refactor(motor-control): shared MotorController concept + unified Axis-form API

.github/workflows/upload_components.yml

@@ -55,6 +55,7 @@ jobs:
             components/aw9523
             components/base_component
             components/base_peripheral
+            components/motor_controller
             components/basicmicro
             components/mcp266
             components/bdc_driver

components/basicmicro/CMakeLists.txt

@@ -3,5 +3,5 @@
 # as `#include "detail/basicmicro_core.hpp"` by consumers and by the host test.
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES base_component
+  REQUIRES base_component motor_controller
 )

components/basicmicro/example/main/basicmicro_example.cpp

@@ -79,33 +79,33 @@ extern "C" void app_main(void) {
 
   // gentle speed ramp on M1 (up to ~12.5% duty) with encoder readback, then
   // back down to a stop. Duty-cycle drive works without a tuned velocity PID;
-  // if your encoders + PID are configured, try drive_m1_speed() instead.
+  // if your encoders + PID are configured, try drive_speed(Axis::M1, ...)
+  // instead. The channel is selected with the shared espp::MotorAxis enum.
+  using Axis = espp::Basicmicro::Axis;
   static constexpr int16_t max_duty = 4096; // of 32767
   static constexpr int16_t step = 512;
   for (int16_t duty = 0; duty <= max_duty; duty = static_cast<int16_t>(duty + step)) {
-    if (!mcp.drive_m1_duty(duty, ec)) {
-      logger.error("drive_m1_duty({}) failed: {}", duty, ec.message());
+    if (!mcp.drive_duty(Axis::M1, duty, ec)) {
+      logger.error("drive_duty(M1, {}) failed: {}", duty, ec.message());
       break;
     }
     std::this_thread::sleep_for(250ms);
-    uint32_t count{0};
-    uint8_t enc_status{0};
+    int32_t count{0};
     int32_t speed{0};
     uint8_t direction{0};
-    if (mcp.read_encoder_m1(count, enc_status, ec) &&
-        mcp.read_encoder_speed_m1(speed, direction, ec)) {
+    if (mcp.read_encoder(Axis::M1, count, ec) && mcp.read_speed(Axis::M1, speed, direction, ec)) {
       logger.info("duty {:5d}: encoder count = {:10d}, speed = {} pulses/s ({})", duty, count,
                   speed, direction ? "backward" : "forward");
     }
   }
   for (int16_t duty = max_duty; duty >= 0; duty = static_cast<int16_t>(duty - step)) {
-    if (!mcp.drive_m1_duty(duty, ec))
+    if (!mcp.drive_duty(Axis::M1, duty, ec))
       break;
     std::this_thread::sleep_for(100ms);
   }
 
   // make sure the motor is stopped
-  if (mcp.drive_m1_duty(0, ec))
+  if (mcp.drive_duty(Axis::M1, 0, ec))
     logger.info("Motor stopped");
 
   //! [basicmicro example]

components/basicmicro/idf_component.yml

@@ -23,3 +23,4 @@ dependencies:
   idf:
     version: '>=5.0'
   espp/base_component: '>=1.0'
+  espp/motor_controller: '>=1.0'