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

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Zekkos
2026-05-08 16:38:10 +12:00
parent 52aac06b2c
commit baf2f0be9e
10 changed files with 7963 additions and 0 deletions
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51
software/wacky_bully/main/wacky_bully.c Normal file
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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);
}
}