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