Camilla - CAMbio Intrinsicamente LAborioso

Software for the Phoenix translating gearbox, using a stepper motor

Settings

The main settings and debug options can be configured by changing values of constants defined in include/settings.h

Cores

The main functionalities are split between the two ESP32's cores, contained in two files in the src/ folder

• core1: manages the stepper motor, the buttons and limit switches
• core0: manages CAN, the webserver and the interrupts

Libraries

There are several libraries used by this software (capital letters libraries implement one class):

• HR4988: acts as a software driver for the stepper motor, providing basic function to move the motor interacting with the HR4988 driver
• FeedbackStepper: manages the stepper motor at a higher level of abstraction, including feedbacks and buttons management
• button: provides basic functions to setup a button or a limit switch as an interrupt
• AS5600: provides functions to read the magnetic rotative encoder using I2C protocol
• Potentiometer: provides functions to read the linear potetiometer through an analog pin
• Webserver: manages the creation and the interaction with a server hosted in the ESP to calibrate the gearshift (js, css and html sent to the client are inside the data/ folder)
• Memory: manages reading and writing from Flash ESP, in particular gear positions
• policanbent: manages CAN communication