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| Original file line number | Diff line number | Diff line change |
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| // | ||
| // Created by 钱晨 on 3/16/22. | ||
| // This file contains some feature enabling masks. | ||
| // | ||
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| #ifndef META_INFANTRY_HARDWARE_CONF_H | ||
| #define META_INFANTRY_HARDWARE_CONF_H | ||
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| #if !defined(ENABLE_VISION) || defined(__DOXYGEN__) | ||
| #define ENABLE_VISION FALSE | ||
| #endif | ||
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| #if !defined(ENABLE_REFEREE) || defined(__DOXYGEN__) | ||
| #define ENABLE_REFEREE TRUE | ||
| #endif | ||
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| #if !defined(ENABLE_SUBPITCH) || defined(__DOXYGEN__) | ||
| #define ENABLE_SUBPITCH FALSE | ||
| #endif | ||
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| #if !defined(ENABLE_CAPACITOR) || defined(__DOXYGEN__) | ||
| #define ENABLE_CAPACITOR TRUE | ||
| #endif | ||
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| #if !defined(ENABLE_USB_SHELL) || defined(__DOXYGEN__) | ||
| #define ENABLE_USB_SHELL TRUE | ||
| #endif | ||
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| #endif //META_INFANTRY_HARDWARE_CONF_H |
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| // | ||
| // Created by Wu Feiyang on 2023/7/11. | ||
| // | ||
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| /** | ||
| * @brief This is example code to use the Rudder Interface. | ||
| */ | ||
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| #include "hal.h" | ||
| #include "ch.hpp" | ||
| #include "rudder_interface.h" | ||
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| int main(){ | ||
| halInit(); | ||
| chibios_rt::System::init(); | ||
| // nullptr means using the default configuration, which is advised | ||
| Rudder rudder1(&PWMD4,nullptr,0,Rudder::MG995); | ||
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| rudder1.start(); | ||
| rudder1.set_rudder_angle(90); | ||
| while(1){ | ||
| chThdSleepMilliseconds(2000); | ||
| rudder1.set_rudder_angle(0); | ||
| chThdSleepMilliseconds(2000); | ||
| rudder1.set_rudder_angle(90); | ||
| chThdSleepMilliseconds(2000); | ||
| rudder1.set_rudder_angle(180); | ||
| chThdSleepMilliseconds(2000); | ||
| rudder1.set_rudder_angle(90); | ||
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| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,53 @@ | ||
| // | ||
| // Created by Wu Feiyang on 2023/7/11. | ||
| // | ||
| #include "rudder_interface.h" | ||
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| /** | ||
| * @brief Constructor of the rudder | ||
| * | ||
| * @param[in] driver pointer to a @p PWMDriver object | ||
| * @param[in] config pointer to a @p PWMConfig object | ||
| * @param[in] channel PWM channel of the rudder. Note that 0 stand for channel 1 and vice versa. | ||
| * @param[in] rudderType type of the rudder | ||
| * | ||
| * @api | ||
| */ | ||
| Rudder::Rudder(PWMDriver *driver, PWMConfig *config, pwmchannel_t channel,rudderType_t rudderType) { | ||
| if(config == nullptr){ | ||
| config_ = &pwm_default_config; | ||
| }else{ | ||
| config_ = config; | ||
| } | ||
| driver_ = driver; | ||
| channel_ = channel; | ||
| rudderType_ = rudderType; | ||
| } | ||
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| Rudder::~Rudder() { | ||
| pwmStop(driver_); | ||
| } | ||
| void Rudder::start() { | ||
| pwmStart(driver_,config_); | ||
| } | ||
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| void Rudder::set_rudder_angle(int angle) { | ||
| int percentage = 0; | ||
| if(rudderType_ == MG995){ | ||
| /** | ||
| * MG995: 0.5ms - 0 degrees | ||
| * 1.0ms - 45 degrees | ||
| * 1.5ms - 90 degrees | ||
| * 2.5ms - 180 degrees | ||
| */ | ||
| // 180 - 2000 | ||
| percentage = angle * 2000 / 180 + 500; | ||
| } | ||
| pwmEnableChannel(driver_,channel_,PWM_PERCENTAGE_TO_WIDTH(driver_, percentage)); | ||
| } | ||
| void Rudder::stop() { | ||
| pwmDisableChannel(driver_,channel_); | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| // | ||
| // Created by Wu Feiyang on 2023/7/11. | ||
| // | ||
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| #ifndef META_RUDDER_INTERFACE_H | ||
| #define META_RUDDER_INTERFACE_H | ||
| #include "ch.hpp" | ||
| #include "hal.h" | ||
| #include "hal_pwm.h" | ||
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| class Rudder{ | ||
| public: | ||
| typedef enum{ | ||
| MG995, | ||
| RUDDER_TYPE_CNT | ||
| }rudderType_t; | ||
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| Rudder(PWMDriver* driver,PWMConfig* config,pwmchannel_t channel, rudderType_t rudderType); | ||
| ~Rudder(); | ||
| void start(); | ||
| void stop(); | ||
| void set_rudder_angle(int angle); | ||
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| private: | ||
| PWMConfig pwm_default_config = { | ||
| 10000, // frequency 10000Hz | ||
| 100, // 10 ms, 1/10000s * 100 = 0.01s = 10ms | ||
| nullptr, | ||
| { | ||
| {PWM_OUTPUT_ACTIVE_HIGH, nullptr}, // it's all CH1 for current support boards | ||
| {PWM_COMPLEMENTARY_OUTPUT_DISABLED, nullptr}, | ||
| {PWM_COMPLEMENTARY_OUTPUT_DISABLED, nullptr}, | ||
| {PWM_COMPLEMENTARY_OUTPUT_DISABLED, nullptr} | ||
| }, | ||
| 0, | ||
| 0 | ||
| }; | ||
| PWMDriver * driver_; | ||
| PWMConfig * config_; | ||
| pwmchannel_t channel_; | ||
| rudderType_t rudderType_; | ||
| }; | ||
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| #endif //META_RUDDER_INTERFACE_H |