87 lines
2.0 KiB
C++
87 lines
2.0 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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// Debug output
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static constexpr auto DEBUG = false;
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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_17;
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static constexpr auto MOTOR01_PIN = 17;
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// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
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static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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// BiDirectional DShot Support (default: false)
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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);
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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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// Initializes 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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USB_SERIAL.println(" ");
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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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//
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void loop()
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{
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/// ...safety first
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static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
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// Time Measurement
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static uint32_t last_stats_print = 0;
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// Read throttle value
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if (USB_SERIAL.available() > 0)
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{
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throttle = USB_SERIAL.readStringUntil('\n').toInt();
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}
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// Send the current throttle value
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motor01.sendThrottle(throttle);
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// Print motor stats every 2 seconds
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if (millis() - last_stats_print >= 2000)
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{
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motor01.printDshotInfo();
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// Get Motor RPM
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if (IS_BIDIRECTIONAL)
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{
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uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
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USB_SERIAL.printf("Motor RPM: %u\n", rpm);
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}
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// Time Stamp
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last_stats_print = millis();
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}
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}
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