97 lines
2.3 KiB
C++
97 lines
2.3 KiB
C++
/**
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* @file dshot300.ino
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* @brief Demo sketch for DShotRMT library
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* @author Wastl Kraus
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* @date 2025-06-11
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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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#define USB_Serial Serial0
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constexpr auto USB_SERIAL_BAUD = 115200;
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// Motor configuration
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constexpr auto MOTOR01_PIN = GPIO_NUM_17;
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constexpr auto DSHOT_MODE = DSHOT300;
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// BiDirectional DShot Support (default: false)
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constexpr auto IS_BIDIRECTIONAL = true;
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// Motor Magnet count for RPM calculation
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constexpr auto MOTOR01_MAGNET_COUNT = 14;
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// Setup Motor Pin, DShot Mode and optional BiDirectional Support
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DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
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void setup()
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{
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// Start 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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// Arm ESC with minimum throttle
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motor01.setThrottle(DSHOT_THROTTLE_MIN);
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//
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USB_Serial.println("**********************");
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USB_Serial.println("DShotRMT Demo started.");
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USB_Serial.println("Enter a throttle value (48–2047):");
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}
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void loop()
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{
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// Read value input from Serial
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int throttle_input = readSerialThrottle();
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// Now send the value
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motor01.setThrottle(throttle_input);
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// BiDirectional DShot: print out the received eRPMs every 2 seconds
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if (IS_BIDIRECTIONAL)
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{
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static unsigned long last_print_time = 0;
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unsigned long now = millis();
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if (now - last_print_time >= 2000)
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{
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last_print_time = now;
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uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
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USB_Serial.print("Throttle: ");
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USB_Serial.print(throttle_input);
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USB_Serial.print(" | RPM: ");
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USB_Serial.println(rpm);
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}
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}
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}
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// Reads throttle value from serial input
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int readSerialThrottle()
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{
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//
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static int last_throttle = DSHOT_THROTTLE_MIN;
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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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int throttle_input = input.toInt();
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// Clamp the value to the DShot range
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throttle_input = constrain(throttle_input, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
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last_throttle = throttle_input;
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USB_Serial.print("Throttle set to: ");
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USB_Serial.println(last_throttle);
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USB_Serial.println("***********************************");
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USB_Serial.println("Enter a throttle value (48–2047):");
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}
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return last_throttle;
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}
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