motor_task.h File Reference

Motor control task with feedback and coordination logic. More...

#include "motor_driver.h"
#include "encoder.h"
#include "bluetooth.h"
#include "command_parser.h"
#include "heading.h"
#include "balance.h"
#include "time_utils.h"
#include <stdint.h>
#include <algorithm>

Go to the source code of this file.

Classes
class	MOTOR_TASK
	Finite State Machine for low-level motor control. More...

Variables
TIM_HandleTypeDef	htim1
	Timer handle for PWM generation on motor 1.
TIM_HandleTypeDef	htim3
	Timer handle for encoder 1 (e.g., left wheel).
TIM_HandleTypeDef	htim4
	Timer handle for encoder 2 (e.g., right wheel).
TIM_HandleTypeDef	htim5
	Timer handle for motor 2 PWM generation.
BLUETOOTH	bluetooth
	Global reference to Bluetooth control FSM.
COMMAND_PARSER	parser
	Global reference to UART command parser.
HEADING	heading
	Global reference to heading control task.
BALANCE	balance
	Global reference to balance control task.
int32_t	AR
	Global auto-reload value for timers.

Detailed Description

Motor control task with feedback and coordination logic.

Defines the MOTOR_TASK class, which uses encoder feedback and setpoints from various control modules (Bluetooth, Heading, Balance) to regulate motor speed and direction using PID control.

Variable Documentation

parser

COMMAND_PARSER parser

extern

Global reference to UART command parser.

Global reference to UART command parser.

BNO055 data structure definition which hold euler, quaternion, linearaccel, gyro etc. parameters