Update motor driver configuration to have macros for frequency and re…

…solution
SuperChamp234 · Jan 31, 2024 · 294b8ce · 294b8ce
1 parent bbc04fa
commit 294b8ce
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/include/motor_driver.h b/include/motor_driver.h
@@ -35,6 +35,8 @@
 #define MOTOR_BACKWARD 201
 #define MOTOR_STOP 202
 
+#define MCPWM_FREQ 20000
+#define MCPWM_RESOLUTION 10000000
 /**
  *  @brief Enable motor driver
  *  @param motor_handle_t Motor object handle

diff --git a/src/motor_driver.c b/src/motor_driver.c
@@ -37,26 +37,26 @@ esp_err_t enable_motor_driver(motor_handle_t *motor, int motor_id) {
 	if(motor_id == MOTOR_A_0){
 		motor_config.pwma_gpio_num = MDA_NORMAL_IN_1,
 		motor_config.pwmb_gpio_num = MDA_NORMAL_IN_2,
-		motor_config.pwm_freq_hz = 20000; // 20kHz PWM frequency
+		motor_config.pwm_freq_hz = MCPWM_FREQ; // 20kHz PWM frequency
 	} else if(motor_id == MOTOR_A_1) {
 		motor_config.pwma_gpio_num = MDA_NORMAL_IN_3,
 		motor_config.pwmb_gpio_num = MDA_NORMAL_IN_4,
-		motor_config.pwm_freq_hz = 20000; // 20kHz PWM frequency
+		motor_config.pwm_freq_hz = MCPWM_FREQ; // 20kHz PWM frequency
 	} else {
 		ESP_LOGE(TAG, "Invalid motor id");
 		return ESP_FAIL;
 	}
 	motor_mcpwm_config_t motor_mcpwm_config;
 	motor_mcpwm_config.group_id = 0;
-	motor_mcpwm_config.resolution_hz = 10000000; // 10MHz
+	motor_mcpwm_config.resolution_hz = MCPWM_RESOLUTION; // 10MHz
 	ESP_ERROR_CHECK(motor_new_mcpwm_device(&motor_config, &motor_mcpwm_config, motor));
 	ESP_ERROR_CHECK((*motor)->enable(*motor));
 	enabled_motor_driver_flag = 1;
 	return ESP_OK;
 }
 
 esp_err_t set_motor_speed(motor_handle_t motor, int direction, float speed) {
-	speed = (uint32_t)map(speed, 0, 100, 0, 500);
+	speed = (uint32_t)map(speed, 0, 100, 0, MCPWM_RESOLUTION / MCPWM_FREQ);
 	if(direction == MOTOR_FORWARD){
 		motor->forward(motor);
 		motor->set_speed(motor, speed);