHAUST, 60);
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vTaskDelay(pdMS_TO_TICKS(2000));
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set_motor_speed(MOTOR_EXHAUST, 90);
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vTaskDelay(pdMS_TO_TICKS(2000));
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set_motor_speed(MOTOR_EXHAUST, 40);
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vTaskDelay(pdMS_TO_TICKS(2000));
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set_motor_speed(MOTOR_OFF, 0);
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vTaskDelay(pdMS_TO_TICKS(3000));
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ESP_LOGI(TAG, "\n=== Cycle Complete - Restarting ===");
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}
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} |