Closed VTeselkin closed 1 year ago
Try this:
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "DShotRMT.h"
#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG
#include "esp_log.h"
static const char *TAG = "dshot-example";
#define DSHOT_RMT_CHANNEL RMT_CHANNEL_0
#define DSHOT_GPIO GPIO_NUM_25
#define MIN_THROTTLE 48
#define FULL_THROTTLE 2047
DShotRMT esc;
static void rampThrottle(int start, int stop, int step)
{
if (step == 0)
return;
for (int i = start; step > 0 ? i < stop : i > stop; i += step)
{
esc.sendThrottle(i);
vTaskDelay(1);
}
esc.sendThrottle(stop);
}
extern "C" void app_main(void)
{
ESP_LOGI(TAG, "Initializing DShot RMT");
ESP_ERROR_CHECK(esc.install(DSHOT_GPIO, DSHOT_RMT_CHANNEL));
ESP_ERROR_CHECK(esc.init());
ESP_LOGW(TAG, "Reversing");
ESP_ERROR_CHECK(esc.setReversed(true));
{
ESP_LOGI(TAG, "Ramping throttle");
rampThrottle(MIN_THROTTLE, FULL_THROTTLE, 20);
ESP_LOGI(TAG, "Full throttle");
const TickType_t holdStop = xTaskGetTickCount() + (3000 / portTICK_PERIOD_MS);
while (xTaskGetTickCount() < holdStop)
{
esc.sendThrottle(FULL_THROTTLE);
vTaskDelay(1);
}
ESP_LOGI(TAG, "Ramping down");
rampThrottle(FULL_THROTTLE, MIN_THROTTLE, -20);
}
ESP_LOGW(TAG, "Normal direction");
ESP_ERROR_CHECK(esc.setReversed(false));
{
ESP_LOGI(TAG, "Ramping throttle");
rampThrottle(MIN_THROTTLE, FULL_THROTTLE, 20);
ESP_LOGI(TAG, "Full throttle");
const TickType_t holdStop = xTaskGetTickCount() + (3000 / portTICK_PERIOD_MS);
while (xTaskGetTickCount() < holdStop)
{
esc.sendThrottle(FULL_THROTTLE);
vTaskDelay(1);
}
ESP_LOGI(TAG, "Ramping down");
rampThrottle(FULL_THROTTLE, MIN_THROTTLE, -20);
}
ESP_LOGW(TAG, "Exiting");
}
I had this on my computer and if you confirm it works I will add it as an official example.
The trick is constantly feeding the motor commands or it will disarm.
it`s example for espidf platform?
Yes
You can clone this repo into the components directory of your project.
I have an Arduino project...
It should still work if you "transplant" the example code into an arduino project with a setup() and loop(). I don't know how to install IDF projects into arduino but maybe just placing the library .cpp and .h next to your main file will work. I mainly wanted to support IDF since it's not very popular and doesn't have many libraries like arduino.
All worked! But I use this example with arduino sdk...
Could you please add some examples of using your library. Unable to start the engine. I hear a maximum of two signals during initialization.