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devdesk f157d3abc5 feat: add dual BTS7960 motor driver support

- 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

2026-02-06 15:05:13 +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 two BTS7960 dual H-bridge motor drivers for a differential drive robot (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 Drivers: 2× BTS7960 dual H-bridge - shared enable pins, independent PWM and current sense
Motor 1: RPWM=25, LPWM=26, R_IS=34, L_IS=35 (PWM channels 0,1)
Motor 2: RPWM=32, LPWM=33, R_IS=36, L_IS=39 (PWM channels 2,3)
Shared enables: R_EN=27, L_EN=14 (both drivers enable together)
Power: 12V DC input to motor drivers - 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 - configured once by first motor init
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)
MotorController is parameterized: Instances motor1 and motor2 are created with MotorPins struct
Legacy compatibility: motor macro aliases to motor1, legacy /speed and /direction endpoints map to motor1