Firmware: Add MotorDC_BTS7960_H_Bridge

Firmware/OmniBot_RC/Application/Shared/MotorDC_BTS7960B_H_Bridge/Inc/MotorDC.hpp

@@ -0,0 +1,17 @@
+/*
+ * MotorDC.hpp
+ *
+ *  Created on: Jul 5, 2025
+ *      Author: Gabriel
+ */
+
+#ifndef SHARED_ROBOFRAMEWORK_INC_MOTORDC_HPP_
+#define SHARED_ROBOFRAMEWORK_INC_MOTORDC_HPP_
+
+class MotorDC {
+public:
+	virtual int32_t init() = 0;
+	virtual int32_t setPower(float newPower) = 0;
+};
+
+#endif /* SHARED_ROBOFRAMEWORK_INC_MOTORDC_HPP_ */

Firmware/OmniBot_RC/Application/Shared/MotorDC_BTS7960B_H_Bridge/Inc/MotorDC_BTS7960_H_Bridge.hpp

@@ -0,0 +1,30 @@
+/*
+ * MotorDC_BTS7960B_H_Bridge.hpp
+ *
+ *  Created on: Jul 5, 2025
+ *      Author: Gabriel
+ */
+
+#ifndef MOTORDC_BTS7960B_H_BRIDGE_HPP_
+#define MOTORDC_BTS7960B_H_BRIDGE_HPP_
+
+#include "main.h"
+#include "MotorDC.hpp"
+#include "PWM_Pin.hpp"
+#include "GPIO_Pin.hpp"
+
+class MotorDC_BTS7960B_H_Bridge : public MotorDC {
+public:
+	MotorDC_BTS7960B_H_Bridge(PWM_Pin* ina, PWM_Pin* inb, GPIO_Pin* inha, GPIO_Pin* inhb);
+	virtual ~MotorDC_BTS7960B_H_Bridge();
+	int32_t init();
+	int32_t setPower(float newPower);
+private:
+	PWM_Pin* ina;
+	PWM_Pin* inb;
+	GPIO_Pin* inha;
+	GPIO_Pin* inhb;
+	bool initialized = false;
+};
+
+#endif /* MOTORDC_BTS7960B_H_BRIDGE_HPP_ */

Firmware/OmniBot_RC/Application/Shared/MotorDC_BTS7960B_H_Bridge/Src/MotorDC_BTS7960_H_Bridge.cpp

@@ -0,0 +1,72 @@
+/*
+ * otorDC_BTS7960B_H_Bridge.cpp
+ *
+ *  Created on: Jul 5, 2025
+ *      Author: Gabriel
+ */
+
+#include <cmath>
+#include "MotorDC_BTS7960_H_Bridge.hpp"
+
+MotorDC_BTS7960B_H_Bridge::MotorDC_BTS7960B_H_Bridge(PWM_Pin* ina, PWM_Pin* inb, GPIO_Pin* inha, GPIO_Pin* inhb) :
+			ina(ina),
+			inb(inb),
+			inha(inha),
+			inhb(inhb)
+{
+
+}
+
+MotorDC_BTS7960B_H_Bridge::~MotorDC_BTS7960B_H_Bridge() {
+
+}
+
+int32_t MotorDC_BTS7960B_H_Bridge::init() {
+	int32_t errors = 0;
+	errors += ina->init();
+	errors += inb->init();
+	errors += inha->init();
+	errors += inhb->init();
+	if(!errors){
+		initialized = true;
+	}
+	return errors;
+}
+
+int32_t MotorDC_BTS7960B_H_Bridge::setPower(float newPower) {
+	int32_t errors = 0;
+	if(!initialized){
+		// Not initialized
+		return -1;
+	}
+	if(newPower>1 || newPower<-1){
+		// Power out of range
+		return -1;
+	}
+	if(std::isnan(newPower)){
+		// Float the motor
+		errors += ina->setDutyCycle(0);
+		errors += inb->setDutyCycle(0);
+		errors += ina->reset();
+		errors += inb->reset();
+		errors += inha->reset();
+		errors += inhb->reset();
+		return errors;
+	}
+	if(newPower>=0){
+		errors += ina->setDutyCycle(newPower);
+		errors += inb->setDutyCycle(0);
+		errors += ina->reset();
+		errors += inb->reset();
+		errors += inha->set();
+		errors += inhb->set();
+	}else{
+		errors += ina->setDutyCycle(0);
+		errors += inb->setDutyCycle(-newPower);
+		errors += ina->reset();
+		errors += inb->reset();
+		errors += inha->set();
+		errors += inhb->set();
+	}
+	return errors;
+}