130 lines
5.6 KiB
C
130 lines
5.6 KiB
C
/*
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* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include "driver/gpio.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ========== GPIO Pin Definitions ========== */
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#define IN1_PIN (35) /**< Stepper motor IN1 control pin */
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#define IN2_PIN (36) /**< Stepper motor IN2 control pin */
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#define IN3_PIN (37) /**< Stepper motor IN3 control pin */
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#define IN4_PIN (38) /**< Stepper motor IN4 control pin */
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/* ========== Speed Configuration (delay per step, unit: microseconds μs) ========== */
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/**
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* @note Uses half-step driving mode for doubled precision and smoother motion
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* @note Smaller delay means faster speed
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*/
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#define STEPPER_SPEED_ULTRA_FAST 600 /**< Ultra fast mode: 600μs/step (0.6ms) */
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#define STEPPER_SPEED_FAST 800 /**< Fast mode: 1000μs/step (1ms) */
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#define STEPPER_SPEED_NORMAL 1500 /**< Normal mode: 1500μs/step (1.5ms) */
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#define STEPPER_SPEED_SLOW 2000 /**< Slow mode: 2000μs/step (2ms) */
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/* ========== Acceleration/Deceleration Configuration ========== */
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#define STEPPER_START_DELAY_US 1500 /**< Start delay (slower, ensures smooth start) */
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#define STEPPER_ACCEL_STEPS 30 /**< Acceleration steps */
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#define STEPPER_DECEL_STEPS 30 /**< Deceleration steps */
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/* ========== Stepper Motor Action Type Enumeration ========== */
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/**
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* @brief Stepper motor predefined action types
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*/
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typedef enum {
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STEPPER_ACTION_SHAKE_HEAD, /**< Shake head action (fixed amplitude and cycles) */
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STEPPER_ACTION_SHAKE_HEAD_DECAY, /**< Gradually decaying shake head action */
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STEPPER_ACTION_LOOK_AROUND, /**< Look around observation action */
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STEPPER_ACTION_BEAT_SWING, /**< Follow drum beat swing motion */
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STEPPER_ACTION_CAT_NUZZLE, /**< Cat nuzzling action */
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STEPPER_ACTION_MAX /**< Number of action types (for boundary check) */
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} stepper_action_type_t;
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/* ========== Function Declarations ========== */
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/**
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* @brief Rotate by specified angle (with acceleration/deceleration)
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*
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* @param angle Rotation angle, positive for right (clockwise), negative for left (counterclockwise)
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* @param target_delay_us Target speed delay (microseconds), will automatically accelerate from slow speed to this speed at start
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*/
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void stepper_rotate_angle_with_accel(float angle, int target_delay_us);
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/**
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* @brief Shake head action function
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*
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* @param amplitude Shake amplitude (one-sided angle), e.g., 30 means shake 30 degrees left and right
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* @param cycles Number of shake cycles, one complete left-right shake counts as 1
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* @param speed_us Shake speed (microsecond delay), recommend using STEPPER_SPEED_xxx macros
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*/
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void stepper_shake_head(float amplitude, int cycles, int speed_us);
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/**
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* @brief Gradually decaying shake head action function
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*
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* @param initial_amplitude Initial shake amplitude (one-sided angle), e.g., 30 means initially shake 30 degrees left and right
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* @param decay_rate Decay rate, range 0.0~1.0 for percentage decay, >1.0 for fixed angle decay
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* e.g., 0.8 means amplitude becomes 80% after each shake
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* e.g., 5.0 means decrease by 5 degrees each time
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* @param speed_us Shake speed (microsecond delay), recommend using STEPPER_SPEED_xxx macros
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*/
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void stepper_shake_head_decay(float initial_amplitude, float decay_rate, int speed_us);
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/**
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* @brief Look around action function (with small amplitude scanning + random offset)
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*
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* @param left_angle Main angle to turn left (positive value), e.g., 45 means turn left 45 degrees
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* @param right_angle Main angle to turn right (positive value), e.g., 45 means turn right 45 degrees
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* @param scan_angle Small amplitude scanning angle at left and right sides (positive value), e.g., 10 means scan 10 degrees left and right
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* @param pause_ms Pause time after each movement (milliseconds), simulating "observation" motion
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* @param large_speed_us Large movement speed (microsecond delay), used for main position rotation
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* @param small_speed_us Small scanning speed (microsecond delay), used for small range observation
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*
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* @note Random offset is added to each rotation for more natural motion
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*/
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void stepper_look_around(float left_angle, float right_angle, float scan_angle,
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int pause_ms, int large_speed_us, int small_speed_us);
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/**
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* @brief Follow drum beat swing function
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*
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* @param angle Swing angle for each beat (positive value), e.g., 10 means swing 10 degrees left and right
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* @param speed_us Rotation speed (microsecond delay)
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*
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* @note Each call to this function automatically switches direction (left-right-left-right...)
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*/
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void stepper_beat_swing(float angle, int speed_us);
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/**
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* @brief Cat nuzzling action function (gently turn left and return to center, repeat several times)
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*
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* @param angle Angle to turn left (positive value), e.g., 20 means turn left 20 degrees
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* @param cycles Number of nuzzles, each includes a complete "turn-return to center" motion
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* @param speed_us Rotation speed (microsecond delay), recommend using slower speed like STEPPER_SPEED_SLOW
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*
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* @note Uses slow smooth acceleration/deceleration throughout for gentle feel
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*/
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void stepper_cat_nuzzle(float angle, int cycles, int speed_us);
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/**
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* @brief Turn off all stepper motor coils (power off)
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*
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* @note After calling this function, motor will no longer hold position and can be rotated by external force
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*/
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void stepper_motor_power_off(void);
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/**
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* @brief Initialize stepper motor GPIO pins
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*/
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void stepper_motor_gpio_init(void);
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#ifdef __cplusplus
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}
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#endif
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