Initialisation depot

ESP32/DCC-Bench/src/MotorController.cpp

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+/**
+ * @file MotorController.cpp
+ * @brief Implementation of DC motor control
+ */
+
+#include "MotorController.h"
+
+/**
+ * @brief Constructor - initialize with safe defaults
+ */
+MotorController::MotorController() : currentSpeed(0), currentDirection(1) {
+}
+
+void MotorController::begin() {
+    // Configure pins
+    pinMode(MOTOR_DIR_PIN, OUTPUT);
+    pinMode(MOTOR_BRAKE_PIN, OUTPUT);
+    
+    // Setup PWM
+    ledcSetup(PWM_CHANNEL, PWM_FREQUENCY, PWM_RESOLUTION);
+    ledcAttachPin(MOTOR_PWM_PIN, PWM_CHANNEL);
+    
+    // Initialize to safe state
+    digitalWrite(MOTOR_BRAKE_PIN, HIGH); // Release brake (active low)
+    digitalWrite(MOTOR_DIR_PIN, HIGH);   // Forward direction
+    ledcWrite(PWM_CHANNEL, 0);           // Zero speed
+    
+    Serial.println("Motor Controller initialized");
+    Serial.printf("PWM Pin: %d, DIR Pin: %d, BRAKE Pin: %d\n", 
+                  MOTOR_PWM_PIN, MOTOR_DIR_PIN, MOTOR_BRAKE_PIN);
+}
+
+void MotorController::setSpeed(uint8_t speed, uint8_t direction) {
+    currentSpeed = speed;
+    currentDirection = direction;
+    
+    // Release brake
+    digitalWrite(MOTOR_BRAKE_PIN, HIGH);
+    
+    // Set direction
+    digitalWrite(MOTOR_DIR_PIN, direction ? HIGH : LOW);
+    
+    // Set PWM duty cycle
+    // Speed is 0-100, convert to 0-255
+    uint16_t pwmValue = map(speed, 0, 100, 0, 255);
+    ledcWrite(PWM_CHANNEL, pwmValue);
+    
+    Serial.printf("Motor: Speed=%d%%, Direction=%s, PWM=%d\n", 
+                  speed, direction ? "FWD" : "REV", pwmValue);
+}
+
+void MotorController::stop() {
+    currentSpeed = 0;
+    ledcWrite(PWM_CHANNEL, 0);
+    digitalWrite(MOTOR_BRAKE_PIN, HIGH); // Release brake
+    Serial.println("Motor stopped");
+}
+
+void MotorController::brake() {
+    ledcWrite(PWM_CHANNEL, 0);
+    digitalWrite(MOTOR_BRAKE_PIN, LOW); // Activate brake (active low)
+    currentSpeed = 0;
+    Serial.println("Motor brake activated");
+}
+
+void MotorController::update() {
+    // Placeholder for future safety checks or smooth acceleration
+}