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
69 lines
1.8 KiB
C++
69 lines
1.8 KiB
C++
#ifndef MOTOR_H
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#define MOTOR_H
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#include <Arduino.h>
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#include "config.h"
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// Stall callback function type
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typedef void (*StallCallback)();
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class MotorController {
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public:
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// Constructor with pin configuration and motor name
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MotorController(const MotorPins& pins, const char* name);
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void begin();
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void setSpeed(int speed); // 0-100 percentage
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void setDirection(int dir); // -1=reverse, 0=stop, 1=forward
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void stop();
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void update(); // Call in loop() for current monitoring
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int getSpeed();
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int getDirection();
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float getCurrentRight(); // Current in amps (forward direction)
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float getCurrentLeft(); // Current in amps (reverse direction)
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float getCurrentActive(); // Current from active direction
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const char* getName(); // Get motor name for logging
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// Stall detection
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bool isStalled();
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void setStallCallback(StallCallback callback);
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void resetStallDetection();
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private:
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MotorPins _pins;
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const char* _name;
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int _speed = 0;
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int _direction = 0;
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float _currentRight = 0;
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float _currentLeft = 0;
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// ADC zero-current offset (calibrated at startup)
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int _adcOffsetRight = 0;
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int _adcOffsetLeft = 0;
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// Stall detection state
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bool _stalled = false;
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int _stallConfirmCount = 0;
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StallCallback _stallCallback = nullptr;
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unsigned long _lastDirectionChangeTime = 0;
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// Static flag to track if enable pins are already configured
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static bool _enablePinsConfigured;
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void applyMotorState();
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float readCurrentSense(int pin);
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void calibrateCurrentOffset();
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void checkStall();
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};
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// Two motor controller instances
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extern MotorController motor1;
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extern MotorController motor2;
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// Legacy alias for backwards compatibility
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#define motor motor1
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#endif
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