Created wacky_bully project + a bit of work towards implementing motor drivers

software/wacky_bully/main/CMakeLists.txt

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+idf_component_register(SRCS "wacky_bully.c"
+                    REQUIRES "drv8701" freertos
+                    INCLUDE_DIRS ".")

software/wacky_bully/main/idf_component.yml

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+## IDF Component Manager Manifest File
+dependencies:
+  ## Required IDF version
+  idf:
+    version: ">=4.1.0"
+  # # Put list of dependencies here
+  # # For components maintained by Espressif:
+  # component: "~1.0.0"
+  # # For 3rd party components:
+  # username/component: ">=1.0.0,<2.0.0"
+  # username2/component2:
+  #   version: "~1.0.0"
+  #   # For transient dependencies `public` flag can be set.
+  #   # `public` flag doesn't have an effect dependencies of the `main` component.
+  #   # All dependencies of `main` are public by default.
+  #   public: true

software/wacky_bully/main/wacky_bully.c

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+#include <stdio.h>
+#include "drv8701.h"
+#include "freertos/idf_additions.h"
+#include "portmacro.h"
+#include "soc/gpio_num.h"
+
+
+drv8701_task_config_t motor1 = {
+    .ph_pin = GPIO_NUM_13,
+    .en_pin = GPIO_NUM_14,
+    .pwm_group_num = 0,
+};
+drv8701_task_config_t motor2 = {
+    .ph_pin = GPIO_NUM_21,
+    .en_pin = GPIO_NUM_45,
+    .pwm_group_num = 0,
+};
+drv8701_task_config_t motor3 = {
+    .ph_pin = GPIO_NUM_9,
+    .en_pin = GPIO_NUM_10,
+    .pwm_group_num = 1,
+};
+drv8701_task_config_t motor4 = {
+    .ph_pin = GPIO_NUM_11,
+    .en_pin = GPIO_NUM_12,
+    .pwm_group_num = 1,
+};
+
+void app_main(void)
+{
+    printf("Starting\n");
+
+    xTaskCreate(drv8701_task, "Motor1 Task", 2048, (void *)&motor1, 4, NULL);
+    xTaskCreate(drv8701_task, "Motor2 Task", 2048, (void *)&motor2, 4, NULL);
+    xTaskCreate(drv8701_task, "Motor3 Task", 2048, (void *)&motor3, 4, NULL);
+    xTaskCreate(drv8701_task, "Motor4 Task", 2048, (void *)&motor4, 4, NULL);
+    
+    vTaskDelay(500 / portTICK_PERIOD_MS);
+    float motor1_vel = 0.0;
+    while(true) {
+        motor1_vel = motor1_vel + 0.1;
+        if (motor1_vel > 1.0)
+            motor1_vel = -1.0;
+        printf("Motor1 velocity: %0.2f\n", motor1_vel);
+        set_motor_vel(&motor1, motor1_vel);
+        set_motor_vel(&motor2, motor1_vel);
+        set_motor_vel(&motor3, motor1_vel);
+        set_motor_vel(&motor4, motor1_vel);
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+}