25dc34c6e3
This streamlines manual dual-motor operation by using spring-centered signed sliders and synchronized drive modes while keeping live current monitoring in the UI and API.
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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class MotorController {
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public:
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// Constructor with pin configuration and motor name
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MotorController(const MotorPins& pins, const char* name);
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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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const char* getName(); // Get motor name for logging
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private:
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MotorPins _pins;
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const char* _name;
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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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// Static flag to track if enable pins are already configured
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static bool _enablePinsConfigured;
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void applyMotorState();
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float readCurrentSense(int pin);
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void calibrateCurrentOffset();
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};
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// Two motor controller instances
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extern MotorController motor1;
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extern MotorController motor2;
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// Legacy alias for backwards compatibility
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#define motor motor1
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#endif
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