Add roller speed module structure

src/motor-esp32/io.h

@@ -0,0 +1,22 @@
+#ifndef io_h
+#define io_h
+
+// Many of the ESP-IDF functions require pins from the gpio_num_t enum
+#define GPIO_ROLLER1_SPEED GPIO_NUM_5
+#define GPIO_ROLLER2_SPEED GPIO_NUM_18
+#define GPIO_ROLLER3_SPEED GPIO_NUM_19
+#define GPIO_ROLLER1_EN    GPIO_NUM_4
+#define GPIO_ROLLER2_EN    GPIO_NUM_16
+#define GPIO_ROLLER3_EN    GPIO_NUM_17
+#define GPIO_ROLLER1_PWM   GPIO_NUM_26
+#define GPIO_ROLLER2_PWM   GPIO_NUM_27
+#define GPIO_ROLLER3_PWM   GPIO_NUM_14
+#define GPIO_ROLLER1_IS    GPIO_NUM_36
+#define GPIO_ROLLER2_IS    GPIO_NUM_39
+#define GPIO_ROLLER3_IS    GPIO_NUM_34
+#define GPIO_SYS_VOLTAGE   GPIO_NUM_35
+
+#define GPIO_SDA GPIO_NUM_21
+#define GPIO_SCL GPIO_NUM_22
+
+#endif

src/motor-esp32/roller_speed.h

@@ -0,0 +1,21 @@
+#ifndef roller_speed_h
+#define roller_speed_h
+
+#include "freertos/FreeRTOS.h"
+
+static const float REV_OVERFLOW = 10000; // Number at which rev counts overflow back to 0
+
+typedef struct {
+    uint32_t speed;
+    uint32_t timestamp;
+} speed_measurement;
+
+void roller_speed_setup(void);
+
+// Returns the last calculated speed for Roller 1 in revs/second
+float getRoller1Speed(void);
+
+// Returns the total rev count for Roller 1. Overflows back to 0 at REV_OVERFLOW
+float getRoller1Revs(void);
+
+#endif