102 lines
2.6 KiB
C++
102 lines
2.6 KiB
C++
/**
|
|
* @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
|
|
// Adjusted for ESP32-2432S028R available GPIOs
|
|
#define MOTOR_PWM_PIN 18 ///< PWM signal output pin
|
|
#define MOTOR_DIR_PIN 19 ///< Direction control pin
|
|
#define MOTOR_BRAKE_PIN 23 ///< 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
|