feat: Brushless soft start

Author: Matheus-de-Sousa

CMakeLists.txt

@@ -7,4 +7,4 @@ list(
     "modules/robot/components"
     "modules/robot/services"
 )
-project(robot)
+project(robot)

modules/robot/components/RobotData/src/Speed/dataSpeed.cpp

@@ -55,7 +55,9 @@ dataSpeed::dataSpeed(std::string name)
     brushelesSpeedDefault = new DataAbstract<int>("BrushelesSpeedDefault", name, 205);
     dataManager->registerParamData(brushelesSpeedDefault); 
     brushelesSpeedLine = new DataAbstract<int>("BrushelesSpeedLine", name, 205);
-    dataManager->registerParamData(brushelesSpeedLine); 
+    dataManager->registerParamData(brushelesSpeedLine);
+    brushelesSpeedStart = new DataAbstract<int>("BrushelesSpeedStart", name, 205);
+    dataManager->registerParamData(brushelesSpeedStart); 
     accelration = new DataAbstract<float>("PWM_accel", name, 6000);
     dataManager->registerParamData(accelration);
     desaccelration = new DataAbstract<float>("PWM_desaccel", name, 6000);

modules/robot/components/RobotData/src/Speed/dataSpeed.h

@@ -72,6 +72,7 @@ class dataSpeed
     DataAbstract<float> *linearSpeed; // Velocidade linear do robô
     DataAbstract<int> *brushelesSpeedDefault;
     DataAbstract<int> *brushelesSpeedLine;
+    DataAbstract<int> *brushelesSpeedStart;
 
 
 

modules/robot/services/PIDService/src/PIDService.cpp

@@ -1,5 +1,8 @@
 #include "PIDService.hpp"
 
+bool  firstStart = true;
+
+
 SemaphoreHandle_t PIDService::SemaphoreTimer;
 PIDService::PIDService(std::string name, uint32_t stackDepth, UBaseType_t priority) : Thread(name, stackDepth, priority)
 {
@@ -34,6 +37,7 @@ void PIDService::Run()
         {
             resetGlobalVariables();
             motors.motorsStop();
+
             AnalogWrite(PWM_BRUSHLESS_A, MIN_THROTTLE);
         }
         else
@@ -46,9 +50,17 @@ void PIDService::Run()
                 brushlessSpeed = speed->brushelesSpeedDefault->getData();
             }
             // Mapeando velocidade do brushless para valores entre 0 e 100%
-            brushlessSpeed = 205 + 204*((float)brushlessSpeed/100.0);
-            AnalogWrite(PWM_BRUSHLESS_A, brushlessSpeed);
-    
+            brushlessSpeed = MIN_THROTTLE + 204*((float)brushlessSpeed/100.0);
+
+            if(firstStart) {
+                for(int velMin = MIN_THROTTLE; velMin < brushlessSpeed; velMin++) {
+                    vTaskDelay(pdMS_TO_TICKS(25));
+                    AnalogWrite(PWM_BRUSHLESS_A, velMin);
+                }
+                firstStart = false;
+            }
+
+            AnalogWrite(PWM_BRUSHLESS_A, brushlessSpeed);   
 
             // Velocidade do carrinho
             float VelRot = (speed->RPMRight_inst->getData() - speed->RPMLeft_inst->getData()) / 2.0;   // Rotacional

platformio.ini

@@ -14,12 +14,12 @@ default_envs =
 	ESP32-BraiaV3
 
 [ESP32]
-platform = espressif32
+platform = espressif32@6.5.0
 board = esp32doit-devkit-v1
 framework = espidf
 board_build.f_cpu = 240000000L
 board_build.f_flash = 80000000L
-upload_speed = 921600
+upload_speed = 115200
 monitor_speed = 115200
 monitor_filters = esp32_exception_decoder, direct