tami/walker_control

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devdesk 6ccbc7faf5 feat: add ESP32 BTS7960 motor controller with web interface

- Implement MotorController class with PWM speed control (0-100%)
- Add bidirectional control (forward/reverse) via LEDC PWM at 20kHz
- Include optional current sensing and stall detection
- Create responsive web UI with speed slider and direction buttons
- Configure WiFi with static IP (10.81.2.185)
- Use built-in WebServer library for ESP32 Arduino 3.x compatibility

2026-02-05 15:08:47 +02:00

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AGENTS.md

This file provides guidance to agents when working with code in this repository.

Project Overview

PlatformIO project for ESP32 LOLIN32 Rev1 controlling BTS7960 dual H-bridge motor driver (12V DC).

Build Commands

pio run              # Build
pio run -t upload    # Build and upload
pio device monitor   # Serial monitor (115200 baud)

Hardware-Specific Notes

Board: ESP32 LOLIN32 Rev1 (use lolin32 in platformio.ini)
Motor Driver: BTS7960 dual H-bridge - requires 4 GPIO pins (RPWM=25, LPWM=26, R_EN=27, L_EN=14)
Power: 12V DC input to motor driver - logic level is 3.3V compatible with ESP32
WiFi: Connects to SSID 'tami' with static IP 10.81.2.185
Reference: https://deepbluembedded.com/arduino-bts7960-dc-motor-driver/

Non-Obvious Notes

Use built-in WebServer library (NOT ESPAsyncWebServer - has enum compatibility issues with ESP32 Arduino 3.x)
WebServer requires handleClient() call in loop() - unlike async version
LEDC PWM at 20kHz reduces motor noise
Enable pins (R_EN, L_EN) must be HIGH before PWM works
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)