JMotorDriverEsp32PWM.h

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#ifndef J_MOTOR_DRIVER_ESP32_PWM_H
#define J_MOTOR_DRIVER_ESP32_PWM_H
#include "JMotorDriver.h"
#include <Arduino.h>
class JMotorDriverEsp32PWM : public JMotorDriver {
private:
    int PWM_RES = 12;
    int PWM_FREQ = 2000; // <= int(80E6 / 2^PWM_RES), 2kHz recommended for motor PWM
    int PWM_RANGE = 4095; // 2^PWM_RES -1
    bool enabled = false;
    byte ch;
    byte pin;
 
public:
    bool disableState = LOW;
    JMotorDriverEsp32PWM(byte _ch, byte _pin, bool _disableState = LOW)
    {
        enabled = false;
        ch = _ch;
        pin = _pin;
        disableState = _disableState;
    }
    JMotorDriverEsp32PWM(byte _ch, byte _pin, int freq, int resolution, bool _disableState = LOW)
    {
        enabled = false;
        ch = _ch;
        pin = _pin;
        disableState = _disableState;
        PWM_RES = resolution;
        PWM_FREQ = freq;
        PWM_RANGE = (1 << PWM_RES) - 1;
    }
    void setFrequencyAndResolution(int freq = 2000, int resBits = 12)
    {
        if (freq == PWM_FREQ && resBits == PWM_RES) {
            return; // already set
        }
        PWM_FREQ = freq;
        PWM_RES = resBits;
        PWM_RANGE = (1 << PWM_RES) - 1;
        ledcDetachPin(pin);
        ledcSetup(ch, PWM_FREQ, PWM_RES);
        if (enabled)
            ledcAttachPin(pin, ch);
        return;
    }
    bool set(float _val)
    {
        if (enabled) {
            int val = constrain(_val * PWM_RANGE, 0, PWM_RANGE);
            ledcWrite(ch, val);
        }
        return (_val > 0) && (_val < 1.0);
    }
    bool setEnable(bool _enable)
    {
        if (_enable) {
            if (!enabled) {
                // actually enable
                enabled = true;
                ledcDetachPin(pin);
                ledcSetup(ch, PWM_FREQ, PWM_RES);
                ledcAttachPin(pin, ch);
                ledcWrite(ch, !disableState ? 0 : PWM_RANGE); // set disable state to start with
                return true;
            }
        } else { // disable
            if (enabled) {
                // actually disable
                enabled = false;
                ledcDetachPin(pin);
                pinMode(pin, OUTPUT);
                digitalWrite(pin, disableState);
                return true;
            }
        }
        return false;
    }
    bool getEnable()
    {
        return enabled;
    }
    float getMaxRange()
    {
        return 1.0;
    }
    float getMinRange()
    {
        return 0;
    }
};
#endif