task_motorControl.cpp File Reference

Motor control task for pan and tilt. More...

#include "task_motorControl.h"
#include <Arduino.h>
#include "DRV8871Driver.h"
#include <ESP32Encoder.h>
#include "PrintStream.h"
#include "shares.h"
#include <Preferences.h>

Macros
#define	MAXSPEED   220
#define	DEADBAND   10
#define	Kp1   7
#define	Kd1   4
#define	Kp2   7
#define	Kd2   4

Functions
void	task_motorControl (void *p_params)
	task which controls the pan and tilt motors

Detailed Description

Motor control task for pan and tilt.

Author

Jackson Cordova, GPT5-mini

Date

November 2025

Function Documentation

task_motorControl()

void task_motorControl

(

void *

p_params

)

task which controls the pan and tilt motors

This task reads the reference counts for pan and tilt from shares as well as checks if a fire is present. When no fire is present, the task uses a velocity control loop to sweep the pan motor back and forth between its limits (180 degrees left and right). When a fire is detected, the task switches to position control mode to move the pan and tilt motors to the desired reference positions denoted by the reference counts from the shares. The task uses proportional-derivative (PD) control for position control, and proportional-integral-derivative (PID) control for velocity control during scanning. The task has a period of 10 ms.

Parameters

p_params

not used and should be set to void in the xTaskCreate call