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
37 lines
1.8 KiB
Markdown
37 lines
1.8 KiB
Markdown
# AGENTS.md
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This file provides guidance to agents when working with code in this repository.
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## Project Overview
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PlatformIO project for ESP32 LOLIN32 Rev1 controlling **two BTS7960 dual H-bridge motor drivers** for a differential drive robot (12V DC).
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## Build Commands
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```bash
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pio run # Build
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pio run -t upload # Build and upload
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pio device monitor # Serial monitor (115200 baud)
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```
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## Hardware-Specific Notes
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- **Board**: ESP32 LOLIN32 Rev1 (use `lolin32` in platformio.ini)
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- **Motor Drivers**: 2× BTS7960 dual H-bridge - shared enable pins, independent PWM and current sense
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- **Motor 1**: RPWM=25, LPWM=26, R_IS=34, L_IS=35 (PWM channels 0,1)
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- **Motor 2**: RPWM=32, LPWM=33, R_IS=36, L_IS=39 (PWM channels 2,3)
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- **Shared enables**: R_EN=27, L_EN=14 (both drivers enable together)
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- **Power**: 12V DC input to motor drivers - logic level is 3.3V compatible with ESP32
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- **WiFi**: Connects to SSID 'tami' with static IP 10.81.2.185
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- **Reference**: https://deepbluembedded.com/arduino-bts7960-dc-motor-driver/
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## Non-Obvious Notes
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- Use built-in `WebServer` library (NOT ESPAsyncWebServer - has enum compatibility issues with ESP32 Arduino 3.x)
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- WebServer requires `handleClient()` call in loop() - unlike async version
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- LEDC PWM at 20kHz reduces motor noise
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- Enable pins (R_EN, L_EN) must be HIGH before PWM works - configured once by first motor init
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- **BTS7960 is 3.3V compatible**: Inputs are TTL/CMOS compatible (VIL<0.8V, VIH>2.0V) - ESP32 GPIOs work directly without level shifters (per BTN7960 datasheet section 5.4.1)
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- **MotorController is parameterized**: Instances `motor1` and `motor2` are created with `MotorPins` struct
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- **Legacy compatibility**: `motor` macro aliases to `motor1`, legacy `/speed` and `/direction` endpoints map to motor1
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