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docs: update readme with current config and web interface details

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- Add Features section with key capabilities overview
- Fix stall detection config (8.0A threshold, sample-based approach)
- Add STALL_STABILIZE_MS, MIN_PWM_PERCENT, CURRENT_LOG_INTERVAL_MS
- Document web interface features and API endpoints
- Update stall protection description with debounce mechanism
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devdesk
2026-02-06 14:16:59 +02:00
parent c7e28c5116
commit 252f0e1ec2
1 changed files with 46 additions and 7 deletions
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readme.md
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@@ -2,6 +2,15 @@
ESP32-based DC motor controller with web interface, using BTS7960 dual H-bridge driver with current sensing and stall protection.
## Features
- Web-based control panel with real-time current monitoring
- Forward/Reverse/Stop motor control with speed slider (20-100%)
- Current sensing on both H-bridge sides (R_IS and L_IS)
- Sample-based stall detection with automatic motor shutoff
- ADC offset calibration at startup for accurate current readings
- Stall warning displayed on web interface
## Hardware
### Components
@@ -77,9 +86,12 @@ Key settings in [`include/config.h`](include/config.h):
| Setting | Default | Description |
|---------|---------|-------------|
| `STALL_CURRENT_THRESHOLD` | 4.0A | Current triggering stall detection |
| `STALL_DETECT_TIME_MS` | 500ms | Duration before stall confirmed |
| `STALL_THRESHOLD` | 8.0A | Current threshold for stall detection |
| `STALL_CONFIRM_SAMPLES` | 3 | Number of consecutive samples to confirm stall (~300ms) |
| `STALL_STABILIZE_MS` | 500ms | Ignore current spikes after direction change |
| `PWM_FREQ` | 20kHz | PWM frequency (reduces motor noise) |
| `MIN_PWM_PERCENT` | 20% | Minimum PWM when motor is running |
| `CURRENT_LOG_INTERVAL_MS` | 100ms | Current sampling/logging interval |
| `CURRENT_SENSING_ENABLED` | true | Enable/disable in [`src/motor.cpp`](src/motor.cpp) |
## Network
@@ -98,11 +110,38 @@ pio run -t upload # Build and upload
pio device monitor # Serial monitor (115200 baud)
```
## Web Interface
Access the control panel at `http://10.81.2.185` (or the IP shown on serial monitor).
### Features
- **Current Display**: Real-time left (L) and right (R) current readings in amps
- **Direction Status**: Shows FORWARD, REVERSE, or STOPPED
- **Speed Slider**: Adjustable from 20% to 100% (minimum PWM prevents motor stalling at low speeds)
- **Stall Warning**: Red banner appears when stall is detected
### API Endpoints
| Endpoint | Method | Parameters | Description |
|----------|--------|------------|-------------|
| `/` | GET | - | Control panel HTML page |
| `/status` | GET | - | JSON: `{speed, direction, currentR, currentL, stalled}` |
| `/speed` | POST | `value` (0-100) | Set motor speed percentage |
| `/direction` | POST | `value` (-1, 0, 1) | Set direction (reverse/stop/forward) |
| `/stop` | POST | - | Emergency stop |
## Stall Protection
When motor current exceeds 4.0A for 500ms continuously:
1. Stall is detected
2. Motor stops immediately
3. Serial log: `STALL PROTECTION: Stopping motor (current: X.XXA)`
The stall detection uses a sample-based approach for reliability:
To resume operation, send a new speed/direction command via the web interface.
1. **Threshold**: Current above 8.0A indicates potential stall (based on observed ~2A running vs ~17A stalled)
2. **Debounce**: 3 consecutive samples above threshold confirms stall (~300ms at 100ms intervals)
3. **Stabilization**: Ignores current spikes for 500ms after direction changes
When stall is confirmed:
1. Motor stops immediately
2. Serial log: `STALL PROTECTION: Stopping motor (current: X.XXA)`
3. Web interface shows red "STALL DETECTED" warning
To resume operation, send a new direction command via the web interface.