motor_driver.h File Reference

#include "esp_err.h"
#include "esp_log.h"
#include "mcpwm_interface.h"

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Macros
#define	MOTOR_A_0   100
#define	MOTOR_A_1   101
#define	MOTOR_FORWARD   200
#define	MOTOR_BACKWARD   201
#define	MOTOR_STOP   202
#define	MCPWM_FREQ   20000
#define	MCPWM_RESOLUTION   10000000

Functions
esp_err_t	enable_motor_driver (motor_handle_t *motor, int motor_id)
	Enable motor driver. More...
esp_err_t	set_motor_speed (motor_handle_t motor, int direction, float duty_cycle)
int	get_motor_driver_status ()
	Checks if the motor driver is engaged. More...

Macro Definition Documentation

MCPWM_FREQ

#define MCPWM_FREQ   20000

MCPWM_RESOLUTION

#define MCPWM_RESOLUTION   10000000

MOTOR_A_0

#define MOTOR_A_0   100

MOTOR_A_1

#define MOTOR_A_1   101

MOTOR_BACKWARD

#define MOTOR_BACKWARD   201

MOTOR_FORWARD

#define MOTOR_FORWARD   200

MOTOR_STOP

#define MOTOR_STOP   202

Function Documentation

enable_motor_driver()

esp_err_t enable_motor_driver	(	motor_handle_t *	motor,
		int	motor_id
	)

Enable motor driver.

Parameters

motor_handle_t	Motor object handle
motor_id	set it as MOTOR_A_0, MOTOR_A_1 to select the appropriate motor to bind to the handle.

Returns

• ESP_OK: Success
• ESP_ERR_INVALID_ARG: Invalid argument
• ESP_FAIL: Failed

get_motor_driver_status()

int get_motor_driver_status

(

)

Checks if the motor driver is engaged.

Returns

true if the motor driver is engaged, false otherwise.

set_motor_speed()

esp_err_t set_motor_speed	(	motor_handle_t	motor,
		int	direction,
		float	duty_cycle
	)