Initialisation depot

ESP32/DCC-Loco/include/MotorDriver.h

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+/**
+ * @file MotorDriver.h
+ * @brief TB67H450FNG Motor Driver Controller
+ * 
+ * Controls the TB67H450FNG H-bridge motor driver with PWM speed control,
+ * direction control, and optional load compensation/BEMF feedback.
+ */
+
+#ifndef MOTOR_DRIVER_H
+#define MOTOR_DRIVER_H
+
+#include <Arduino.h>
+
+// TB67H450FNG control pins
+// IN1 and IN2 control direction and brake
+// PWM controls speed
+
+class MotorDriver {
+public:
+    MotorDriver();
+    
+    /**
+     * @brief Initialize motor driver
+     * @param in1Pin GPIO for IN1 (Motor phase A)
+     * @param in2Pin GPIO for IN2 (Motor phase B)
+     * @param pwmPin GPIO for PWM speed control
+     * @param currentSensePin ADC pin for current sensing (optional, 255 = disabled)
+     * @return true if successful
+     */
+    bool begin(uint8_t in1Pin, uint8_t in2Pin, uint8_t pwmPin, uint8_t currentSensePin = 255);
+    
+    /**
+     * @brief Set motor speed and direction
+     * @param speed Speed value (0-126, DCC format: 0=stop, 1=emergency stop, 2-127=speed)
+     * @param forward Direction (true=forward, false=reverse)
+     */
+    void setSpeed(uint8_t speed, bool forward);
+    
+    /**
+     * @brief Emergency stop
+     */
+    void emergencyStop();
+    
+    /**
+     * @brief Update motor control (call regularly for load compensation)
+     */
+    void update();
+    
+    /**
+     * @brief Enable/disable load compensation
+     * @param enable true to enable
+     */
+    void setLoadCompensation(bool enable);
+    
+    /**
+     * @brief Get motor current (if current sensing enabled)
+     * @return Current in mA
+     */
+    uint16_t getMotorCurrent();
+    
+    /**
+     * @brief Set PID parameters for load compensation
+     * @param kp Proportional gain
+     * @param ki Integral gain
+     * @param kd Derivative gain
+     */
+    void setPIDParameters(float kp, float ki, float kd);
+    
+    /**
+     * @brief Set acceleration rate
+     * @param rate Rate value (0-255, higher = faster)
+     */
+    void setAccelRate(uint8_t rate);
+    
+    /**
+     * @brief Set deceleration rate
+     * @param rate Rate value (0-255, higher = faster)
+     */
+    void setDecelRate(uint8_t rate);
+
+private:
+    uint8_t pinIN1;
+    uint8_t pinIN2;
+    uint8_t pinPWM;
+    uint8_t pinCurrentSense;
+    
+    uint8_t targetSpeed;
+    uint8_t currentSpeed;
+    bool targetDirection;
+    bool loadCompensationEnabled;
+    
+    // Acceleration/deceleration
+    uint8_t accelRate;
+    uint8_t decelRate;
+    unsigned long lastSpeedUpdate;
+    
+    // Load compensation (PID)
+    float Kp, Ki, Kd;
+    float integral;
+    float lastError;
+    uint16_t targetCurrent;
+    
+    // PWM settings
+    const uint8_t pwmChannel = 0;
+    const uint32_t pwmFrequency = 20000; // 20 kHz
+    const uint8_t pwmResolution = 8;      // 8-bit (0-255)
+    
+    void applyMotorControl();
+    void updateAcceleration();
+    void updateLoadCompensation();
+    uint16_t readCurrent();
+};
+
+#endif // MOTOR_DRIVER_H