6ccbc7faf5
- 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
32 lines
1.2 KiB
Markdown
32 lines
1.2 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 BTS7960 dual H-bridge motor driver (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 Driver**: BTS7960 dual H-bridge - requires 4 GPIO pins (RPWM=25, LPWM=26, R_EN=27, L_EN=14)
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- **Power**: 12V DC input to motor driver - 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
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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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