motors.h

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#pragma once
 
#include <cstdint>
#include <soc/gpio_num.h>
#include <driver/ledc.h>
#include "include/log_sources.h"
 
class Robot;
 
namespace Device {
    class Motors {
    private:
        static constexpr const char* TAG = "Device::Motors";
        static constexpr log_source LOG_SOURCE = LOG_SOURCE_DEVICE_MOTORS;
 
        static constexpr gpio_num_t LEFT_SPEED_PIN = GPIO_NUM_32;
        static constexpr gpio_num_t LEFT_DIRECTION_PIN = GPIO_NUM_33;
        static constexpr gpio_num_t RIGHT_SPEED_PIN = GPIO_NUM_2;
        static constexpr gpio_num_t RIGHT_DIRECTION_PIN = GPIO_NUM_15;
 
        static constexpr ledc_timer_t LEDC_TIMER = LEDC_TIMER_0;
        static constexpr ledc_channel_t LEFT_LEDC_CHANNEL = LEDC_CHANNEL_0;
        static constexpr ledc_channel_t RIGHT_LEDC_CHANNEL = LEDC_CHANNEL_1;
 
        Robot& robot;
        bool inverse_direction[2];
 
    public:
        static constexpr uint8_t NUM_MOTORS = 2;
        static constexpr uint16_t MAX_MOTOR_SPEED = 820;  // Limited to 80% PWM cycle (2^10 * 0.8) to preserve motors
        static constexpr uint16_t DEFAULT_RAMP_TIME_MS = 1000;
        static constexpr uint16_t MIN_RAMP_TIME_MS = 100;
 
        enum class motor_id_t : uint8_t {
            LEFT = 0,
            RIGHT = 1
        };
 
        enum class motor_direction_t : uint8_t {
            FORWARD = 0,
            BACKWARD = 1,
        };
 
    public:
        explicit Motors(Robot& robot);
        ~Motors();

        void initialize();
 
    // Wrapper Functions
        void stop(motor_id_t motor_id, uint16_t ramp_time = DEFAULT_RAMP_TIME_MS) const;

        void hard_stop(motor_id_t motor_id) const;

        void set_speed(motor_id_t motor_id, uint16_t speed, uint16_t ramp_time = DEFAULT_RAMP_TIME_MS) const;

        void set_direction(motor_id_t motor_id, motor_direction_t direction, uint16_t ramp_time = DEFAULT_RAMP_TIME_MS) const;

        static void enable_deep_sleep_hold();
 
    // Hardware Functions
        void _set_speed(motor_id_t motor_id, uint16_t speed) const;

        void _set_direction(motor_id_t motor_id, motor_direction_t direction) const;
 
    private:
        [[nodiscard]] motor_direction_t _get_actual_direction(motor_id_t motor_id, motor_direction_t apparent_direction) const;
    };
}