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ESP-Nodes/ESP-IDF_Robot/main/rc.h
Alexander B c52747e243 pwm
2025-08-06 09:03:45 -04:00

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#ifndef RC_H
#define RC_H
#include "driver/adc.h"
#include "esp_adc_cal.h"
#include "esp_adc/adc_oneshot.h"
#include "esp_adc/adc_continuous.h"
#include "esp_adc/adc_cali.h"
#include "esp_adc/adc_cali_scheme.h"
#include "controls.h"
#include "config.h"
#define ADC_CHNL ADC_CHANNEL_1
#define ADC_ATTEN ADC_ATTEN_DB_11
#define ADC1_CHAN0 ADC1_CHANNEL_0
#define ADC1_CHAN1 ADC1_CHANNEL_1
//static const char *TAG = "ESP IDF Robot"
struct motors_rpm m;
static int adc_raw[2][10];
static int voltage[2][10];
static int s = 0, sample = 5, x = 0, y = 0, x_sum = 0, y_sum = 0;
bool do_calibration1_chan0, do_calibration1_chan1;
adc_cali_handle_t adc1_cali_chan0_handle, adc1_cali_chan1_handle;
adc_oneshot_unit_handle_t adc1_handle;
static bool adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle);
static void adc_calibration_deinit(adc_cali_handle_t handle);
static int interpolate_raw_val (int raw);
static int rescale_raw_val (int raw);
static esp_err_t rc_adc_init (void) {
adc_oneshot_unit_init_cfg_t init_config1 = {
.unit_id = ADC_UNIT_1,
};
ESP_ERROR_CHECK( adc_oneshot_new_unit(&init_config1, &adc1_handle));
adc_oneshot_chan_cfg_t config = {
.bitwidth = SOC_ADC_DIGI_MAX_BITWIDTH,//ADC_BITWIDTH_DEFAULT,
.atten = ADC_ATTEN,
};
ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, ADC1_CHAN0, &config));
ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, ADC1_CHAN1, &config));
//-------------ADC1 Calibration Init---------------//
adc1_cali_chan0_handle = NULL;
adc1_cali_chan1_handle = NULL;
do_calibration1_chan0 = adc_calibration_init(ADC_UNIT_1, ADC1_CHAN0, ADC_ATTEN, &adc1_cali_chan0_handle);
do_calibration1_chan1 = adc_calibration_init(ADC_UNIT_1, ADC1_CHAN1, ADC_ATTEN, &adc1_cali_chan1_handle);
return ESP_OK;
}
static int check_motor_pcm(int x) {
int lim = 7440;
if (x > lim)
return 8190;//lim;
else if (x < -lim)
return -8190;//-lim;
else
return x;
}
// Update PWM based on received values
// IMPORTANT: x and y values correspod to the PWM!
static void update_pwm (int rc_x, int rc_y) {
x = check_motor_pcm(rescale_raw_val(rc_x));
y = check_motor_pcm(rescale_raw_val(rc_y));
//ESP_LOGI("x,y", "( %d, %d ) [ %d, %d] ", rc_x, rc_y, x, y);
/*if (s < sample) {
x_sum += check_motor_pcm(rescale_raw_val(x));
y_sum += check_motor_pcm(rescale_raw_val(y));
s ++;
}
else if (s == sample) {
//x = check_motor_pcm(rescale_raw_val(adc_raw[0][0]));
//y = check_motor_pcm(rescale_raw_val(adc_raw[0][1]));
x = x_sum / sample;
y = y_sum / sample;
s++;*/
/*
(+, +0) (+, +) (+0, +)
(-, +) (0, 0) (+, -)
(-, -0) (-, -) (-0, -)
if (1024 < x < 2048 && 1024 < y < 2048) {}
*/
// ADDED ON AUG 6, 2025: to be tested!
// CONTINOUS UPDATE
// Straight Forward
if (x >= 3500 && y >= 500 && y <= 1000) {
m.motor1_rpm_pcm = 8190; // Left side motors, forward
m.motor2_rpm_pcm = 8190; // Right side motors, forward
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
// Forward & Turn Left
else if (x >= 1500 && y >= -8190 && y < 500) {
m.motor1_rpm_pcm = x;
m.motor2_rpm_pcm = 8190;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
// Forward & Turn Right
else if (y >= 1500 && x >= 1000 && x < 8190) {
m.motor1_rpm_pcm = 8190;
m.motor2_rpm_pcm = x;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
else {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
// All reverse directions
/*if (y <= -1500) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -(y - x); // Left side motors, reverse
m.motor4_rpm_pcm = -(y + x); // Right side motors, reverse
}
// ROTATIONS
// Rotate right
if ((y < 1500) && (y > -1500) && (x > 8000)) {
m.motor1_rpm_pcm = (y - x);
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -(y - x);
m.motor4_rpm_pcm = 0;
}
// Rotate left
if ((y < 1500) && (y > -1500) && (x < -8000)) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = (y + x);
m.motor3_rpm_pcm = -(y - x);
m.motor4_rpm_pcm = 0;
}*/
// -------------
/*
// Turn Left
if (x == 8190 && y == -8190) {
m.motor1_rpm_pcm = 6172;
m.motor2_rpm_pcm = 8190;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
else if (x == 8190 && y == 8190) {
m.motor1_rpm_pcm = 8190;
m.motor2_rpm_pcm = 6172;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
else if (x == -8190 && y == -8190) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 6172;
m.motor4_rpm_pcm = 8190;
}
else if (x == -8190 && y == 8190) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 8190;
m.motor4_rpm_pcm = 6172;
}
// FORWARD AND REVERSE
//if ((x > 1500) && (y > 700 && y < 850)) {
else if ((x > 1500) && (y > -2500 && y < 2500)) {
//ESP_LOGW("ESP-NOW", "FORWARD");
// Both sides rotate in forward direction.
m.motor1_rpm_pcm = x; // left, forward
m.motor2_rpm_pcm = x; // right, forward
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
//else if ((x < 0) && (y > 700 && y < 850)) {
else if ((x < 0) && (y > -2500 && y < 2500)) {
//ESP_LOGW("ESP-NOW", "REVERSE");
// Both sides rotate in reverse direction.
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -x;
m.motor4_rpm_pcm = -x;
}
// ROTATE CLOCKWISE AND COUNTER CLOCKWISE
else if ((x > -2500 && x < 2500) && (y < 0)) {
//ESP_LOGW("ESP-NOW", "LEFT");
// Left side rotates in forward direction, right side rotates in reverse direction.
m.motor1_rpm_pcm = 0;//-y;
m.motor2_rpm_pcm = -y;//0;
m.motor3_rpm_pcm = 0;//-y;
m.motor4_rpm_pcm = -y;//0;
}
else if ((x > -2500 && x < 2500) && (y > 900)) {
//ESP_LOGW("ESP-NOW", "RIGHT");
// Right side rotates in forward direction, left side rotates in reverse direction.
m.motor1_rpm_pcm = y;//0;
m.motor2_rpm_pcm = 0;//y;
m.motor3_rpm_pcm = y;//0;
m.motor4_rpm_pcm = 0;//y;
}
else {
//ESP_LOGW("ESP-NOW", "STAND STILL");
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}*/
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT, m.motor1_rpm_pcm);
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT);
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT, m.motor2_rpm_pcm);
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT);
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT_REV, m.motor3_rpm_pcm);
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT_REV);
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT_REV, m.motor4_rpm_pcm);
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT_REV);
}
/*static void rc_get_raw_data() {
ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, ADC1_CHAN0, &adc_raw[0][0]));
ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, ADC1_CHAN1, &adc_raw[0][1]));
ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Raw Data: %d", ADC_UNIT_1 + 1, ADC1_CHAN0, adc_raw[0][0]);
ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Raw Data: %d", ADC_UNIT_1 + 1, ADC1_CHAN1, adc_raw[0][1]);
ESP_LOGI("Joystick L/R", "Position: %d (%d)", rescale_raw_val(adc_raw[0][0]), check_motor_pcm(rescale_raw_val(adc_raw[0][0])));
ESP_LOGI("Joystick F", "Position: %d (%d)", rescale_raw_val(adc_raw[0][1]), check_motor_pcm(rescale_raw_val(adc_raw[0][1])));
ESP_LOGW("Joystick", " sample %d, (x,y): (%d, %d)", sample, x, y);
if (s < sample) {
x_sum += check_motor_pcm(rescale_raw_val(adc_raw[0][0]));
y_sum += check_motor_pcm(rescale_raw_val(adc_raw[0][1]));
s ++;
}
else if (s == sample) {
//x = check_motor_pcm(rescale_raw_val(adc_raw[0][0]));
//y = check_motor_pcm(rescale_raw_val(adc_raw[0][1]));
x = x_sum / sample;
y = y_sum / sample;
//x = buf.x_axis;
//y = buf.y_axis;
if ((x > 0 && x < 500) && (y > 500)) {
ESP_LOGW("RC", "FORWARD");
// Both sides rotate in forward direction.
m.motor1_rpm_pcm = y; // left, forward
m.motor2_rpm_pcm = y; // right, forward
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
else if ((x > 0 && x < 500) && (y < -200)) {
ESP_LOGW("RC", "REVERSE");
// Both sides rotate in reverse direction.
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -y;
m.motor4_rpm_pcm = -y;
}
else if ((y < 0 && y > -200) && (x < -1000)) {
ESP_LOGW("RC", "LEFT");
// Left side rotates in forward direction, right side rotates in reverse direction.
m.motor1_rpm_pcm = -x;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -x;
m.motor4_rpm_pcm = 0;
}
else if ((y < 0 && y > -200) && (x > 1000)) {
ESP_LOGW("RC", "RIGHT");
// Right side rotates in forward direction, left side rotates in reverse direction.
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = x;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = x;
}
else {
ESP_LOGW("RC", "STAND STILL");
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
s++;
}
else {
x_sum = 0;
y_sum = 0;
s = 0;
}
ESP_LOGI("PWM", "Motor 1 PWM: %d", m.motor1_rpm_pcm);
ESP_LOGI("PWM", "Motor 2 PWM: %d", m.motor2_rpm_pcm);
ESP_LOGI("PWM", "Motor 3 PWM: %d", m.motor3_rpm_pcm);
ESP_LOGI("PWM", "Motor 4 PWM: %d", m.motor4_rpm_pcm);
if (do_calibration1_chan0) {
ESP_ERROR_CHECK(adc_cali_raw_to_voltage(adc1_cali_chan0_handle, adc_raw[0][0], &voltage[0][0]));
ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Cali Voltage: %d mV", ADC_UNIT_1 + 1, ADC1_CHAN0, voltage[0][0]);
}
if (do_calibration1_chan1) {
ESP_ERROR_CHECK(adc_cali_raw_to_voltage(adc1_cali_chan1_handle, adc_raw[0][1], &voltage[0][1]));
ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Cali Voltage: %d mV", ADC_UNIT_1 + 1, ADC1_CHAN1, voltage[0][1]);
}
}*/
static bool adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle)
{
adc_cali_handle_t handle = NULL;
esp_err_t ret = ESP_FAIL;
bool calibrated = false;
#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED
if (!calibrated) {
ESP_LOGI("ESP IDF Robot", "calibration scheme version is %s", "Curve Fitting");
adc_cali_curve_fitting_config_t cali_config = {
.unit_id = unit,
.chan = channel,
.atten = atten,
.bitwidth = ADC_BITWIDTH_DEFAULT,
};
ret = adc_cali_create_scheme_curve_fitting(&cali_config, &handle);
if (ret == ESP_OK) {
calibrated = true;
}
}
#endif
#if ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED
if (!calibrated) {
ESP_LOGI("ESP IDF Robot", "calibration scheme version is %s", "Line Fitting");
adc_cali_line_fitting_config_t cali_config = {
.unit_id = unit,
.atten = atten,
.bitwidth = ADC_BITWIDTH_DEFAULT,
};
ret = adc_cali_create_scheme_line_fitting(&cali_config, &handle);
if (ret == ESP_OK) {
calibrated = true;
}
}
#endif
*out_handle = handle;
if (ret == ESP_OK) {
ESP_LOGI("ESP IDF Robot", "Calibration Success");
} else if (ret == ESP_ERR_NOT_SUPPORTED || !calibrated) {
ESP_LOGW("ESP IDF Robot", "eFuse not burnt, skip software calibration");
} else {
ESP_LOGE("ESP IDF Robot", "Invalid arg or no memory");
}
return calibrated;
}
static void adc_calibration_deinit(adc_cali_handle_t handle)
{
#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED
ESP_LOGI("ESP IDF Robot", "deregister %s calibration scheme", "Curve Fitting");
ESP_ERROR_CHECK(adc_cali_delete_scheme_curve_fitting(handle));
#elif ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED
ESP_LOGI("ESP IDF Robot", "deregister %s calibration scheme", "Line Fitting");
ESP_ERROR_CHECK(adc_cali_delete_scheme_line_fitting(handle));
#endif
}
#endif
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