drive_dc_motor.ino

Use PWM to drive the DC motor to rotate forward and backward.

/**
 * @~Chinese
 * @file drive_dc_motor.ino
 * @brief 示例：PWM驱动直流电机正反转
 * @example drive_dc_motor.ino
 * PWM驱动直流电机正反转
 */
/**
 * @~English
 * @file drive_dc_motor.ino
 * @brief Example: Use PWM to drive the DC motor to rotate forward and backward.
 * @example drive_dc_motor.ino
 * Use PWM to drive the DC motor to rotate forward and backward.
 */
 
#include "encoder_motor_lib.h"
#include "motor.h"
 
#if defined(ARDUINO_ESP32S3_DEV)
constexpr gpio_num_t kMotor0PinPos = GPIO_NUM_42;
constexpr gpio_num_t kMotor0PinNeg = GPIO_NUM_41;
 
constexpr gpio_num_t kMotor1PinPos = GPIO_NUM_1;
constexpr gpio_num_t kMotor1PinNeg = GPIO_NUM_2;
 
constexpr gpio_num_t kMotor2PinPos = GPIO_NUM_45;
constexpr gpio_num_t kMotor2PinNeg = GPIO_NUM_48;
 
constexpr gpio_num_t kMotor3PinPos = GPIO_NUM_35;
constexpr gpio_num_t kMotor3PinNeg = GPIO_NUM_36;
 
#elif defined(ARDUINO_ESP32_DEV)
constexpr gpio_num_t kMotor0PinPos = GPIO_NUM_27;
constexpr gpio_num_t kMotor0PinNeg = GPIO_NUM_13;
 
constexpr gpio_num_t kMotor1PinPos = GPIO_NUM_4;
constexpr gpio_num_t kMotor1PinNeg = GPIO_NUM_2;
 
constexpr gpio_num_t kMotor2PinPos = GPIO_NUM_17;
constexpr gpio_num_t kMotor2PinNeg = GPIO_NUM_12;
 
constexpr gpio_num_t kMotor3PinPos = GPIO_NUM_15;
constexpr gpio_num_t kMotor3PinNeg = GPIO_NUM_14;
 
#else
#error "Only ESP32 and ESP32S3 are supported"
#endif
 
namespace {
#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0)
em::Motor g_motor_0(  // M0
    kMotor0PinPos,    // The pin number of the motor's positive pole.
    kMotor0PinNeg     // The pin number of the motor's negative pole.
);
 
em::Motor g_motor_1(  // M1
    kMotor1PinPos,    // The pin number of the motor's positive pole.
    kMotor1PinNeg     // The pin number of the motor's negative pole.
);
 
em::Motor g_motor_2(  // M2
    kMotor2PinPos,    // The pin number of the motor's positive pole.
    kMotor2PinNeg     // The pin number of the motor's negative pole.
);
 
em::Motor g_motor_3(  // M3
    kMotor3PinPos,    // The pin number of the motor's positive pole.
    kMotor3PinNeg     // The pin number of the motor's negative pole.
);
 
#else  // The ESP32 Arduino Core Version is less than 3.0.0
 
em::Motor g_motor_0(  // M0
    kMotor0PinPos,    // The pin number of the motor's positive pole.
    0,                // The positive pole of the motor is attached to LED Control (LEDC) Channel 0.
    kMotor0PinNeg,    // The pin number of the motor's negative pole.
    1                 // The negative pole of the motor is attached to LED Control (LEDC) Channel 1.
);
 
em::Motor g_motor_1(  // M1
    kMotor1PinPos,    // The pin number of the motor's positive pole.
    2,                // The positive pole of the motor is attached to LED Control (LEDC) Channel 2.
    kMotor1PinNeg,    // The pin number of the motor's negative pole.
    3                 // The negative pole of the motor is attached to LED Control (LEDC) Channel 3.
);
 
em::Motor g_motor_2(  // M2
    kMotor2PinPos,    // The pin number of the motor's positive pole.
    4,                // The positive pole of the motor is attached to LED Control (LEDC) Channel 4.
    kMotor2PinNeg,    // The pin number of the motor's negative pole.
    5                 // The negative pole of the motor is attached to LED Control (LEDC) Channel 5.
);
 
em::Motor g_motor_3(  // M3
    kMotor3PinPos,    // The pin number of the motor's positive pole.
    6,                // The positive pole of the motor is attached to LED Control (LEDC) Channel 6.
    kMotor3PinNeg,    // The pin number of the motor's negative pole.
    7                 // The negative pole of the motor is attached to LED Control (LEDC) Channel 7.
);
#endif
}  // namespace
 
void setup() {
  Serial.begin(115200);
  printf("setting up\n");
  printf("Emakefun Encoder Motor Library Version: %s\n", em::esp_encoder_motor_lib::Version().c_str());
  g_motor_0.Init();
  g_motor_1.Init();
  g_motor_2.Init();
  g_motor_3.Init();
  printf("setup completed\n");
}
 
void loop() {
  g_motor_0.RunPwmDuty(1023);
  g_motor_1.RunPwmDuty(1023);
  g_motor_2.RunPwmDuty(1023);
  g_motor_3.RunPwmDuty(1023);
  printf("forward\n");
  delay(1000);
 
  g_motor_0.RunPwmDuty(-1023);
  g_motor_1.RunPwmDuty(-1023);
  g_motor_2.RunPwmDuty(-1023);
  g_motor_3.RunPwmDuty(-1023);
  printf("backward\n");
  delay(1000);
}