cleanup motor_control

Author: gbr1

src/motor_control/dcmotor.cpp

@@ -0,0 +1,58 @@
+/*
+    This file is part of the Arduino_AlvikCarrier library.
+
+    Copyright (c) 2023 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
+*/
+
+#include "dcmotor.h"
+
+
+DCmotor::DCmotor(const uint32_t _pinA, const uint32_t _chA, const uint32_t _pinB, const uint32_t _chB, 
+                const bool flip, TIM_TypeDef * _tim, const uint32_t _frequency){
+    if (!flip){
+        pinA=_pinA;
+        chA=_chA;
+        pinB=_pinB;
+        chB=_chB; 
+    }
+    else{
+        pinA=_pinB;
+        chA=_chB;
+        pinB=_pinA;
+        chB=_chA;                
+    }
+    htimX.Instance = _tim; 
+    frequency=_frequency;
+    pinMode(MOTORS_ENABLE,OUTPUT);
+}
+
+void DCmotor::begin(){
+    timX = new HardwareTimer(htimX.Instance);
+    timX->setPWM(chA, pinA, frequency, 0);  
+    timX->setPWM(chB, pinB, frequency, 0);
+    digitalWrite(MOTORS_ENABLE,HIGH);
+}
+
+void DCmotor::disable(){
+    digitalWrite(MOTORS_ENABLE,LOW);
+}
+
+void DCmotor::setSpeed(const int speed){
+    if (speed>=0){
+        pwmWrite(chA,speed);
+        pwmWrite(chB,0);
+    }
+    else{
+        pwmWrite(chA,0);
+        pwmWrite(chB,-speed);
+    } 
+}
+
+void DCmotor::stop(){
+    setSpeed(0);
+}

src/motor_control/dcmotor.h

@@ -13,6 +13,7 @@
 #define __DC_MOTOR_H__
 
 #include "Arduino.h"
+#include "../definitions/pinout_definitions.h"
 
 class DCmotor{
     private:
@@ -30,49 +31,15 @@ class DCmotor{
 
     public:
         DCmotor(const uint32_t _pinA, const uint32_t _chA, const uint32_t _pinB, const uint32_t _chB, 
-                const bool flip=false, TIM_TypeDef * _tim = TIM2, const uint32_t _frequency=20000){
-            if (!flip){
-                pinA=_pinA;
-                chA=_chA;
-                pinB=_pinB;
-                chB=_chB; 
-            }
-            else{
-                pinA=_pinB;
-                chA=_chB;
-                pinB=_pinA;
-                chB=_chA;                
-            }
-            htimX.Instance = _tim; 
-            frequency=_frequency;
-            pinMode(MOTORS_ENABLE,OUTPUT);
-        }
+                const bool flip=false, TIM_TypeDef * _tim = TIM2, const uint32_t _frequency=20000);
 
-        void begin(){
-            timX = new HardwareTimer(htimX.Instance);
-            timX->setPWM(chA, pinA, frequency, 0);  
-            timX->setPWM(chB, pinB, frequency, 0);
-            digitalWrite(MOTORS_ENABLE,HIGH);
-        }
+        void begin();
 
-        void disable(){
-            digitalWrite(MOTORS_ENABLE,LOW);
-        }
+        void disable();
 
-        void setSpeed(const int speed){
-            if (speed>=0){
-                pwmWrite(chA,speed);
-                pwmWrite(chB,0);
-            }
-            else{
-                pwmWrite(chA,0);
-                pwmWrite(chB,-speed);
-            } 
-        }
+        void setSpeed(const int speed);
 
-        void stop(){
-            setSpeed(0);
-        }
+        void stop();
 };
 
 #endif

src/motor_control/encoder.cpp

@@ -0,0 +1,58 @@
+/*
+    This file is part of the Arduino_AlvikCarrier library.
+
+    Copyright (c) 2023 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
+*/
+
+#include "encoder.h"
+
+Encoder::Encoder(TIM_TypeDef * _tim, bool _flip){
+    memset(&htimX, 0, sizeof(htimX));
+    htimX.Instance = _tim;
+    flip = _flip;
+}
+
+void Encoder::begin(){
+    
+    //htimX.Instance= TIM2;
+    htimX.Init.Prescaler=0;
+    htimX.Init.CounterMode= TIM_COUNTERMODE_UP;
+    htimX.Init.Period = 65535;
+    htimX.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+
+
+    TIM_Encoder_InitTypeDef encoder_config;
+    encoder_config.EncoderMode = TIM_ENCODERMODE_TI2;
+    
+    if (flip){
+        encoder_config.IC1Polarity=TIM_ICPOLARITY_FALLING;
+    }
+    else{
+        encoder_config.IC1Polarity=TIM_ICPOLARITY_RISING;
+    }
+
+    encoder_config.IC1Selection=TIM_ICSELECTION_DIRECTTI;
+    encoder_config.IC1Prescaler=TIM_ICPSC_DIV1;
+    encoder_config.IC1Filter=0;
+    encoder_config.IC2Polarity=TIM_ICPOLARITY_RISING;
+    encoder_config.IC2Selection=TIM_ICSELECTION_DIRECTTI;
+    encoder_config.IC2Prescaler=TIM_ICPSC_DIV1;
+    encoder_config.IC2Filter=0;
+    
+
+    HAL_TIM_Encoder_Init(&htimX, &encoder_config);
+    HAL_TIM_Encoder_Start(&htimX, TIM_CHANNEL_ALL);
+}
+
+int Encoder::getCount(){
+    return int16_t(__HAL_TIM_GET_COUNTER(&htimX));  // it gives the sign
+}
+
+void Encoder::reset(){
+    htimX.Instance->CNT=0;
+}

src/motor_control/encoder.h

@@ -19,51 +19,13 @@ class Encoder{
         TIM_HandleTypeDef htimX;
         bool flip;
     public:
-        Encoder(TIM_TypeDef * _tim, bool _flip=false){
-            memset(&htimX, 0, sizeof(htimX));
-            htimX.Instance = _tim;
-            flip = _flip;
-        }
+        Encoder(TIM_TypeDef * _tim, bool _flip=false);
 
-        void begin(){
-            
-            //htimX.Instance= TIM2;
-            htimX.Init.Prescaler=0;
-            htimX.Init.CounterMode= TIM_COUNTERMODE_UP;
-            htimX.Init.Period = 65535;
-            htimX.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+        void begin();
 
+        int getCount();
 
-            TIM_Encoder_InitTypeDef encoder_config;
-            encoder_config.EncoderMode = TIM_ENCODERMODE_TI2;
-            
-            if (flip){
-                encoder_config.IC1Polarity=TIM_ICPOLARITY_FALLING;
-            }
-            else{
-                encoder_config.IC1Polarity=TIM_ICPOLARITY_RISING;
-            }
-
-            encoder_config.IC1Selection=TIM_ICSELECTION_DIRECTTI;
-            encoder_config.IC1Prescaler=TIM_ICPSC_DIV1;
-            encoder_config.IC1Filter=0;
-            encoder_config.IC2Polarity=TIM_ICPOLARITY_RISING;
-            encoder_config.IC2Selection=TIM_ICSELECTION_DIRECTTI;
-            encoder_config.IC2Prescaler=TIM_ICPSC_DIV1;
-            encoder_config.IC2Filter=0;
-            
-
-            HAL_TIM_Encoder_Init(&htimX, &encoder_config);
-            HAL_TIM_Encoder_Start(&htimX, TIM_CHANNEL_ALL);
-        }
-
-        int getCount(){
-            return int16_t(__HAL_TIM_GET_COUNTER(&htimX));  // it gives the sign
-        }
-
-        void reset(){
-            htimX.Instance->CNT=0;
-        }
+        void reset();
 
 };