DShotRMT/examples/dshot300/dshot300.ino

/**
 * @file dshot300.ino
 * @brief Demo sketch for DShotRMT library
 * @author Wastl Kraus
 * @date 2025-06-11
 * @license MIT
 */

#include <Arduino.h>
#include <DShotRMT.h>

// USB serial port settings
constexpr auto &USB_SERIAL = Serial0;
constexpr auto USB_SERIAL_BAUD = 115200;

// Motor configuration
constexpr auto MOTOR01_PIN = GPIO_NUM_17;
constexpr auto DSHOT_MODE = DSHOT300;

// BiDirectional DShot Support (default: false)
constexpr auto IS_BIDIRECTIONAL = false;

// Motor Magnet count for RPM calculation
constexpr auto MOTOR01_MAGNET_COUNT = 14;

// Setup Motor Pin, DShot Mode and optional BiDirectional Support
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);

// Prints RPM and throttle every 2 seconds if BiDirectional is enabled
void printRPMPeriodically(uint16_t throttle);

// Reads throttle value from serial input
uint16_t readSerialThrottle();

//
void setup()
{
  // Start the USB Serial Port
  USB_SERIAL.begin(USB_SERIAL_BAUD);

  // Initialize DShot Signal
  motor01.begin();

  // Arm ESC with minimum throttle
  motor01.setThrottle(DSHOT_THROTTLE_MIN);

  USB_SERIAL.println("**********************");
  USB_SERIAL.println("DShotRMT Demo started.");
  USB_SERIAL.println("Enter a throttle value (48–2047):");
}

//
void loop()
{
  // Read value input from Serial
  uint16_t throttle_input = readSerialThrottle();

  // Send the value to the ESC
  motor01.setThrottle(throttle_input);

  // Print RPM if BiDirectional DShot is enabled
  if (IS_BIDIRECTIONAL)
  {
    printRPMPeriodically(throttle_input);
  }
}

// Reads throttle value from serial input
uint16_t readSerialThrottle()
{
  static uint16_t last_throttle = DSHOT_THROTTLE_MIN;

  if (USB_SERIAL.available() > 0)
  {
    String input = USB_SERIAL.readStringUntil('\n');
    int throttle_input = input.toInt();

    // Clamp the value to the DShot range
    throttle_input = constrain(throttle_input, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);

    if (throttle_input < DSHOT_THROTTLE_MIN || throttle_input > DSHOT_THROTTLE_MAX)
    {
      USB_SERIAL.println("Invalid input. Please enter a value between 48 and 2047");
    }
    else
    {
      last_throttle = throttle_input;
      USB_SERIAL.print("Throttle set to: ");
      USB_SERIAL.println(last_throttle);
    }

    USB_SERIAL.println("*********************************");
    USB_SERIAL.println("Enter a throttle value (48–2047):");
  }

  return last_throttle;
}

// Prints RPM and throttle every 2 seconds
void printRPMPeriodically(uint16_t throttle)
{
  static unsigned long last_print_time = 0;
  unsigned long now = millis();

  if (now - last_print_time >= 2000)
  {
    last_print_time = now;

    uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);

    USB_SERIAL.print("Throttle: ");
    USB_SERIAL.print(throttle);
    USB_SERIAL.print(" | RPM: ");
    USB_SERIAL.println(rpm);
  }
}