Change main to move one wheel forward and backward

Robotito/src/main.c

@@ -16,12 +16,15 @@
 #include "motors.h"
 #include "encoders.h"
 #include "hwTimer.h"
+#include "control.h"
 
 #define OMNI_CTRL_TIMER 0.05 // s
 #define MAX_OUTPUT 100.0
 #define NMOTORS 3
 #define OMNI_NRO_TIMER 0
 
+
+
 static void timer_func() {
     printf("ECHO TIMER \n");
 }
@@ -29,85 +32,35 @@ static void timer_func() {
 void app_main(void)
 {
 
-       //1. mcpwm gpio initialization
+    //1. mcpwm gpio initialization
     motor_h_t *mot;
-    motor_install(27,26, MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, &mot);
-
+    
+    motor_install(26,27, MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, &mot);
+    // pines de los motores 
+    //                      Motor 0: 26,27      Encoder 0: 37, 39
+    //                      Motor 1: 25,33      Encoder 1: 36, 38
+    //                      Motor 2: 18,23      Encoder 2: 34, 35
     //2. initial mcpwm configuration
     printf("Configuring Initial Parameters of mcpwm...\n");
     motor_start(mot);    //Configure PWM0A & PWM0B with above settings
 
 
-    int inc = 25;
-    while (1) {
-        if (inc == 20){
-            motor_start(mot);
-        }
-        printf("Vel %i\n", inc);
+    int inc = 10;
+    while (1) {        
+        
         motor_set_speed(mot, inc);
         vTaskDelay(2000 / portTICK_RATE_MS);
+        motor_stop(mot);
+        vTaskDelay(2000 / portTICK_RATE_MS);
         motor_set_speed(mot, -inc);
         vTaskDelay(2000 / portTICK_RATE_MS);
-
-
+        motor_stop(mot);
+        vTaskDelay(2000 / portTICK_RATE_MS);
+        
         inc++;
         if (inc == 30){
-            motor_stop(mot);
-            inc = 20;
-            printf("Reseting vel ...\n");
-        }
-    }
-}
-
-
-
-/*
-static void callback_enc_func(int i_callback, int8_t dir, uint32_t counter) {
-    printf("motor %i, dir %i, counter %i\n", i_callback, dir, counter);    
-}
-
-void app_main(void)
-{
-    encoder_h_t *encoder;
-    encoder_setup(37,39,&encoder);
-    encoder_register_callback(encoder, callback_enc_func, 0, 1);
-
-    int cnt = 0;
-    while(1) {
-        printf("cnt: %d\n", cnt++);
-        vTaskDelay(10000 / portTICK_RATE_MS);
-        if (!(cnt % 10)){
-            printf("Minimum free heap size: %d bytes\n", esp_get_minimum_free_heap_size());
+            inc = 10;
         }
     }
 }
 
-static void mcpwm_example_brushed_motor_control(void *arg)
-{
-    //1. mcpwm gpio initialization
-    motor_h_t *mot;
-    motor_install(27,26, MCPWM_UNIT_0, MCPWM0A, MCPWM0B, MCPWM_TIMER_0, &mot);
-
-    //2. initial mcpwm configuration
-    printf("Configuring Initial Parameters of mcpwm...\n");
-    motor_start(mot);    //Configure PWM0A & PWM0B with above settings
-
-
-    int inc = 25;
-    while (1) {
-        printf("Vel %i\n", inc);
-        motor_set_speed(mot, inc);
-        vTaskDelay(2000 / portTICK_RATE_MS);
-        motor_set_speed(mot, -inc);
-        vTaskDelay(2000 / portTICK_RATE_MS);
-
-
-        inc++;
-        if (inc == 10){
-            inc = 0;
-            printf("Reseting vel ...\n");
-
-        }
-    }
-}
-*/
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