uploaded 1 day ago
Shared motor-controller interface for espp: the MotorAxis channel selector and the MotorController concept satisfied by the Basicmicro (serial) and Mcp266 (CANopen) drivers
Readme
# Motor Controller Component
[](https://components.espressif.com/components/espp/motor_controller)
Header-only shared interface for the espp dual-channel motor-controller drivers
that model the same MCP236 / MCP266 (Basicmicro / RoboClaw-family) hardware over
different transports. It defines:
- `espp::MotorAxis` — the `M1` / `M2` channel selector, and
- `espp::MotorController` — a compile-time concept describing the common command
and read surface (`drive_duty` / `drive_speed` by axis, `read_encoder` /
`read_speed`, `reset_estop`, `read_main_battery_voltage`, `read_temperature`).
Keeping the contract in a small, dependency-light component lets the two sibling
drivers share it without depending on each other: `espp::Basicmicro` (packet
serial) and `espp::Mcp266` (CANopen) each `static_assert` that they satisfy
`MotorController`, so generic code can command either transport by axis.
This is an interface / types component (like `bldc_types`): it has no runnable
example of its own — it is exercised by the `basicmicro` and `mcp266` examples,
which build in CI and instantiate the drivers that implement the concept.
## Example
```cpp
#include "motor_controller.hpp"
// Works for either espp::Basicmicro or espp::Mcp266 (both satisfy the concept).
bool ramp(espp::MotorController auto &mc, std::error_code &ec) {
return mc.drive_duty(espp::MotorAxis::M1, 4096, ec);
}
```
Links
- Homepage
- Documentation
-
Repository
ad69a5f6c9b4b581369165621464f5adf3fd665e
- MIT
Supports all targets
Maintainer
- William Emfinger <waemfinger@gmail.com>
To add this component to your project, run:
download archive
idf.py add-dependency "espp/motor_controller^1.3.1"
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