sl-controls
80a41e5008
Adds motor_driver.c/h between the balance PID and the raw hoverboard UART driver: - Differential drive: balance_cmd → speed, steer_cmd → steer - Steer-only ramping at MOTOR_STEER_RAMP_RATE (balance PID keeps full immediate authority — no ramp on speed channel) - Headroom clamp: reduces steer so |speed|+|steer|<=MOTOR_CMD_MAX ensuring ESC never clips the balance command - Emergency stop: latches on TILT_FAULT, clears on BALANCE_DISARMED; send path stays in 50Hz ESC tick to avoid flooding UART main.c: replace bare hoverboard_send() with motor_driver_update(); config.h: MOTOR_CMD_MAX=1000, MOTOR_STEER_RAMP_RATE=20 counts/ms Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
48 lines
1.5 KiB
C
48 lines
1.5 KiB
C
#ifndef MOTOR_DRIVER_H
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#define MOTOR_DRIVER_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* SaltyLab Motor Driver
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*
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* Sits between the balance PID and the raw hoverboard UART driver.
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* Responsibilities:
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* - Differential drive mixing: speed = balance_cmd, steer mixed in
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* - Steer ramping to avoid sudden yaw torque disturbing balance
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* - Headroom clamping: |speed| + |steer| <= MOTOR_CMD_MAX
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* - Emergency stop: immediate zero + latch until explicitly cleared
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*
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* Balance PID output is NOT ramped — it needs full immediate authority.
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* Only the steer channel is ramped.
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*
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* Call motor_driver_update() at the ESC send rate (50Hz / every 20ms).
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*/
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typedef struct {
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int16_t steer_actual; /* Ramped steer command currently sent */
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bool estop; /* Emergency stop latched */
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} motor_driver_t;
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void motor_driver_init(motor_driver_t *m);
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/*
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* Update and send to ESC.
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* balance_cmd : PID output, -1000..+1000
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* steer_cmd : desired yaw/steer, -1000..+1000 (future RC/autonomous input)
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* now : HAL_GetTick() timestamp (ms) for ramp delta-time
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*/
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void motor_driver_update(motor_driver_t *m,
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int16_t balance_cmd,
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int16_t steer_cmd,
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uint32_t now);
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/* Latch emergency stop — sends zero immediately */
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void motor_driver_estop(motor_driver_t *m);
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/* Clear emergency stop latch (only call from armed/ready context) */
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void motor_driver_estop_clear(motor_driver_t *m);
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#endif
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