39 lines
901 B
C++
39 lines
901 B
C++
#include "HardwareSerial.h"
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#include "dshot_utils.h"
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#include "esp32-hal.h"
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#include "esp_log.h"
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#include <cmath>
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#include <iostream>
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#include "DShotRMT.h"
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#include "env_sens.h"
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static const constexpr char *TAG = "Main";
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const gpio_num_t MOTOR_PIN = GPIO_NUM_16;
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DShotRMT motor(MOTOR_PIN, DSHOT300, false);
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extern "C" void app_main(void) {
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initArduino();
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motor.begin();
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ESP_LOGI(TAG, "Arming ESC...");
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// Send 0 throttle for 4 seconds to arm
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unsigned long armTime = millis();
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while (millis() - armTime < 4000) {
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motor.sendThrottlePercent(0);
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}
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ESP_LOGI(TAG, "Motor Armed. Ramping up...");
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// Send 10% throttle for 5 seconds
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unsigned long runTime = millis();
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while (millis() - runTime < 5000) {
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auto res = motor.sendThrottlePercent(10);
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// printf("%d, %d\n", res.result_code, res.erpm);
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}
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ESP_LOGI(TAG, "Stopping motor");
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motor.sendThrottlePercent(0);
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}
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