Merge pull request #4 from Witty-Wizard/3-feature-implement-motor-con…

…trol-logic-for-h-bridge

Added : Implementation for HBridge Control of Motor

examples/basic_dshot/arduino-ci.yml

@@ -0,0 +1,3 @@
+compile:
+  platforms:
+    - esp32

library.properties

@@ -10,4 +10,4 @@ maintainer=Witty Wizard <shashankmarch27@gmail.com>
 license=GPL-3.0-only
 frameworks=arduino
 platforms=espressif32
-architectures=esp32
+architectures=esp32, avr

src/DriveMaster.cpp

@@ -1,12 +1,15 @@
 #include "DriveMaster.h"
 
-DriveMaster::DriveMaster(int pin) : _pin(pin) {}
+DriveMaster::DriveMaster(int pin) : _pin(pin), _dir_pin(-1) {}
+
+DriveMaster::DriveMaster(int pin, int dir_pin) : _pin(pin), _dir_pin(dir_pin) {}
 
 DriveMaster::~DriveMaster() {}
 
 void DriveMaster::begin() {}
 
 void DriveMaster::write(uint16_t value, bool telemetery) {}
+void DriveMaster::write(int16_t value) {}
 
 void DriveMaster::sendCommand(uint16_t value) {}
 void DriveMaster::sendValue(uint16_t value) {}

src/DriveMaster.h

@@ -12,40 +12,65 @@
 /**
  * @brief Base class for motor control.
  */
-class DriveMaster {
+class DriveMaster
+{
 public:
   /**
-   * @brief Construct a new DriveMaster object with the specified pin.
+   * @brief Construct a new DriveMaster object with only the pin.
    * @param pin The pin number for motor control.
    */
   DriveMaster(int pin);
+
+  /**
+   * @brief Construct a new DriveMaster object with the specified pin and direction pin.
+   * @param pin The pin number for motor control.
+   * @param dir_pin The pin number for direction control.
+   */
+  DriveMaster(int pin, int dir_pin);
+
   /**
    * @brief Destroy the DriveMaster object.
    */
   virtual ~DriveMaster();
+
   /**
    * @brief Initialize the motor control.
    */
   virtual void begin();
+
   /**
    * @brief Write a command to the motor.
    * @param value The command value to write.
    * @param telemetry Flag indicating telemetry presence.
    */
   virtual void write(uint16_t value, bool telemetery = false);
+
+  /**
+   * @brief Write a command to the motor using an 8-bit signed integer value.
+   *        The value ranges from -255 to 255, where:
+   *        - 255 is full speed forward
+   *        - -255 is full speed reverse
+   *        - 0 is stop
+   * @param value The signed 8-bit command value to write (-255 to 255).
+   */
+  virtual void write(int16_t value);
+
   /**
    * @brief Send a command to the motor.
    * @param value The command value to send.
    */
   virtual void sendCommand(uint16_t value);
+
   /**
    * @brief Send a value to the motor.
    * @param value The value to send.
    */
   virtual void sendValue(uint16_t value);
 
 protected:
-  int _pin; /**< Pin number for motor control. */
+  int _pin;     /**< Pin number for motor control. */
+  int _dir_pin; /**< Pin number for direction control. */
 };
 #include "dshot.h"
+#include "HBridge.h"
 #endif

src/HBridge.cpp

@@ -0,0 +1,26 @@
+#include <HBridge.h>
+
+HBridge::HBridge(int pin, int dir_pin) : DriveMaster(pin, dir_pin)
+{
+}
+
+void HBridge::begin()
+{
+    pinMode(_pin, OUTPUT);
+    pinMode(_dir_pin, OUTPUT);
+}
+
+void HBridge::write(int16_t value)
+{
+    value = value % 256;
+    if (value >= 0)
+    {
+        digitalWrite(_dir_pin, LOW);
+    }
+    else
+    {
+        digitalWrite(_dir_pin, HIGH);
+        value = 255 + value;
+    }
+    analogWrite(_pin, value);
+}

src/HBridge.h

@@ -0,0 +1,21 @@
+/**
+ * @file HBridge.h
+ * @brief Header file for the HBridge class.
+ */
+
+#pragma once
+#ifndef HBRIDGE_H
+#define HBRIDGE_H
+
+#include "DriveMaster.h"
+
+class HBridge : public DriveMaster{
+    private:
+
+    public:
+    explicit HBridge(int pin, int dir_pin);
+    void begin() override;
+    void write(int16_t value) override;
+};
+
+#endif

src/dshot.cpp

@@ -1,5 +1,7 @@
 #include "dshot.h"
 
+#if defined(ARDUINO_ARCH_ESP32)
+
 dshot::dshot(int pin, DShotType type) : DriveMaster(pin) {
   switch (type) {
   case DSHOT_150:
@@ -44,4 +46,5 @@ uint8_t dshot::calculateCrc(uint16_t value) {
 }
 
 void dshot::sendCommand(uint16_t value) { write(value, true); }
-void dshot::sendValue(uint16_t value) { write(value, false); }
+void dshot::sendValue(uint16_t value) { write(value, false); }
+#endif

src/dshot.h

@@ -8,21 +8,25 @@
 #define DSHOT_H
 
 #include "DriveMaster.h"
+
+#if defined(ARDUINO_ARCH_ESP32)
 #include <esp32-hal-rmt.h>
 #define DSHOT_FRAME_LENGTH 16
 
 /**
  * @brief Enumeration for different DShot types.
  */
-enum DShotType {
+enum DShotType
+{
   DSHOT_150, /**< DShot150 protocol */
   DSHOT_300  /**< DShot300 protocol */
 };
 
 /**
  * @brief Class representing DShot communication.
  */
-class dshot : public DriveMaster {
+class dshot : public DriveMaster
+{
 private:
   rmt_data_t _data[DSHOT_FRAME_LENGTH]; /**< RMT data array for DShot frames */
   uint16_t _timingDuration0;            /**< Timing duration for logic 0 */
@@ -68,5 +72,5 @@ class dshot : public DriveMaster {
    */
   void sendValue(uint16_t value) override;
 };
-
+#endif
 #endif