145 lines
4.0 KiB
C++
145 lines
4.0 KiB
C++
/**
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* @file throttle_percent.ino
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* @brief Demo sketch for DShotRMT library using percentage throttle.
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* @author Wastl Kraus
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* @date 2025-09-20
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* @license MIT
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*/
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#include <Arduino.h>
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#include <DShotRMT.h>
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// USB serial port settings
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static constexpr auto &USB_SERIAL = Serial0;
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static constexpr auto USB_SERIAL_BAUD = 115200;
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// Motor configuration - Pin number or GPIO_PIN
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static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
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// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
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static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
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// BiDirectional DShot Support (default: false)
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// Note: Bidirectional DShot is currently not officially supported
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// due to instability and external hardware requirements.
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static constexpr auto IS_BIDIRECTIONAL = false;
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// Motor magnet count for RPM calculation
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static constexpr auto MOTOR01_MAGNET_COUNT = 14;
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// Creates the motor instance
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DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL, MOTOR01_MAGNET_COUNT);
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// Forward declaration
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void handleSerialInput(const String &input);
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void printMenu();
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//
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void setup()
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{
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// Starts the USB Serial Port
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USB_SERIAL.begin(USB_SERIAL_BAUD);
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// Initialize DShot Signal
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motor01.begin();
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// Print CPU Info
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motor01.printCpuInfo();
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//
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printMenu();
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}
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//
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void loop()
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{
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// Handle serial input
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if (USB_SERIAL.available() > 0)
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{
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String input = USB_SERIAL.readStringUntil('\n');
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input.trim();
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if (input.length() > 0)
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{
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handleSerialInput(input);
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}
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}
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}
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//
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void printMenu()
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{
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USB_SERIAL.println(" ");
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USB_SERIAL.println("*******************************************");
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USB_SERIAL.println(" DShotRMT Percent Demo ");
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USB_SERIAL.println("*******************************************");
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USB_SERIAL.println(" <value> - Set throttle (0 - 100)");
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USB_SERIAL.println(" 0 - Stop motor");
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USB_SERIAL.println("*******************************************");
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USB_SERIAL.println(" cmd <number> - Send DShot command (0 - 47)");
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USB_SERIAL.println(" info - Show motor info");
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if (IS_BIDIRECTIONAL)
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{
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USB_SERIAL.println(" rpm - Get telemetry data");
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}
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USB_SERIAL.println("*******************************************");
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USB_SERIAL.println(" h / help - Show this Menu");
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USB_SERIAL.println("*******************************************");
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}
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//
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void handleSerialInput(const String &input)
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{
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if (input == "0")
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{
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// Stop motor
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dshot_result_t result = motor01.sendThrottlePercent(0.0f);
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printDShotResult(result);
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}
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else if (input == "info")
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{
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DShotRMT::printDShotInfo(motor01, USB_SERIAL);
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}
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else if (input == "rpm" && IS_BIDIRECTIONAL)
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{
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dshot_result_t result = motor01.getTelemetry();
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printDShotResult(result);
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}
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else if (input.startsWith("cmd "))
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{
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// Send DShot command
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int cmd_num = input.substring(4).toInt();
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if (cmd_num >= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP) && cmd_num <= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX))
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{
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dshot_result_t result = motor01.sendCommand(cmd_num);
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printDShotResult(result);
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}
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else
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{
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USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX));
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}
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}
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else if (input == "h" || input == "help")
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{
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printMenu();
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}
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else
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{
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// Parse input throttle value as a percentage
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float throttle_percent = input.toFloat();
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if (throttle_percent >= 0.0f && throttle_percent <= 100.0f)
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{
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dshot_result_t result = motor01.sendThrottlePercent(throttle_percent);
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printDShotResult(result);
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}
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else
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{
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USB_SERIAL.println(" ");
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USB_SERIAL.printf("Invalid input: '%s'\n", input.c_str());
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USB_SERIAL.printf("Valid throttle range: 0.0 - 100.0\n");
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}
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}
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}
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