Init: Rattenfalle

2024-01-27 23:32:45 +01:00
parent 3706823709
commit e82dd3f3a2
18 changed files with 1122 additions and 0 deletions
@@ -0,0 +1,97 @@
+/**
+ * @file DcMotor.hpp
+ * @author Gustice
+ * @brief Simple Driver implementation for DRVxxxx Derivatives from Texas instruments
+ *  DRV8848
+ *
+ * @copyright Copyright (c) 2024
+ */
+
+#include <Arduino.h>
+
+#include <array>
+
+class DcMotor {
+    static constexpr int FullScale = 256;
+
+   public:
+    struct Pins {
+        std::array<int, 2> PwmA;  // PWM control
+        int ErrorIn;              // Error Feedback from driver
+        int Sleep;                // Sleep control (to enter double mode)
+        int Ceil;                 // Maximum speed control
+        int ErrOut;               // Maximum speed control
+    };
+
+    enum State {
+        Startup = 0,
+        Idle,
+        Right,
+        Left,
+    };
+
+    DcMotor(Pins pins) : _pins(pins) {
+        pinMode(_pins.PwmA[0], OUTPUT);
+        pinMode(_pins.PwmA[1], OUTPUT);
+        pinMode(_pins.ErrorIn, INPUT);
+        pinMode(_pins.Sleep, OUTPUT);
+        pinMode(_pins.Ceil, INPUT);
+        pinMode(_pins.ErrOut, OUTPUT);
+
+        // sleep to enter double current mode
+        delay(5);
+        digitalWrite(_pins.Sleep, LOW);
+        delay(5);  // @todo double after successful operation
+        digitalWrite(_pins.Sleep, HIGH);
+
+        // set to break
+        analogWrite(_pins.PwmA[0], FullScale);
+        analogWrite(_pins.PwmA[1], FullScale);
+    }
+
+    void stop() {
+        analogWrite(_pins.PwmA[0], FullScale);
+        analogWrite(_pins.PwmA[1], FullScale);
+
+        _state = Idle;
+    }
+
+    void startRight() {
+        int ceil = analogRead(_pins.Ceil) / 4;
+        _state = Right;
+
+        analogWrite(_pins.PwmA[0], FullScale);
+        analogWrite(_pins.PwmA[1], FullScale - ceil);
+    }
+
+    void startLeft() {
+        int ceil = analogRead(_pins.Ceil) / 4;
+        _state = Left;
+
+        analogWrite(_pins.PwmA[0], FullScale - ceil);
+        analogWrite(_pins.PwmA[1], FullScale);
+    }
+
+    void tick() {
+        int ceil = analogRead(_pins.Ceil) / 4;
+
+        switch (_state) {
+            case Right:
+                analogWrite(_pins.PwmA[1], FullScale - ceil);
+                break;
+
+            case Left:
+                analogWrite(_pins.PwmA[0], FullScale - ceil);
+                break;
+
+            default:
+                break;
+        }
+        int nErr = digitalRead(_pins.ErrorIn);
+        digitalWrite(_pins.ErrOut, nErr == 0);
+    }
+
+   private:
+    Pins _pins;
+    State _state = Startup;
+};