This component allows to control the motors from the ESP32 application.
It sends commands to the external motors_controller board via serial pins, read the reply and manages the current motors state.
It's split into a few files :
motors is the public interface of the motors component.
It wraps motors_state_machine under esp32 specific tools
(task, thread safety, event, signals, etc.).
It shoud not implement any logic by itself.
motors_state_machine is the core logic implementation of the component.
Splitting motors_state_machine from esp32 ecosystem allows to test
the core logic of this component :
- independently from esp32 ecosystem
- in simple, reproducible, single-threaded unit tests
- executed on host for rapid validation and feedback
motors_state_machine is not thread-safe by itself, its function must
never been called simultaneously.
motors_hw contains the minimal code to wrap
motors_state_machine "high level" decisions to specific hardware details.
It internally defines the gpio pins to use and the various hardware configs.
motors_direction declares public data structures of the motors component.
The following diagram is a slightly simplified representation of motors_state_machine :
