f157d3abc5
- Refactor MotorController to parameterized class with MotorPins struct - Add motor1 and motor2 instances with shared enable pins (GPIO 14, 27) - Motor 2 uses GPIO 32/33 for PWM, GPIO 36/39 for current sense - Update web UI with side-by-side dual motor control panels - Add per-motor API endpoints (/motor1/*, /motor2/*) - Add emergency stop button for both motors - Legacy endpoints map to motor1 for backwards compatibility - Update readme and AGENTS.md documentation
82 lines
3.1 KiB
C
82 lines
3.1 KiB
C
#ifndef CONFIG_H
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#define CONFIG_H
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// WiFi Configuration
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#define WIFI_SSID "tami"
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#define WIFI_PASSWORD ""
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// Static IP Configuration
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#define STATIC_IP IPAddress(10, 81, 2, 185)
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#define GATEWAY IPAddress(10, 81, 2, 1)
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#define SUBNET IPAddress(255, 255, 255, 0)
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#define DNS IPAddress(10, 81, 2, 1)
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// Shared Enable Pins (both drivers share these)
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#define R_EN_PIN 27 // Right Enable (shared)
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#define L_EN_PIN 14 // Left Enable (shared)
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// Motor 1 BTS7960 Pin Definitions
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#define RPWM1_PIN 25 // Right PWM Motor 1 (Forward)
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#define LPWM1_PIN 26 // Left PWM Motor 1 (Reverse)
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#define R_IS1_PIN 34 // Right Current Sense Motor 1 (ADC input only)
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#define L_IS1_PIN 35 // Left Current Sense Motor 1 (ADC input only)
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// Motor 2 BTS7960 Pin Definitions
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#define RPWM2_PIN 32 // Right PWM Motor 2 (Forward)
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#define LPWM2_PIN 33 // Left PWM Motor 2 (Reverse)
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#define R_IS2_PIN 36 // Right Current Sense Motor 2 (ADC input only - VP)
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#define L_IS2_PIN 39 // Left Current Sense Motor 2 (ADC input only - VN)
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// PWM Configuration
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#define PWM_FREQ 20000 // 20kHz - reduces motor noise
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#define PWM_RESOLUTION 8 // 8-bit resolution (0-255)
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#define PWM_CHANNEL_R1 0 // LEDC channel for Motor 1 RPWM
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#define PWM_CHANNEL_L1 1 // LEDC channel for Motor 1 LPWM
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#define PWM_CHANNEL_R2 2 // LEDC channel for Motor 2 RPWM
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#define PWM_CHANNEL_L2 3 // LEDC channel for Motor 2 LPWM
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#define MIN_PWM_PERCENT 20 // Minimum PWM when motor is running (%)
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// Motor pin configuration structure
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struct MotorPins {
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uint8_t rpwm; // Right PWM pin (forward)
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uint8_t lpwm; // Left PWM pin (reverse)
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uint8_t r_is; // Right current sense pin
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uint8_t l_is; // Left current sense pin
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uint8_t pwm_channel_r; // LEDC PWM channel for right
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uint8_t pwm_channel_l; // LEDC PWM channel for left
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};
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// Motor 1 pin configuration
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const MotorPins MOTOR1_PINS = {
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RPWM1_PIN, LPWM1_PIN, R_IS1_PIN, L_IS1_PIN, PWM_CHANNEL_R1, PWM_CHANNEL_L1
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};
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// Motor 2 pin configuration
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const MotorPins MOTOR2_PINS = {
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RPWM2_PIN, LPWM2_PIN, R_IS2_PIN, L_IS2_PIN, PWM_CHANNEL_R2, PWM_CHANNEL_L2
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};
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// Current Sense Configuration
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// BTS7960 current sense ratio: 8500:1 (kilo-amps)
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// With 1kΩ resistor on IS pin: V = I_motor / 8500
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// ESP32 ADC: 12-bit (0-4095), 0-3.3V
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#define CURRENT_SENSE_RATIO 8500.0f // Amps to sense current ratio
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#define SENSE_RESISTOR 1000.0f // 1kΩ sense resistor (ohms)
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#define ADC_MAX 4095.0f // 12-bit ADC max value
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#define ADC_VREF 3.3f // ADC reference voltage
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#define CURRENT_CALIBRATION 1.0f // Calibration factor (measured current / reported current)
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// Current logging interval for data collection
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#define CURRENT_LOG_INTERVAL_MS 100 // Log current readings every 100ms
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// Simple Stall Detection
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// Based on clean data: Running ~2A, Stall ~17A (8.5x difference)
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#define STALL_THRESHOLD 8.0f // Amps - midpoint between 2A run and 17A stall
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#define STALL_CONFIRM_SAMPLES 3 // Debounce: 3 samples = 300ms at 100ms interval
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#define STALL_STABILIZE_MS 500 // Ignore current spikes for 500ms after direction change
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// Web Server
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#define HTTP_PORT 80
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#endif
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