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
42 lines
1.1 KiB
C++
42 lines
1.1 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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class MotorController {
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public:
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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 stall detection
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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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bool isStalled(); // True if stall detected
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// Callback for stall events
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void setStallCallback(void (*callback)(float current));
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private:
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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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bool _stalled = false;
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unsigned long _stallStartTime = 0;
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void (*_stallCallback)(float current) = nullptr;
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void applyMotorState();
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float readCurrentSense(int pin);
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void checkStall();
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};
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extern MotorController motor;
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#endif
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