87 lines
2.0 KiB
C++
87 lines
2.0 KiB
C++
#pragma once
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#include <Arduino.h>
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#include "Participants/IsolatedParticipant.h"
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#include "Thing.h"
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#include "Things/DifferentialDrive.h"
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#include "Things/Motor.h"
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namespace RoboidControl {
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namespace Arduino {
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class DRV8833Motor;
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class DRV8833 : public Thing {
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public:
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struct Configuration {
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int AIn1;
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int AIn2;
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int BIn1;
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int BIn2;
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};
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/// @brief Setup a DRV8833 motor controller
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DRV8833(Configuration config, Participant* owner = nullptr);
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DRV8833(Configuration config, Thing* parent);
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DRV8833Motor* motorA = nullptr;
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DRV8833Motor* motorB = nullptr;
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protected:
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unsigned char pinStandby = 255;
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public:
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class DifferentialDrive;
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};
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#pragma region Differential drive
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class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
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public:
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DifferentialDrive(DRV8833::Configuration config,
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Participant* participant = nullptr);
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DifferentialDrive(DRV8833::Configuration config, Thing& parent);
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virtual void Update(bool recurse = false) override;
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protected:
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DRV8833 drv8833;
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};
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#pragma endregion Differential drive
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#pragma region Motor
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/// @brief Support for a DRV8833 motor controller
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class DRV8833Motor : public Motor {
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public:
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/// @brief Setup the DC motor
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/// @param pinIn1 the pin number for the in1 signal
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/// @param pinIn2 the pin number for the in2 signal
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/// @param direction the forward turning direction of the motor
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DRV8833Motor(DRV8833* driver,
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unsigned char pinIn1,
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unsigned char pinIn2,
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bool reverse = false);
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// void SetMaxRPM(unsigned int rpm);
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// virtual void SetAngularVelocity(Spherical velocity) override;
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virtual void SetTargetVelocity(float targetSpeed) override;
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// bool reverse = false;
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protected:
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unsigned char pinIn1 = 255;
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unsigned char pinIn2 = 255;
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// unsigned int maxRpm = 200;
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#if (ESP32)
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uint8_t in1Ch;
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uint8_t in2Ch;
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static uint8_t nextAvailablePwmChannel;
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#endif
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};
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#pragma endregion Moto
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} // namespace Arduino
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} // namespace RoboidControl
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