ME-507-Romi-Plus-Plus/motor__task_8h_source.html

/*

 * motor_task.h

 *

 *  Created on: Jun 2, 2025

 *      Author: jacka

 */


#ifndef INC_MOTOR_TASK_H_

#define INC_MOTOR_TASK_H_


#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>


extern TIM_HandleTypeDef htim1;

extern TIM_HandleTypeDef htim3;

extern TIM_HandleTypeDef htim4;

extern TIM_HandleTypeDef htim5;


extern BLUETOOTH bluetooth;


extern COMMAND_PARSER parser;


extern HEADING heading;


extern BALANCE balance;


extern int32_t AR;


class MOTOR_TASK

{

public:


    typedef enum state

    {

        S0_INIT,

        S1_IDLE,

        S2_RUN

    } state_t;


    MOTOR_TASK();


    void run(void);


private:

    state_t state;

    bool should_run();


    // Motor hardware abstraction

    motor_t motor1;

    motor_t motor2;


    float M1_eff;

    float M2_eff;


    int16_t M1_set;

    int16_t M2_set;


    // Encoder feedback

    encoder_t encoder1;

    encoder_t encoder2;


    // PID gains for motor 1

    float Kp1;

    float Ki1;

    float Kd1;


    // PID state variables for motor 1

    int32_t error1;

    int32_t prev_error1;

    int32_t error_diff1;

    int32_t error_sum1;


    // PID gains for motor 2

    float Kp2;

    float Ki2;

    float Kd2;


    // PID state variables for motor 2

    int32_t error2;

    int32_t prev_error2;

    int32_t error_diff2;

    int32_t error_sum2;


    // Timing variables

    uint32_t dt;

    uint32_t now;

    uint32_t last_time;

};


#endif /* INC_MOTOR_TASK_H_ */

balance.h
Declaration of the BALANCE class for managing robot balance using a FSM.

bluetooth.h
Bluetooth command handler for robot control.

BALANCE
Finite State Machine class for robot balance control.
Definition balance.h:35

BLUETOOTH
Finite State Machine for Bluetooth-based control input.
Definition bluetooth.h:31

HEADING
Finite State Machine for heading control based on IMU data.
Definition heading.h:39

MOTOR_TASK::run
void run(void)
Executes one iteration of the motor control task.
Definition motor_task.cpp:41

MOTOR_TASK::state
state
Definition motor_task.h:67

MOTOR_TASK::S2_RUN
@ S2_RUN
Active motor control loop.
Definition motor_task.h:70

MOTOR_TASK::S1_IDLE
@ S1_IDLE
Idle (standby) state.
Definition motor_task.h:69

MOTOR_TASK::S0_INIT
@ S0_INIT
Initialization state.
Definition motor_task.h:68

MOTOR_TASK::MOTOR_TASK
MOTOR_TASK()
Constructor for the MOTOR_TASK class.
Definition motor_task.cpp:14

command_parser.h
Header for UART command parsing module.

encoder.h
Quadrature encoder interface for STM32 timers.

heading.h
FSM class for heading-based robot control using IMU input.

parser
COMMAND_PARSER parser
External reference to the command parser.
Definition main.cpp:97

motor_driver.h
Low-level motor control interface for STM32 using PWM.

htim1
TIM_HandleTypeDef htim1
Timer handle for PWM generation on motor 1.
Definition main.cpp:74

htim4
TIM_HandleTypeDef htim4
Timer handle for encoder 2 (e.g., right wheel).
Definition main.cpp:77

bluetooth
BLUETOOTH bluetooth
Global reference to Bluetooth control FSM.
Definition main.cpp:90

htim3
TIM_HandleTypeDef htim3
Timer handle for encoder 1 (e.g., left wheel).
Definition main.cpp:76

AR
int32_t AR
Global auto-reload value for timers.
Definition main.cpp:111

heading
HEADING heading
Global reference to heading control task.
Definition main.cpp:87

htim5
TIM_HandleTypeDef htim5
Timer handle for motor 2 PWM generation.
Definition main.cpp:78

balance
BALANCE balance
Global reference to balance control task.
Definition main.cpp:88

encoder_t
Structure for tracking encoder state and motion data.
Definition encoder.h:31

motor_t
Struct representing a DC motor controlled by two PWM channels.
Definition motor_driver.h:31

time_utils.h
Utility functions for microsecond-level timing.