109 lines
2.7 KiB
C++
109 lines
2.7 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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constexpr auto &USB_SERIAL = Serial0;
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constexpr uint32_t USB_SERIAL_BAUD = 115200;
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// Motor configuration
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constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
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constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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constexpr uint8_t MOTOR01_MAGNET_COUNT = 14;
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// BiDirectional DShot Signal (default: false)
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constexpr bool IS_BIDIRECTIONAL = false;
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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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// Prints RPM and throttle every 2 seconds if BiDirectional is enabled
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void printRPMPeriodically(uint16_t throttle);
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// Reads throttle value from serial input
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uint16_t readSerialThrottle();
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//
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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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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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// Read value input from Serial
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uint16_t throttle_input = readSerialThrottle();
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// Send the value to the ESC
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motor01.setThrottle(throttle_input);
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// Print RPM if BiDirectional DShot is enabled
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if (IS_BIDIRECTIONAL)
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{
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printRPMPeriodically(throttle_input);
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}
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}
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// Reads throttle value from serial input
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uint16_t readSerialThrottle()
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{
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static uint16_t 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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if (throttle_input < DSHOT_THROTTLE_MIN || throttle_input > DSHOT_THROTTLE_MAX)
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{
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USB_SERIAL.println("Invalid input. Please enter a value between 48 and 2047.");
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return last_throttle;
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}
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else
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{
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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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}
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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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// Prints RPM and throttle every 2 seconds
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void printRPMPeriodically(uint16_t throttle)
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{
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static unsigned long last_print_time = 0;
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if (millis() - last_print_time >= 2000)
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{
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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);
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USB_SERIAL.print(" | RPM: ");
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USB_SERIAL.println(rpm);
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last_print_time = millis();
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}
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}
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