Change indent style, add other 2 motors

src/motor-esp32/main.cpp

@@ -1,7 +1,7 @@
 #include <Arduino.h>
 
-#include "roller_speed.h"
 #include "motor_control.h"
+#include "roller_speed.h"
 
 void setup() {
     Serial.setTimeout(1);
@@ -17,6 +17,9 @@ void loop() {
     // Serial.println(digitalRead(MOTOR_SPEED_SENSE));
     Serial.print(get_motor_1_duty());
     Serial.print(", ");
+    Serial.print(get_motor_2_duty());
+    Serial.print(", ");
     Serial.println(getRoller1Speed());
     set_motor_1(true, 0.3);
+    set_motor_2(true, 0.3);
 }

src/motor-esp32/motor_control.cpp

@@ -9,11 +9,6 @@
 #include "freertos/queue.h"
 #include "freertos/task.h"
 
-#define MOTOR_PWM_FREQ          1000 // PWM frequency in Hz
-#define MOTOR_CONTROL_PERIOD_MS 100  // Period of the motor control loop
-
-#define MAX_DUTY_RAMP 5.0 // max change in duty per second - where 1.0 is full duty
-
 #define MC_ITERATION_TIME 1.0 / MOTOR_CONTROL_PERIOD_MS
 
 #define MC_TASK_STACK_SIZE 2048
@@ -55,7 +50,7 @@ static void motor_control_task(void *pvParameters) {
     xLastWakeTime = xTaskGetTickCount();
     for (;;) {
 
-    for (int m_id = 0; m_id < 1; m_id++) {
+        for (int m_id = 0; m_id < 3; m_id++) {
             // Get the latest motor settings
             xQueuePeek(motor_settings_queue[m_id], &m_set, 0);
 
@@ -121,11 +116,42 @@ void set_motor_1(bool enabled, float desired_speed) {
     xQueueOverwrite(motor_settings_queue[0], &new_settings);
 }
 
+void set_motor_2(bool enabled, float desired_speed) {
+    motor_settings_t new_settings;
+
+    xQueuePeek(motor_settings_queue[1], &new_settings, 0);
+    new_settings.enabled = enabled;
+    new_settings.desired_speed = desired_speed;
+    xQueueOverwrite(motor_settings_queue[1], &new_settings);
+}
+
+void set_motor_3(bool enabled, float desired_speed) {
+    motor_settings_t new_settings;
+
+    xQueuePeek(motor_settings_queue[2], &new_settings, 0);
+    new_settings.enabled = enabled;
+    new_settings.desired_speed = desired_speed;
+    xQueueOverwrite(motor_settings_queue[2], &new_settings);
+}
+
 float get_motor_1_duty() {
     motor_status_t motor_status;
 
     xQueuePeek(motor_status_queue[0], &motor_status, 0);
+    return motor_status.duty;
+}
+
+float get_motor_2_duty() {
+    motor_status_t motor_status;
+
+    xQueuePeek(motor_status_queue[1], &motor_status, 0);
+    return motor_status.duty;
+}
+
+float get_motor_3_duty() {
+    motor_status_t motor_status;
 
+    xQueuePeek(motor_status_queue[2], &motor_status, 0);
     return motor_status.duty;
 }
 
@@ -160,9 +186,13 @@ void motor_control_setup(void) {
         .counter_mode = MCPWM_UP_COUNTER,
     };
     mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);
+    mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config);
+    mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_2, &pwm_config);
 
     // Bind to output
     mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, GPIO_ROLLER1_PWM);
+    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1A, GPIO_ROLLER2_PWM);
+    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM2A, GPIO_ROLLER3_PWM);
 
     // Setup EN pins
     gpio_set_level(GPIO_ROLLER1_EN, 0);

src/motor-esp32/motor_control.h

@@ -1,11 +1,20 @@
 #ifndef motor_control_h
 #define motor_control_h
 
+#define MOTOR_PWM_FREQ 500 // PWM frequency in Hz
 
-void set_motor_1(bool enabled, float desired_speed);
+#define MOTOR_CONTROL_PERIOD_MS 100 // Period of the motor control loop
 
-void motor_control_setup(void);
+#define MAX_DUTY_RAMP 5.0 // max change in duty per second - where 1.0 is full duty
+
+void set_motor_1(bool enabled, float desired_speed);
+void set_motor_2(bool enabled, float desired_speed);
+void set_motor_3(bool enabled, float desired_speed);
 
 float get_motor_1_duty(void);
+float get_motor_2_duty(void);
+float get_motor_3_duty(void);
+
+void motor_control_setup(void);
 
 #endif

src/motor-esp32/roller_speed.cpp

@@ -88,7 +88,6 @@ void roller_speed_setup(void) {
     xQueueOverwrite(roller_measurement_queue[1], &blank_measurement);
     xQueueOverwrite(roller_measurement_queue[2], &blank_measurement);
 
-
     // Set MCPWM0 CAP0 on roller 1 speed, enable pullup input pin
     mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM_CAP_0, GPIO_ROLLER1_SPEED);
 

src/motor-esp32/roller_speed.h

@@ -5,8 +5,8 @@
 
 #define REV_OVERFLOW          10000 // Number at which rev counts overflow back to 0
 #define ROLLER_PULSES_PER_REV 40    // Number of sensor pulses per roller rev
-#define ZERO_SPEED_TIMEOUT_US 1000000 // Note that with a clock at 80MHz, the pulse period counter overflows every 53 seconds
-
+#define ZERO_SPEED_TIMEOUT_US                                                                                          \
+    1000000 // Note that with a clock at 80MHz, the pulse period counter overflows every 53 seconds
 
 void roller_speed_setup(void);