main.cpp File Reference

#include <Arduino.h>
#include <ESP32Encoder.h>
#include <cstdio>
#include <cstring>
#include "EthernetHandler.h"

Include dependency graph for main.cpp:

Go to the source code of this file.

Functions
void	motorCoast ()
void	motorDrive (float u)
void	autoPolarityCal ()
void	setup ()
void	loop ()

Variables
ESP32Encoder	enc
const int	ENA = 25
const int	IN1 = 23
const int	IN2 = 5
const int	ENCA = 19
const int	ENCB = 21
float	Kp = 0.0015f
const int	CPR_4X_MOTOR
const float	GEAR_RATIO = 210.0f
const float	CPR_OUT = CPR_4X_MOTOR * GEAR_RATIO
const int	PWM_CH = 0
const int	PWM_FREQ = 8000
const int	PWM_BITS = 8
const int	PWM_MAX = (1 << PWM_BITS) - 1
const int	PWM_MIN = 45
volatile int	dir_sign = +1
long	target = 1000
uint32_t	toggle_t0 = 0
uint32_t	print_t0 = 0

Function Documentation

autoPolarityCal()

void autoPolarityCal

(

)

Definition at line 72 of file main.cpp.

References delay(), digitalWrite(), dir_sign, enc, HIGH, IN1, IN2, LOW, motorCoast(), PWM_CH, and Serial.

Referenced by setup().

loop()

void loop

(

)

Definition at line 129 of file main.cpp.

References CPR_OUT, delay(), dir_sign, enc, ethernetReady(), Kp, millis(), motorDrive(), print_t0, PWM_CH, sendPacket(), Serial, target, and toggle_t0.

motorCoast()

void motorCoast

(

)

Definition at line 42 of file main.cpp.

References digitalWrite(), IN1, IN2, LOW, and PWM_CH.

Referenced by autoPolarityCal(), motorDrive(), and setup().

motorDrive()

void motorDrive

(

float

u

)

Definition at line 48 of file main.cpp.

References digitalWrite(), HIGH, IN1, IN2, LOW, motorCoast(), PWM_CH, PWM_MAX, and PWM_MIN.

Referenced by loop().

setup()

void setup

(

void

)

Definition at line 96 of file main.cpp.

References autoPolarityCal(), delay(), EthernetConfig::dns, ENA, enc, ENCA, ENCB, EthernetInit(), EthernetConfig::gateway, getLocalIP(), IN1, IN2, IPAddress, EthernetConfig::localPort, motorCoast(), OUTPUT, pinMode(), EthernetConfig::pins, PWM_BITS, PWM_CH, PWM_FREQ, EthernetConfig::receiverIP, EthernetConfig::receiverPort, Serial, EthernetConfig::staticIP, and EthernetConfig::subnet.

Variable Documentation

CPR_4X_MOTOR

const int CPR_4X_MOTOR

Initial value:

=
    64

Definition at line 24 of file main.cpp.

CPR_OUT

const float CPR_OUT = CPR_4X_MOTOR * GEAR_RATIO

Definition at line 27 of file main.cpp.

Referenced by loop().

dir_sign

volatile int dir_sign = +1

Definition at line 37 of file main.cpp.

Referenced by autoPolarityCal(), and loop().

ENA

const int ENA = 25

Definition at line 14 of file main.cpp.

Referenced by setup().

enc

ESP32Encoder enc

Definition at line 11 of file main.cpp.

Referenced by autoPolarityCal(), loop(), and setup().

ENCA

const int ENCA = 19

Definition at line 19 of file main.cpp.

Referenced by setup().

ENCB

const int ENCB = 21

Definition at line 20 of file main.cpp.

Referenced by setup().

GEAR_RATIO

const float GEAR_RATIO = 210.0f

Definition at line 26 of file main.cpp.

IN1

const int IN1 = 23

Definition at line 15 of file main.cpp.

Referenced by autoPolarityCal(), motorCoast(), motorDrive(), and setup().

IN2

const int IN2 = 5

Definition at line 16 of file main.cpp.

Referenced by autoPolarityCal(), motorCoast(), motorDrive(), and setup().

Kp

float Kp = 0.0015f

Definition at line 23 of file main.cpp.

Referenced by loop().

print_t0

uint32_t print_t0 = 0

Definition at line 40 of file main.cpp.

Referenced by loop().

PWM_BITS

const int PWM_BITS = 8

Definition at line 32 of file main.cpp.

Referenced by setup().

PWM_CH

const int PWM_CH = 0

Definition at line 30 of file main.cpp.

Referenced by autoPolarityCal(), loop(), motorCoast(), motorDrive(), and setup().

PWM_FREQ

const int PWM_FREQ = 8000

Definition at line 31 of file main.cpp.

Referenced by setup().

PWM_MAX

const int PWM_MAX = (1 << PWM_BITS) - 1

Definition at line 33 of file main.cpp.

Referenced by motorDrive().

PWM_MIN

const int PWM_MIN = 45

Definition at line 34 of file main.cpp.

Referenced by motorDrive().

target

long target = 1000

Definition at line 38 of file main.cpp.

Referenced by arm_frame(), attemptEntry(), sequencer::anonymous_namespace{ScriptRunner.cpp}::Interp::exec(), fsw::config::anonymous_namespace{Config.cpp}::from_table(), detail::int_to_string(), loop(), main(), main(), sequencer::SequencerService::makeScriptEnv(), radio_link::ArmGate::on_frame(), detail::dtoa_impl::reinterpret_bits(), fsw::control::resolvePWMTargets(), and fsw::control::ControllerService::sendPWMCommand().

toggle_t0

uint32_t toggle_t0 = 0

Definition at line 39 of file main.cpp.

Referenced by loop().