Initialisation depot

include/MotorController.h

@@ -0,0 +1,101 @@
+/**
+ * @file MotorController.h
+ * @brief DC motor control using LM18200 H-Bridge driver
+ * 
+ * Provides bidirectional PWM motor control with brake functionality.
+ * Suitable for DC analog model locomotive control.
+ * 
+ * @author Locomotive Test Bench Project
+ * @date 2025
+ */
+
+#ifndef MOTOR_CONTROLLER_H
+#define MOTOR_CONTROLLER_H
+
+#include <Arduino.h>
+
+// Pin definitions for LM18200
+// These can be adjusted based on your D1 Mini ESP32 wiring
+#define MOTOR_PWM_PIN 25      ///< PWM signal output pin
+#define MOTOR_DIR_PIN 26      ///< Direction control pin
+#define MOTOR_BRAKE_PIN 27    ///< Brake control pin (active low)
+
+/**
+ * @class MotorController
+ * @brief Controls DC motor via LM18200 H-Bridge
+ * 
+ * Features:
+ * - Variable speed control (0-100%)
+ * - Bidirectional operation (forward/reverse)
+ * - Electronic braking
+ * - 20kHz PWM frequency for silent operation
+ * - 8-bit resolution (256 speed steps)
+ */
+class MotorController {
+public:
+    /**
+     * @brief Constructor
+     */
+    MotorController();
+    
+    /**
+     * @brief Initialize motor controller hardware
+     * 
+     * Configures GPIO pins and PWM channels.
+     * Sets motor to safe stopped state.
+     */
+    void begin();
+    
+    /**
+     * @brief Set motor speed and direction
+     * @param speed Speed value (0-100%)
+     * @param direction Direction: 0 = reverse, 1 = forward
+     */
+    void setSpeed(uint8_t speed, uint8_t direction);
+    
+    /**
+     * @brief Stop motor (coast to stop)
+     * 
+     * Sets speed to zero and releases brake.
+     * Motor will coast to a stop.
+     */
+    void stop();
+    
+    /**
+     * @brief Apply electronic brake
+     * 
+     * Activates LM18200 brake function for quick stop.
+     * More aggressive than stop().
+     */
+    void brake();
+    
+    /**
+     * @brief Update motor controller state
+     * 
+     * Called from main loop for safety checks.
+     * Currently placeholder for future features.
+     */
+    void update();
+    
+    /**
+     * @brief Get current speed setting
+     * @return Speed (0-100%)
+     */
+    uint8_t getCurrentSpeed() { return currentSpeed; }
+    
+    /**
+     * @brief Get current direction
+     * @return Direction: 0 = reverse, 1 = forward
+     */
+    uint8_t getCurrentDirection() { return currentDirection; }
+    
+private:
+    uint8_t currentSpeed;         ///< Current speed setting (0-100)
+    uint8_t currentDirection;     ///< Current direction (0=rev, 1=fwd)
+    
+    static const int PWM_CHANNEL = 0;         ///< ESP32 PWM channel
+    static const int PWM_FREQUENCY = 20000;   ///< PWM frequency in Hz
+    static const int PWM_RESOLUTION = 8;      ///< PWM resolution in bits
+};
+
+#endif