dffb859826
- Add STALL_THRESHOLD (8A) and STALL_CONFIRM_SAMPLES (3) config - Add 500ms stabilization delay after direction change to prevent false positives - Add stall warning banner in web UI - Stop motor and pingpong when stall detected Algorithm: If active current > 8A for 3 consecutive samples (300ms), and motor has been running for at least 500ms, trigger stall callback.
53 lines
1.9 KiB
C
53 lines
1.9 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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// BTS7960 Pin Definitions
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#define L_EN_PIN 14 // Left Enable
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#define LPWM_PIN 26 // Left PWM (Reverse)
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#define L_IS_PIN 35 // Left Current Sense (ADC input only)
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#define R_EN_PIN 27 // Right Enable
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#define RPWM_PIN 25 // Right PWM (Forward)
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#define R_IS_PIN 34 // Right Current Sense (ADC input only)
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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_R 0 // LEDC channel for RPWM
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#define PWM_CHANNEL_L 1 // LEDC channel for LPWM
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#define MIN_PWM_PERCENT 20 // Minimum PWM when motor is running (%)
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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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