void setup() {
Serial.begin(115200);
Wire.begin();
scan_i2c();
wifiControl.setup(sids, passwords);
timeControl.setup();
for (int i=0; i < NUM_RELAYS; i++)
{
Serial.print("Sending in #");
Serial.print(i);
Serial.print(" on pin ");
Serial.println(POW_PINS[i]);
}
Relays.setup(POW_PINS);
ledControl.setup();
webControl.setup();
ledcSetup(SOUND_CHANNEL, 1000, 13);
ledcAttachPin(SOUND_PIN, SOUND_CHANNEL);
}
void Esp32ServoController::init() {
// Setup ledc servos
for (byte i = 0; i < LEDC_N_SERVOS; i++) {
byte channel = i;
byte servoPin = ledcServoPins[i];
ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth
ledcAttachPin(servoPin, channel); // GPIO servoPin on channel X
ledcWrite(channel, servoMid); // Set initial (midpoint) position
}
// Setup MCPWM servos
// Setup which MCPWM units are linked to which pins
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, mcpwmServoPins[0]);
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, mcpwmServoPins[1]);
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1A, mcpwmServoPins[2]);
// Configure MCPWM parameters
mcpwm_config_t pwm_config;
pwm_config.frequency = 50; //frequency = 50Hz, i.e. for every servo motor time period should be 20ms
pwm_config.cmpr_a = MCPWM_DUTY_MID; //duty cycle of PWMxA
pwm_config.cmpr_b = MCPWM_DUTY_MID; //duty cycle of PWMxb
pwm_config.counter_mode = MCPWM_UP_COUNTER;
pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); //Configure PWM0A & PWM0B with above settings
mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config); //Configure PWM1A & PWM1B with same settings
// Set some initial positions
// TODO: surely this shouldn't be required?
mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, MCPWM_DUTY_MID);
mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_B, MCPWM_DUTY_MID);
mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_A, MCPWM_DUTY_MID);
}
ESP32PWM::ESP32PWM() : USBPlatine(false), dir(0), pwm(0), motorStart(40), motorFullSpeed(255),ledToggle(0) {
for (int i=0; i<2; i++) {
pinMode(inApin[i], OUTPUT);
pinMode(inBpin[i], OUTPUT);
pinMode(pwmpin[i], OUTPUT);
pinMode(enpin[i], INPUT);
}
for (int i=0; i<2; i++) {
digitalWrite(inApin[i], LOW);
digitalWrite(inBpin[i], LOW);
ledcSetup(i, MOTOR_FREQUENCY, 8);
ledcAttachPin(pwmpin[i], i);
}
for(int i=0; i<2; i++) {
DEBUGF("Motor %d", i);
DEBUGF("inA[%d]=%d", i, digitalRead(inApin[i]));
DEBUGF("inB[%d]=%d", i, digitalRead(inBpin[i]));
DEBUGF("en[%d]=%d", i, digitalRead(enpin[i]));
}
if(infoLedPin) {
pinMode(infoLedPin, OUTPUT);
}
}
