c8d990b1cd
- Remove pingpong method declarations and member variables from motor.h - Remove pingpong implementation (startPingpong, stopPingpong, updatePingpong, etc.) from motor.cpp - Remove pingpong UI section, handlers, and routes from webserver.cpp - Remove stopPingpong call from stall callback in main.cpp
54 lines
1.4 KiB
C++
54 lines
1.4 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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// Stall callback function type
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typedef void (*StallCallback)();
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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 current monitoring
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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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// Stall detection
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bool isStalled();
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void setStallCallback(StallCallback callback);
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void resetStallDetection();
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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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// ADC zero-current offset (calibrated at startup)
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int _adcOffsetRight = 0;
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int _adcOffsetLeft = 0;
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// Stall detection state
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bool _stalled = false;
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int _stallConfirmCount = 0;
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StallCallback _stallCallback = nullptr;
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unsigned long _lastDirectionChangeTime = 0;
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void applyMotorState();
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float readCurrentSense(int pin);
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void calibrateCurrentOffset();
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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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