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INF2004_Project
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add direction control

This commit is contained in:
Richie 2023-10-30 23:24:58 +08:00
parent 2bf8d625ac
commit ed3c440ebc
2 changed files with 47 additions and 0 deletions
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5
frtos/config/motor_config.h
View File

@ -18,6 +18,11 @@
#define DIRECTION_LEFT_FORWARD (1U << DIRECTION_PIN_LEFT_IN4) #define DIRECTION_LEFT_FORWARD (1U << DIRECTION_PIN_LEFT_IN4)
#define DIRECTION_LEFT_BACKWARD (1U << DIRECTION_PIN_LEFT_IN3) #define DIRECTION_LEFT_BACKWARD (1U << DIRECTION_PIN_LEFT_IN3)
#define DIRECTION_FORWARD (DIRECTION_RIGHT_FORWARD | DIRECTION_LEFT_FORWARD)
#define DIRECTION_BACKWARD (DIRECTION_RIGHT_BACKWARD | DIRECTION_LEFT_BACKWARD)
#define DIRECTION_LEFT (DIRECTION_RIGHT_FORWARD | DIRECTION_LEFT_BACKWARD)
#define DIRECTION_RIGHT (DIRECTION_RIGHT_BACKWARD | DIRECTION_LEFT_FORWARD)
#define SPEED_PIN_RIGHT 15U #define SPEED_PIN_RIGHT 15U
#define SPEED_PIN_LEFT 16U #define SPEED_PIN_LEFT 16U

42
frtos/motor/motor_speed.h
View File

@ -72,4 +72,46 @@ monitor_wheel_speed_task(void *pvParameters)
p_motor->speed.current_cms = 0.f; p_motor->speed.current_cms = 0.f;
} }
} }
}
/*!
* @brief Set the distance to travel before stopping, must be called after
* setting the speed and direction.
* @param distance_cm distance to travel in cm
*/
void
distance_to_stop(float distance_cm)
{
float initial = g_motor_right.speed.distance_cm;
printf("initial: %f\n", initial);
for (;;)
{
if (g_motor_right.speed.distance_cm - initial >= distance_cm)
{
g_motor_right.pwm.level = 0;
g_motor_left.pwm.level = 0;
break;
}
// vTaskDelay(pdMS_TO_TICKS(50));
}
}
/*!
* @brief Set the speed of the wheels
* @param pwm_level The pwm_level of the wheels, from 0 to 5000
*/
void
set_wheel_speed(uint32_t pwm_level)
{
g_motor_right.pwm.level = pwm_level;
g_motor_left.pwm.level = pwm_level;
pwm_set_chan_level(g_motor_right.pwm.slice_num,
g_motor_right.pwm.channel,
g_motor_right.pwm.level);
pwm_set_chan_level(g_motor_left.pwm.slice_num,
g_motor_left.pwm.channel,
g_motor_left.pwm.level);
} }