Example Code for Arduino-PWM mode drives the motor

Hardware Preparation

• DFR0994 Romeo ESP32-S3 x 1
• TT Motor with Encoder x1

Software Preparation

• Download Arduino IDE: Click to download Arduino IDE
• Add ESP32 board to Arduino IDE

PWM mode drives the motor

Truth table of PWM control mode

Sample Code

/**
 *@brief motorSpeeddetectionbyPWM.ino
 *@ Motor driver in PWM mode
 */
#include "driver/mcpwm.h"
#include "soc/mcpwm_struct.h" 
#include "soc/mcpwm_reg.h"

//IO12->M1_IN1
//IO13->M1_IN2
#define MOTOR_PWM_IN1 12 
#define MOTOR_PWM_IN2 13

//Initialize the pins needed to generate the PWM signal
void mcpwm_init(void)
{
  // Binding needs to output the PWM pin to the PWM channel
  mcpwm_gpio_init(MCPWM_UNIT_0,MCPWM0A,MOTOR_PWM_IN1);
  mcpwm_gpio_init(MCPWM_UNIT_0,MCPWM0B,MOTOR_PWM_IN2);

  //Configure mcpwm information
  mcpwm_config_t pwm_config;
  pwm_config.frequency = 1000;/*!<Set frequency of MCPWM in Hz*/
  pwm_config.cmpr_a = 0;/*!<Set % duty cycle for operator a(MCPWMXA), i.e for 62.3% duty cycle, duty_a = 62.3*/
  pwm_config.cmpr_b = 0;/*!<Set % duty cycle for operator b(MCPWMXB), i.e for 48% duty cycle, duty_b = 48.0*/
  pwm_config.counter_mode/*!<Set  type of MCPWM counter*/ = MCPWM_UP_COUNTER/*!<For asymmetric MCPWM*/; 
  pwm_config.duty_mode/*!<Set type of duty cycle*/ = MCPWM_DUTY_MODE_0/*!<Active high duty, i.e. duty cycle proportional to high time for asymmetric MCPWM*/;

  //Initialize a unit of mcpwm and bind the clock
  mcpwm_init(MCPWM_UNIT_0,MCPWM_TIMER_0,&pwm_config);
}

void advance(/*range：0~100*/uint8_t speed)
{
  mcpwm_set_duty_type(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A,MCPWM_DUTY_MODE_0);
  mcpwm_set_signal_low(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_B);
  mcpwm_set_duty(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A,speed);
}

void retreat(/*range：0~100*/uint8_t speed)
{
  //Give MOTOR_DIRECTION_PIN a continuous low level
  mcpwm_set_signal_low(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A);

  /*
   * Call function mcpwm_set_duty_type() every time after mcpwm_set_signal_high() 
   * or mcpwm_set_signal_low() to resume with previously set duty cycle.
   */
  mcpwm_set_duty_type(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_B,MCPWM_DUTY_MODE_0);
  
  //The MOTOR_STEP_PIN pin outputs a PWM wave with a duty cycle of "speed"
  mcpwm_set_duty(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_B,speed);
}

void stop(void)
{
  mcpwm_set_signal_low(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A);
  mcpwm_set_signal_low(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_B);
}

void breake(void)
{
  mcpwm_set_signal_high(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_A);
  mcpwm_set_signal_high(MCPWM_UNIT_0,MCPWM_TIMER_0,MCPWM_GEN_B);
}

void setup() {
  mcpwm_init();
}

void loop() {
  advance(30);
  delay(2000);
  retreat(60);
  delay(2000);
  stop();
  delay(2000);
  advance(30);
  delay(2000);
  retreat(60);
  delay(2000);
  breake();
  delay(2000);
}